Inspection equipment and inspection system

Abstract

To provide an inspection device and the like that enables efficient inspection to be easily materialized.SOLUTION: An inspection device of an embodiment has a rotor imaging unit imaging a rotor using a rotor imaging instrument in a gap between a rotor and a stator. The rotor imaging instrument has: a carriage casing; a camera; an imaging position change unit; and an imaging direction change unit. The camera is installed in the carriage casing, and images a ventilation hole of the rotor in the gap. The imaging position change unit is installed in the carriage casing, and changes an imaging position of the camera by moving the carriage casing in a circumferential direction of the rotor in the gap. The imaging direction change unit is installed in the carriage casing, and changes an imaging direction of the camera to a tilt angle with respect to a radial direction of the rotor in the gap.SELECTED DRAWING: Figure 4A

Description

[Technical Field]

[0001] The embodiments relate to an inspection apparatus and an inspection system. [Background technology]

[0002] 2. Description of the Related Art In rotating electrical machines such as generators and electric motors, a cylindrical gap is present between a stator and a rotor.

[0003] Rotating electric machines are inspected for electrical and mechanical integrity during maintenance work. Inspections of rotating electric machines are performed, for example, by removing the rotor from the stator. Alternatively, inspections of rotating electric machines are performed, for example, by inserting and moving an inspection device into the gap between the stator and rotor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6425844 [Patent Document 2] U.S. Patent No. 7,624,827 [Patent Document 3] Japanese Patent Application Publication No. 2019-117137 [Patent Document 4] Japanese Patent Application Publication No. 2019-117138 Summary of the Invention [Problem to be solved by the invention]

[0005] However, it may be difficult to efficiently perform inspections using conventional inspection devices. In particular, when inspecting a rotating electrical machine having cooling vents in the rotor, the inspection device must be inserted into the gap and attached to the stator. However, because the rotor is stopped at an arbitrary position, it is difficult to fully observe the depth of the vents. As a result, it may be difficult to determine whether the vents are clogged.

[0006] Therefore, an object of the present invention is to provide an inspection device and an inspection system that can easily realize efficient inspection. [Means for solving the problem]

[0007] An inspection device according to an embodiment is inserted into the gap and attached to the stator when inspecting a rotating electric machine having a gap between a rotor and a stator, the rotor having ventilation holes formed in the rotor along the radial direction of the rotor. The inspection device according to an embodiment has a rotor imaging unit for imaging the rotor in the gap using a rotor imaging device. The rotor imaging device has a carriage casing, a camera, an imaging position changer, and an imaging direction changer. The camera is installed in the carriage casing and images the ventilation holes in the rotor in the gap. The imaging position changer is installed in the carriage casing and is configured to change the imaging position of the camera by moving the carriage casing in the circumferential direction of the rotor in the gap. The imaging direction changer is installed in the carriage casing and is configured to change the imaging direction of the camera in the gap to an angle inclined with respect to the radial direction of the rotor. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram schematically illustrating an example of a rotating electrical machine 10 that is an object to be inspected in an inspection device according to an embodiment. [Figure 2] FIG. 2 is a block diagram that schematically shows an inspection system 800 for inspecting the rotating electric machine 10 (see FIG. 1) in the embodiment. [Figure 3A] FIG. 3A is a perspective view showing an inspection device 500 in an embodiment. [Figure 3B] FIG. 3B is a perspective view showing an inspection device 500 in an embodiment. [Figure 4A] FIG. 4A is a perspective view showing an inspection unit 513 (in an assembled state) in the inspection device 500 of the embodiment. [Figure 4B]FIG. 4B is a perspective view (disassembled state) showing the inspection unit 513 in the inspection device 500 of the embodiment. [Figure 4C] FIG. 4C is a perspective view showing the inspection unit 513 in the inspection device 500 of the embodiment (open state). [Figure 5A] FIG. 5A is a perspective view showing an imaging device 631 in an inspection unit 513 according to the embodiment. [Figure 5B] FIG. 5B is a top view showing the imaging device 631 in the inspection unit 513 according to the embodiment. [Figure 5C] FIG. 5C is an exploded perspective view showing the state in which the imaging device 631 is disassembled in the inspection unit 513 according to the embodiment. [Figure 6] FIG. 6 is a bottom view of the camera 910 in the imaging device 631 according to the embodiment. [Figure 7A] FIG. 7A is a side view showing the imaging direction changer 950 of the imaging device 631 in the inspection unit 513 of the embodiment. [Figure 7B] FIG. 7B is a side view showing the imaging direction changer 950 of the imaging device 631 in the inspection unit 513 of this embodiment. [Figure 7C] FIG. 7C is a side view showing the imaging direction changer 950 of the imaging device 631 in the inspection unit 513 of this embodiment. [Figure 8A] FIG. 8A is a diagram showing a state of the inspection device 500 when inspecting the rotating electric machine 10 in the embodiment. [Figure 8B] FIG. 8B is a diagram showing a state of the inspection device 500 when inspecting the ventilation holes of the rotor 20 that constitutes the rotating electric machine 10 in the embodiment. [Figure 9] FIG. 9 is a perspective view showing an inspection unit 513 in a modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] [A] Rotating Electric Machine 10 Before describing the inspection device and inspection system of the embodiment, an example of a rotating electrical machine 10 that is an object to be inspected will be described.

