# US 10,871,453 B2 · Inspection device and inspection method

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- Number: US 10,871,453 B2
- Document ID: US10871453B2
- Status: Granted
- Kind: B2
- Application number: 16/232,115
- Filed: 2018-12-26
- Published: 2019-06-27
- Granted: 2020-12-22
- Earliest claimed: 2017-12-27
- Assignees: Kabushiki Kaisha Toshiba; Toshiba Energy Systems & Solutions Corporation
- Applicants: Kabushiki Kaisha Toshiba; Toshiba Energy Systems & Solutions Corporation
- Inventors: Manabu Watanabe; Akihiro Matsuzaki; Fumio Sato; Fujio Terai; Hitoshi Katayama; Yuichiro Gunji
- Web page: https://patentgrep.com/patent/US10871453B2

## CPC

- G01N 21/95: characterised by the material or shape of the object to be examined (G01N21/89 - G01N21/91, G01N21/94 take precedence)
- B62D 55/075: Tracked vehicles for ascending or descending stairs, {steep slopes or vertical surfaces}(magnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00)
- G01N 21/88: Investigating the presence of flaws or contamination
- G01N 21/954: Inspecting the inner surface of hollow bodies, e.g. bores
- G01N 29/04: Analysing solids (using acoustic emission techniques G01N29/14)
- G01N 29/043: {in the interior, e.g. by shear waves}
- G01N 29/225: {Supports, positioning or alignment in moving situation}
- H02K 15/02: of stator or rotor bodies
- G01N 2021/9518: {using a surface follower, e.g. robot}
- G01N 2291/0289: Internal structure, e.g. defects, grain size, texture
- G01N 2291/2693: Rotor or turbine parts
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- H02K 7/1823: {structurally associated with turbines or similar engines}
- H02K 9/08: by gaseous cooling medium circulating wholly within the machine casing (H02K9/10 takes precedence)
- G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q)
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

According to an embodiment, an inspection device comprises a moving body that includes; a moving main body which moves in contact with a first structure; arms attached to the moving main body; an arm driver to drive the arms; and a detector attached to the moving main body or the arms to inspect the second structure. The arms each can selectively take a pressed position and a detached position. When the moving body is moved, at least one of the arms are in the pressed position and pressed to the second structure, and the moving body is supported by the first and second structures.

## Claims

### Claim 1

An inspection device for inspecting a turbine generator including a rotor main body and a stator facing outside of the rotor main body, the device comprising:
a moving main body to be inserted in a gap between the rotor main body and the stator, the moving main body being connected with a cable extending in an outer direction of the gap, the cable connected at an end of the moving main body;
a moving driver in the moving main body to drive the moving main body on and along the rotor main body;
at least two arms attached to the moving main body;
first and second springs attached to the moving main body, each of the first and second springs biasing each arm for expanding toward the stator in a state that each arm contacts the stator and that is inclined toward a direction opposite to the end of the moving main body;
an arm driver to drive the arms so that the arms each selectively takes a pressed position where the arm expands toward the stator to be pressed to the stator, and a detached position where the arm is detached from the stator; and
at least one detector attached to at least one of the moving main body and the arms, to inspect at least one of the rotor main body and the stator, wherein
when the arm driver is operable, the moving main body moves itself on and along the rotor main body, while the moving main body moves and before one of the arms strikes a baffle of the stator, one of the arms is located in the detached position by the arm driver against a force of the first spring and the other arm is maintained to contact the stator by a force of the second spring, and
when the arm driver is inoperable, the moving main body is pulled out of the gap by the cable on and along the rotor main body and when one of the arms strike the baffle, the one of the arms is pushed down toward the rotor main body by the baffle pushing the inclination of one of the arms against a force of the first spring and the other arm is maintained to contact the stator by a force of the second spring.

### Claim 2 (depends on 1)

The inspection device according to claim 1, further comprising:
a roller attached to tip of at least one of the at least two arms, the roller being configured to rotate being pressed to the stator while the moving main body moves along the rotor main body.

### Claim 3 (depends on 1)

The inspection device according to claim 1, further comprising:
a moving body location detection unit for detecting moving body location information indicating location of the moving main body, wherein
the arm driver is configured to drive the arms based on shape information indicating shapes and sizes of the rotor main body and the stator, and the location information indicating location of the moving main body detected by the moving body location detection unit.

### Claim 4 (depends on 3)

The inspection device according to claim 3, wherein
the moving body location detection unit includes a moving distance meter for measuring moved distance of the moving body; and
the moving body location detection unit is configured to calculate the moving body location information based on the shape information, history of the moving body location information and the moved distance of the moving body measured by the moving distance meter.

### Claim 5 (depends on 1)

The inspection device according to of claim 1, further comprising:
a distance meter for measuring distance to the stator, the distance meter being installed on the moving main body, wherein
the arm driver is configured to drive the arms, at least partly based on distance between the distance meter and the stator measure by the distance meter.

### Claim 6 (depends on 1)

The inspection device according to claim 1, further comprising:
a camera for obtaining image including image of the stator, the camera being installed on the moving main body, wherein
the arm driver is configured to drive the arms, at least partly based on the image obtained by the camera.

### Claim 7 (depends on 1)

The inspection device according to claim 1, wherein
at least one of the least one detector is attached to a tip of at least one of the at least two arms.

### Claim 8 (depends on 1)

The inspection device according to claim 1, wherein
the at least two arms include at least three arms, and
the arm driver is configured to drive the at least three arms so that at least two arms out of the at least three arms are in the pressed positions when the moving main body is disposed in the gap.

### Claim 9

An inspection method for inspecting a turbine generator including a rotor main body and a stator facing outside of the rotor main body, the method comprising:
a moving step of moving a moving main body on and along the rotor main body, while the moving main body is disposed in a gap between the rotor main body and the stator;
an arm driving step of driving at least two arms attached to the moving main body so that the at least two arms each selectively takes a pressed position where the arm extends toward the stator to be pressed to the stator, and a detached position where the arm is detached from the stator; and
an inspection step of inspecting at least one of the rotor main body and the stator, by at least one detector attached to at least one of the moving main body and the arms, wherein
the arm driving step is conducted while at least one of the at least two arms are maintained in the pressed position,
the moving body is connected with a cable extending an outer direction of the gap, the cable connected at an end of the moving main body,
first and second springs are attached to the moving main body, each of the first and second springs biasing each arm for expanding toward the stator in a state that each arm contacts the stator and that is inclined toward a direction opposite to the end of the moving body,
the arm driver drives the arms so that the arms each selectively takes the pressed position and the detached position,
when the arm driver is operable, the moving main body moves itself on and along the rotor main body, while the main body moves and before one of the arms strikes a baffle of the stator, one of the arms is located in the detached position by the arm driver against a force of the first spring and the other arm is maintained to contact the stator by a force of the second spring, and
when the arm driver is inoperable, the moving main body is pulled out of the gap by the cable on and along the rotor main body and when the arm strikes the baffle, one of the arms is pushed down toward the rotor main body by the baffle pushing the inclination of one of the arms against a force of the first spring and the other arm is maintained to contact the stator by a force of the second spring.