[0010] FIG. 1 is a diagram schematically illustrating an example of a rotating electrical machine 10 that is an object to be inspected in an inspection device and an inspection system according to an embodiment.

[0011] 1, the rotating electric machine 10 is an inner rotor type in which a rotor 20 and a stator 40 are housed in a rotating electric machine casing 60, and the rotor 20 rotates inside the stator 40. The rotating electric machine 10 is, for example, a generator, and is configured to generate electricity by the rotation of the rotor 20. In addition to being used as a generator, the rotating electric machine 10 can also be used as an electric motor.

[0012] In this embodiment, the rotating electrical machine 10 is configured so that the rotor 20 and the stator 40 are cooled by a cooling gas CG (a cooling medium such as hydrogen or air) flowing inside the rotating electrical machine casing 60.

[0013] Each component of the rotating electrical machine 10 will be described.

[0014] [A-1] Rotor 20 In the rotating electric machine 10, the rotor 20 is installed so that the axial direction along the rotation axis AX is aligned with the horizontal direction x. Here, the rotor 20 has a cylindrical rotor core 200 provided coaxially with the rotating shaft 201, and is formed with a cooling flow path through which the cooling gas CG flows.

[0015] A plurality of rotor slots (not shown) are formed in the rotor core 200 of the rotor 20 in the circumferential direction of the rotor 20, and components such as rotor coils and rotor wedges are installed in the rotor slots. Each component installed in the rotor slot has ventilation holes formed along the radial direction of the rotor 20, through which the cooling gas CG flows. A plurality of ventilation holes through which the cooling gas CG flows are formed at intervals in the circumferential direction of the rotor 20, and a plurality of ventilation holes are formed at intervals in the axial direction of the rotor 20.

[0016] [A-2] Stator 40 The stator 40 has a stator coil 42 mounted on a stator core 41. The stator core 41 is cylindrical and is provided coaxially with the rotating shaft 201. The stator core 41 is disposed so as to surround the rotor core 200 with a cylindrical gap AG (air gap) interposed therebetween.

[0017] Stator slots that penetrate in the axial direction of the rotation axis AX are formed on the inner periphery of the stator core 41, and the stator coils 42 are inserted into the stator slots and fixed by, for example, stator wedges (not shown). Although not shown, cooling channels through which the cooling gas CG flows are also formed in the stator 40.

[0018] [A-3] Rotating electric machine casing 60 The rotating electric machine casing 60 has a double structure, with an outer casing 62 provided on the outside of an inner casing 61. The inner casing 61 has a through hole K61 through which the rotating shaft 201 passes, and houses the rotor 20 and the stator 40 inside. The outer casing 62 has a through hole K62 through which the rotating shaft 201 passes, and houses the inner casing 61 inside.

[0019] In the rotating electrical machine casing 60, an opening K611 is provided above the inner casing 61, and a gas cooler 80 is attached to the opening K611. A fan 90 is housed inside the through-hole K61 of the inner casing 61.

[0020] The fan 90 is an axial flow fan, and is fixed to one side and the other side of the rotating shaft 201 so as to sandwich the rotor 20 therebetween.

[0021] [A-4] Flow of cooling gas CG in the rotating electrical machine 10 In the rotating electric machine 10, the rotation of the fan 90 together with the rotating shaft 201 causes the cooling gas CG to flow from the outside to the inside of the inner casing 61. Here, the cooling gas CG flows from each of one side and the other side of the rotating shaft 201 toward the center.

[0022] Inside the inner casing 61, the cooling gas CG flows into a cooling flow passage formed inside the rotor 20, and then flows out into a gap AG located between the outer peripheral surface of the rotor 20 and the inner peripheral surface of the stator 40. In the rotor 20, the cooling gas CG flows along the axial direction, and then flows from the inner peripheral side to the outer peripheral side through ventilation holes formed along the radial direction.

[0023] Although not shown in the figure, the cooling gas CG then passes through the gap AG and flows through a cooling flow path formed inside the stator 40. The cooling gas CG discharged to the outside of the stator 40 flows from the inside to the outside of the inner casing 61 via the gas cooler 80. At this time, the cooling gas CG is cooled in the gas cooler 80. The cooling gas CG cooled by the gas cooler 80 flows through a space in the outer casing 62 that is located outside the inner casing 61, and then, as described above, flows from the outside to the inside of the inner casing 61 due to the rotation of the fan 90.

[0024] In this manner, the rotating electrical machine 10 is configured such that the cooling gas CG circulates and flows inside the rotating electrical machine casing 60, thereby cooling each part.

[0025] [B] Inspection System 800 An inspection system 800 used to inspect the above-described rotating electrical machine 10 (see FIG. 1) will be described.

[0026] FIG. 2 is a block diagram that schematically shows an inspection system 800 for inspecting the rotating electric machine 10 (see FIG. 1) in the embodiment.

[0027] As shown in FIG. 2, an inspection system 800 of the embodiment includes an inspection device 500 and a control device 600, and is configured so that the inspection device 500 and the control device 600 can communicate with each other via a cable 700.

[0028] [B-1] Inspection device 500 The inspection device 500, details of which will be described later, is a self-propelled inspection robot that, when inspecting the rotating electric machine 10 (see Figure 1), is inserted into the gap AG between the rotor 20 and the stator 40 and is configured to be able to move while adsorbed to the stator 40.

[0029] [B-2] Control device 600 The control device 600 is provided to remotely control the operation of the inspection device 500. The control device 600 includes an arithmetic unit (computer) and a storage device, and is configured so that the arithmetic unit controls the operation of the inspection device 500 using a program stored in the storage device.

[0030] Here, the control device 600 controls the inspection device 500 to inspect the rotating electric machine 10, for example, in response to an operation command input by an operator using an operation device (mouse, keyboard, etc.). The control device 600 also controls the inspection device 500 to display, for example, information related to the inspection performed by the inspection device 500 and information obtained by the inspection device 500 performing the inspection, on a display.

[0031] [C] Configuration of inspection device 500 The configuration of the inspection device 500 that constitutes the above-mentioned inspection system 800 (see FIG. 2) will be described.

[0032] 3A and 3B are perspective views showing an inspection device 500 in an embodiment.

[0033] 3A shows the surface side that is located on the stator 40 side when the inspection device 500 is inserted into the gap AG between the rotor 20 and the stator 40. FIG. 3B shows the surface side that is located on the rotor 20 side when the inspection device 500 is inserted into the gap AG between the rotor 20 and the stator 40.

[0034] As shown in FIGS. 3A and 3B, the inspection device 500 includes a plurality of inspection units 511 to 517.

[0035] Each of the plurality of inspection units 511 to 517 is provided to perform an inspection in the gap AG between the rotor 20 and the stator 40 that constitute the rotating electric machine 10 (see FIG. 1). Each of the plurality of inspection units 511 to 517 is configured to be connected in the axial direction along the rotation axis AX of the rotor 20 when inserted into the gap AG between the rotor 20 and the stator 40.

[0036] Each of the plurality of inspection units 511 to 517 has a function for inspecting the rotating electrical machine 10 (see FIG. 1).

[0037] Specifically, the inspection unit 511 is a tip-side imaging unit that includes an imaging device 611 and an illumination device 612 as inspection equipment, and is configured so that the illumination device 612 illuminates the tip side of the inspection device 500 and the imaging device 611 takes images (see Figure 3A).

[0038] The inspection unit 512 is a guide unit and includes a pair of guide plates 621 as inspection equipment, and is configured to guide the movement direction of the inspection device 500. Here, the pair of guide plates 621 are inserted into grooves (not shown) formed in the axial direction of the stator 40 (see FIG. 1), for example, and guide the inspection device 500 to move along the axial direction. Also, the pair of guide plates 621 are configured to vary the distance between the pair of guide plates 621 in accordance with the width of the grooves formed in the stator 40 (see FIG. 3A).

[0039] The inspection unit 513 is a rotor imaging unit that includes an imaging device 631 (rotor imaging device) as an inspection device, and is configured to use the imaging device 631 to capture an image of the rotor 20 (see Figure 1) (see Figure 3B).

[0040] The inspection unit 514 is a traveling unit and includes a moving mechanism including a crawler 641 (endless track) and a permanent magnet 642 as an inspection device. The inspection unit 514 is configured so that the inspection device 500 moves by the crawler 641 while being attracted to the stator 40 (see FIG. 1) by the magnetic force of the permanent magnet 642. Here, the inspection unit 514 includes two moving mechanisms in which one permanent magnet 642 is sandwiched between a pair of crawlers 641, and the inspection device 500 can be moved to any position by the operation of the two moving mechanisms. The inspection unit 514 also includes a hammer 643 and a microphone 644 as inspection devices, and is configured so that the microphone 644 detects the sound generated when the hammer 643 strikes the stator 40. The inspection unit 514 also includes an imaging device 645 as an inspection device and is configured to capture an image of the stator 40 using the imaging device 645 (see FIG. 3A).

[0041] The inspection unit 515 is a control unit, and is configured to include a control panel (not shown) for controlling the operation of each part constituting the inspection device 500 as an inspection device.

[0042] Similar to inspection unit 512, inspection unit 516 is a guide unit, and includes a pair of guide plates 661 as inspection equipment, and is configured to guide the movement direction of inspection device 500 (see FIG. 3A).

[0043] The inspection unit 517 is an interface to which a cable 700 is connected for connecting the inspection device 500 and the control device 600 (see FIG. 2). The inspection unit 517 also includes an imaging device 671 as an inspection device, and is configured so that the imaging device 671 captures an image of the rear end side of the inspection device 500 (see FIG. 3A).

[0044] Although not shown, each of the plurality of testing units 511 to 517 has a connector (plug, jack, etc.) that allows them to be electrically connected to one another, and is configured to be able to communicate with the control device 600.

[0045] [D] Detailed configuration of inspection unit 513 (rotor imaging unit) Of the plurality of inspection units 511 to 517, the configuration of inspection unit 513, which is a rotor imaging unit, will be described.

[0046] 4A, 4B, and 4C are perspective views showing an inspection unit 513 (rotor imaging unit) in the inspection device 500 of the embodiment.

[0047] Fig. 4A shows the inspection unit 513 (rotor imaging unit) in an assembled state. Fig. 4B shows the inspection unit 513 (rotor imaging unit) in a partially disassembled state. Fig. 4C shows the inspection unit 513 (rotor imaging unit) in a partially opened state (here, a state in which part of the first frame member 630a is removed) for the sake of explanation.

[0048] [D-1] Frame 630 As shown in FIGS. 4A to 4C, inspection unit 513 includes a frame 630 that houses imaging device 631 (see FIG. 3B), which is a rotor imaging device.

[0049] As shown in FIG. 4A, in the inspection unit 513, the frame 630 has an arc shape that follows the cylindrical gap AG (see FIG. 1).

[0050] 4B, the frame 630 includes a first frame member 630a and a second frame member 630b, which are, for example, fitted together. Note that the inspection units 511, 512, 514 to 517 other than the inspection unit 513 also include arc-shaped frames.

[0051] 4C, a rack gear 801 is formed inside first frame member 630a that constitutes frame 630. Rack gear 801 is configured so that a plurality of teeth are arranged along the arc shape of frame 630.

[0052] [D-2] Imaging Equipment 631 As shown in FIG. 4A, the imaging device 631 of the inspection unit 513 is configured to move within the frame 630 along the arc shape of the frame 630, thereby allowing the imaging position to be changed (see arrow AR1) and the imaging direction to be changed (see arrow AR2).

[0053] 4B, the imaging device 631 is electrically connected to a flexible cable 632 inside the frame 630. The imaging device 631 is electrically connected to the control device 600 (see FIG. 2) via the flexible cable 632, and the operation of the imaging device 631 is controlled by the control device 600.

[0054] Fig. 5A is a perspective view showing the imaging device 631 in the inspection unit 513 of the embodiment. Fig. 5B is a top view showing the imaging device 631 in the inspection unit 513 of the embodiment. Fig. 5C is an exploded perspective view showing the imaging device 631 in an exploded state in the inspection unit 513 of the embodiment.

[0055] In inspection unit 513, imaging device 631, which is a rotor imaging device, has a camera 910, an imaging position changer 930, and an imaging direction changer 950 mounted on a carriage casing 900, as shown in FIGS. 5A to 5C.

[0056] Each component of the imaging device 631 will be explained in turn.

[0057] [D-2-1] Carriage casing 900 Of the imaging device 631, the carriage casing 900 has a rectangular parallelepiped outer shape and includes a storage space SP910 that stores the camera 910, a storage space SP930 that stores the imaging position change unit 930, and a storage space SP950 that stores the imaging direction change unit 950. The carriage casing 900 is configured such that the storage space SP910 is sandwiched between the storage space SP930 and the storage space SP950 (see FIGS. 5B and 5C).

[0058] [D-2-2] Camera 910 Of the imaging devices 631, the camera 910, the details of which will be described later, is provided to capture an image of the ventilation holes in the gap AG between the rotor 20 and the stator 40 (see FIG. X1).

[0059] Here, the camera 910 is installed in the accommodation space SP910 of the carriage casing 900 while being accommodated in a camera holder 911 (see FIGS. 5A to 5C).

[0060] Camera holder 911 has a cylindrical shape and accommodates camera 910 therein. A spur gear 912 is provided on the outer circumferential surface of camera holder 911. Spur gear 912 is provided so that the rotation axis of spur gear 912 is aligned in the normal direction of cylindrical camera holder 911. In addition, a shaft pin 911a is provided on the outer circumferential surface of camera holder 911. Shaft pin 911a has a cylindrical shape and is provided so that the central axis of shaft pin 911a is aligned coaxially with the rotation axis of spur gear 912 (see FIGS. 5A to 5C).

[0061] Camera holder 911 is installed in carriage casing 900 using bushings 913 and 914 so as to swing along the rotation direction of spur gear 912 (see arrow AR2 in FIG. 5A).

[0062] The bushing 913 is connected to the spur gear 912 via a hexagon socket set screw HS. The bushing 913 is then fixed to the carriage casing 900 using a screw SC1. The bushing 914 is connected to the shaft pin 911a. The bushing 914 is then fixed to the carriage casing 900 using a screw SC2 (see FIG. 5C).

[0063] FIG. 6 is a bottom view of the camera 910 in the imaging device 631 according to the embodiment.

[0064] 6, the camera 910 is provided with an illumination unit 910b surrounding the peripheral surface of a disk-shaped imaging lens 910a. The illumination unit 910b is configured using, for example, a light-emitting diode (LED).

[0065] [D-2-3] Imaging position change unit 930 The imaging position change unit 930 is provided to change the imaging position of the camera 910 by moving the carriage casing 900 in the circumferential direction of the rotor 20 (see arrow AR1 in each figure) in the gap AG between the rotor 20 and the stator 40 (see Figure X1).

[0066] Here, the imaging position changer 930 is installed in the accommodation space SP930 of the carriage casing 900, and includes an imaging position change motor 931 and an imaging position change pinion gear 932 (see FIGS. 5A to 5C).

[0067] In the imaging position changing unit 930, an imaging position changing motor 931 is fixed to the carriage casing 900 using a presser plate 933 and a screw SC3. An imaging position changing pinion gear 932 is attached to the rotation shaft of the imaging position changing motor 931 (see FIGS. 5A to 5C).

[0068] 4C , in the inspection unit 513, the imaging device 631 is installed so that the imaging position changing pinion gear 932 meshes with the rack gear 801 formed on the frame 630. Therefore, in this embodiment, the imaging position changing pinion gear 932 rotates, causing the imaging device 631 to move along the extension direction of the rack gear 801.

[0069] [D-2-4] Imaging direction change unit 950 The imaging direction change unit 950 is provided to change the imaging direction of the camera 910 in the gap AG (see Figure X1) between the rotor 20 and the stator 40 to an angle inclined with respect to the radial direction of the rotor 20 (dashed lines in Figures 4A, 4C, and 5A) (see arrow AR2 in Figures 4A, 4C, and 5A).

[0070] Here, the imaging direction changing unit 950 is installed in the accommodation space SP950 of the carriage casing 900, and includes an imaging direction changing motor 951 and an imaging direction changing pinion gear 952 (see FIGS. 5A to 5C).

[0071] In the imaging direction changing unit 950, an imaging direction changing motor 951 is fixed to the carriage casing 900 using a presser plate 953 and a screw SC4. The imaging direction changing motor 951 is housed in the carriage casing 900 so that its rotation axis is parallel to the rotation axis of the imaging position changing motor 931. An imaging direction changing pinion gear 952 is mounted on the rotation axis of the imaging direction changing motor 951 (see FIGS. 5A to 5C).

[0072] 7A to 7C are side views showing the imaging direction changer 950 of the imaging device 631 in the inspection unit 513 of this embodiment.

[0073] 7A to 7C show the state of the imaging device 631 in a vertical plane (yz plane) perpendicular to the axial direction (x direction) when the inspection device 500 is inserted into the gap AG (see FIG. X1) between the rotor 20 and the stator 40 in the rotating electric machine 10 (see FIG. 1). FIG. 7A shows the state when the imaging direction of the camera 910 is along the radial direction of the rotor 20. In contrast, FIGS. 7B and 7C show the state when the imaging direction of the camera 910 is along the radial direction of the rotor 20. For convenience of explanation, members other than those related to the imaging direction changing unit 950 are appropriately omitted from FIGS. 7A to 7C.

[0074] 7A to 7C, the imaging direction changer 950 is installed in the carriage casing 900 so that the imaging direction change pinion gear 952 meshes with the spur gear 912 provided on the camera holder 911. As a result, in the imaging device 631 of this embodiment, when the imaging direction change pinion gear 952 rotates, the imaging direction of the camera 910 housed in the camera holder 911 changes from a state along the radial direction of the rotor 20 to a state tilted.

[0075] [D-2-5] Other In addition to the above, the imaging device 631 includes a cable cover 960, a pin 970, and a cable presser plate 980, as shown in FIGS. 5A to 5C.

[0076] The cable cover 960 is fixed to the carriage casing 900 using screws SC5 (see FIG. 5C).

[0077] 5A to 5C, a plurality of pins 970 are provided on the carriage casing 900. Here, a pair of insertion holes H970 are formed spaced apart on each of the two side surfaces of the carriage casing 900 along the direction in which the imaging direction change unit 950 moves the carriage casing 900 (arrow AR1), and a pin 970 is inserted into each of the insertion holes H970.

[0078] The cable retainer plate 980 is fixed to the carriage casing 900 using screws SC6 (see FIG. 5C).

[0079] [E] Inspection method The state when inspecting the rotating electrical machine 10 (see FIG. X1) using the inspection device 500 (see FIG. A1) will be described.

[0080] 8A is a diagram showing a state of the inspection device 500 when inspecting the rotating electric machine 10 in the embodiment. Fig. 8A shows a vertical plane (yz plane) that is perpendicular to the axial direction (x direction) of the rotating electric machine 10 (see Fig. 1).

[0081] 8A, when inspecting the rotating electric machine 10, the inspection device 500 is inserted into the gap AG between the rotor 20 and the stator 40. Here, the inspection device 500 is inserted into the gap AG of the rotating electric machine 10 so that the coupling direction of the multiple inspection units 511 to 517 (see FIG. 3A) that make up the inspection device 500 is along the axial direction of the rotating electric machine 10 (the x direction in FIG. 8A).

[0082] The inspection device 500 inserted into the gap AG moves using the crawler 641 while being attracted to the stator 40 by the magnetic force of the permanent magnet 642. Here, the permanent magnet 642 and the stator 40 are not in close contact with each other but are spaced apart, whereas the inspection device 500 moves while the crawler 641 and the stator 40 are in close contact with each other.

[0083] Although not shown in Fig. 8A, in inspection device 500, guide plates 621 and 661 (see Fig. 3A) are inserted into grooves formed in stator 40 along the axial direction. Therefore, inspection device 500 travels along the axial direction by guide plates 621 and 661 (see Fig. 3A). The movement of inspection device 500 is performed by an operator observing images captured by imaging devices 611, 631, 645, and 671 provided in inspection device 500 and operating inspection device 500 (see Figs. 3A and 3B).

[0084] Then, the rotating electrical machine 10 is inspected using the functions of the inspection device 500 (see FIG. 3A).

[0085] In this embodiment, the state of the stator 40 is inspected by observing in real time digital moving images obtained by imaging the inner peripheral surface of the stator 40 with the imaging device 645. In addition, in order to check for looseness of the stator wedge (not shown) for fixing the stator coil 42 to the stator core 41 in the stator 40, the stator wedge is struck with a hammer 643, and the sound produced when struck is detected by a microphone 644.

[0086] In this embodiment, the state of the rotor 20 is inspected by observing in real time digital moving images obtained by the imaging device 631 capturing images of the outer circumferential surface of the rotor 20. Here, images of the ventilation holes extending in the radial direction of the rotor 20 are captured, and an inspection is performed to determine whether the ventilation holes are blocked or not.

[0087] 8B is a diagram showing a state of the inspection device 500 when inspecting the ventilation holes of the rotor 20 constituting the rotating electric machine 10 in the embodiment. Similar to FIG. 8A, FIG. 8B shows a vertical plane (yz plane) perpendicular to the axial direction (x direction).

[0088] 8B , when inspecting the ventilation holes V of the rotor 20 that constitutes the rotating electric machine 10, the inspection device 500 uses an inspection unit 513 that constitutes a rotor imaging unit. At this time, in the inspection unit 513, the imaging position changing unit 930 moves the imaging device 631 in the circumferential direction of the rotor 20 (arrow AR1) so that the imaging position of the camera 910 corresponds to the ventilation holes V. Then, in the inspection unit 513, the imaging direction changing unit 950 changes the imaging direction of the camera 910 (arrow AR2). As a result, in this embodiment, the imaging direction of the camera 910 is aligned with the depth direction of the ventilation holes V, so that the ventilation holes V can be imaged from directly above.

[0089] [F] Summary As described above, in the inspection device 500 of this embodiment, the inspection unit 513, which is a rotor imaging unit, includes the rotor imaging device 631 including the imaging position changer 930 and the imaging direction changer 950. The imaging position changer 930 is configured to change the imaging position of the camera 910 by moving the carriage casing 900 in the circumferential direction of the rotor 20 in the gap AG. The imaging direction changer 950 is configured to change the imaging direction of the camera 910 in the gap AG to an angle inclined with respect to the radial direction of the rotor 20. Therefore, in this embodiment, as described above, the imaging position changer 930 can move the camera 910 to the ventilation hole V provided in the rotor 20, making it easy to align the imaging direction of the camera 910 with the depth direction of the ventilation hole V. As a result, images can be accurately captured deep into the ventilation hole V, making it easy to determine whether the ventilation hole V is blocked. Therefore, the inspection device 500 of this embodiment can easily achieve efficient inspection.

[0090] In the inspection device 500 of this embodiment, the frame 630 of the inspection unit 513 is arc-shaped. Therefore, in this embodiment, the inspection device 500 can be easily inserted into the cylindrical gap AG between the rotor 20 and the stator 40, and can move smoothly in the gap AG.

[0091] [G] Variation A modification of the above embodiment will now be described.

[0092] FIG. 9 is a perspective view showing an inspection unit 513 in a modified example of the embodiment.

[0093] 9, in the inspection unit 513, a guide hole A61 is formed in the frame 630. The guide hole A61 is formed in a first frame member 630a of the frame 630 so as to extend along the direction in which the imaging device 631 moves.

[0094] A pair of pins 970 provided on the imaging device 631 are inserted into the guide hole A61. When the imaging device 631 moves in the circumferential direction (arrow AR1) of the rotor 20, the pair of pins 970 slide inside the guide hole A61. As a result, in this modification, the imaging device 631 moves along the guide hole A61, allowing the imaging device 631 to move smoothly.

[0095] Naturally, the inspection device 500 of the above embodiment may be configured to be able to perform various inspections in addition to the above-described inspections. For example, the inspection device 500 may be configured to further include an inspection unit for performing an EL-CID (Electromagnetic Core Imperfection Detection) test on the stator 40.

[0096] <Other> Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0097] 10: rotating electric machine, 20: rotor, 40: stator, 41: stator core, 42: stator coil, 60: rotating electric machine casing, 61: inner casing, 62: outer casing, 80: gas cooler, 90: fan, 200: rotor core, 201: rotating shaft, 500: inspection device, 511: inspection unit, 512: inspection unit, 513: inspection unit (rotor imaging unit), 514: inspection unit, 515: inspection unit, 516: inspection unit, 517: inspection unit, 600: control device, 611: imaging device, 612: lighting device, 621: guide plate, 630: frame, 630a: first frame member, 630b: second frame member, 631: imaging device (rotor imaging device), 632: flexible Cable, 641: crawler, 642: permanent magnet, 643: hammer, 644: microphone, 645: imaging device, 661: guide plate, 671: imaging device, 700: cable, 800: inspection system, 801: rack gear, 900: carriage casing, 910: camera, 910a: imaging lens, 910b: lighting unit, 911: camera holder, 911a: shaft pin, 912: spur gear, 913: bushing, 914: bushing, 930: imaging position change unit, 950: imaging direction change unit, AG: gap, AX: rotating shaft, CG: cooling gas, HS: hexagon socket set screw, K61: through hole, K611: opening, K62: through hole, SC1: screw, SC2: screw, SP910: storage space, SP930: storage space, SP950: storage space

Claims

1. An inspection device that is inserted into a gap between a rotor and a stator and is attached to the stator by suction when inspecting a rotating electric machine in which a gap is interposed between the rotor and a stator, and ventilation holes are formed in the rotor along a radial direction of the rotor, a rotor imaging unit for imaging the rotor in the gap with a rotor imaging device; and The rotor imaging device includes: a carriage casing; a camera installed on the carriage casing for capturing an image of the ventilation hole of the rotor; an imaging position changing unit that is installed on the carriage casing and is configured to change the imaging position of the camera by moving the carriage casing in the circumferential direction of the rotor; an imaging direction changing unit that is installed on the carriage casing and configured to change the imaging direction of the camera to an angle inclined with respect to the radial direction of the rotor; having Inspection equipment.

2. The rotor imaging unit includes: A frame housing the rotor imaging device Including, The frame is Rack gear Including, The imaging position change unit a motor for changing the imaging position; an imaging position changing pinion gear that is installed on a rotation shaft of the imaging position changing motor and that meshes with the rack gear; wherein the imaging position changing motor rotates the imaging position changing pinion gear, thereby moving the rotor imaging device inside the frame. The inspection device according to claim 1 .

3. The frame has an arc shape that follows the shape of the gap. The inspection device according to claim 2 .

4. The rotor imaging device includes: a camera holder that is installed on the carriage casing so as to swing at an angle inclined relative to the radial direction of the rotor and that houses the camera; and The camera holder includes: Spur Gear Including, The imaging direction change unit a motor for changing the imaging direction; an imaging direction changing pinion gear that is installed on a rotation shaft of the imaging direction changing motor and that meshes with the spur gear; wherein the imaging direction of the camera is changed by the imaging direction changing motor rotating the imaging direction changing pinion gear. The inspection device according to claim 1 .

5. An inspection device according to any one of claims 1 to 4; a control device for controlling the operation of the inspection device based on an operation command; having Inspection system.

Images