# US 12,015,839 B2 · Inspection vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,015,839 B2 - Document ID: US12015839B2 - Status: Granted - Kind: B2 - Application number: 17/610,467 - Filed: 2020-04-17 - Published: 2022-07-14 - Granted: 2024-06-18 - Earliest claimed: 2019-05-17 - Assignees: Siemens Energy Global GmbH & Co. KG - Applicants: Siemens Energy Global GmbH & Co. KG - Inventors: Christian Borgmann; Michael Clossen-von Lanken Schulz; Paul Dreischer; Stefan Obermayr - Web page: https://patentgrep.com/patent/US12015839B2 ## CPC - H02K 15/50: Disassembling, repairing or modifying dynamo-electric machines (repairing of cooling fluid boxes H02K15/38) - H04N 23/57: Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices - G02B 26/0816: {by means of one or more reflecting elements} - H04N 23/51: Housings - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## Abstract An inspection vehicle which is designed to be inserted into the air gap between a rotor and a stator of an electrical machine, in particular of a generator, and to be moved on the substantially cylindrical outer circumference of the rotor in order to inspect the outer circumference of the rotor and/or the inner circumference of the stator for damage. ## Claims ### Claim 1 An inspection vehicle which is adapted to be inserted into an air gap between a rotor and a stator of an electric machine and/or a generator, and to be moved on a substantially cylindrical external circumference of the rotor so as to inspect the external circumference of the rotor and/or an internal circumference of the stator for damage, said inspection vehicle comprising: a housing which has a housing front side that points in the main direction of travel, an opposite housing rear side, housing longitudinal sides that are disposed so as to be mutually opposite and connect the housing front side and the housing rear side to one another, a housing lower side that in an inserted state of the inspection vehicle points toward the rotor, and an opposite housing upper side; inspection technology which is at least largely received in the housing; and at least four traction groups; wherein the traction groups are held in pairs so as to be opposite one another on the housing longitudinal sides, wherein each traction group has at least two wheels which by separate motors are able to be driven to as to rotate about mutually parallel wheel axes that extend so as to be perpendicular to the main direction of travel; and wherein each traction group is fastened to an intermediate element so as to be pivotable about a first pivot axis that extends so as to be parallel to the wheel axes, said intermediate element in turn being fastened to the housing so as to be pivotable about a second pivot axis that extends so as to be parallel to the first pivot axis, and so as to be pivotable up and down about a third pivot axis that extends so as to be perpendicular to the second pivot axis, wherein the pivoting movement of one traction group about the third pivot axis thereof is coupled to the pivoting movement of the opposite traction group about the third pivot axis thereof. ### Claim 2 (depends on 1) The inspection vehicle as claimed in claim 1, wherein the inspection technology has at least one camera and one illumination unit for illuminating an imaging region of the at least one camera, wherein the illumination unit can be integrated in the camera. ### Claim 3 (depends on 2) The inspection vehicle as claimed in claim 2, wherein the camera is disposed in the interior of the housing and directed onto a mirror which in the interior of the housing is disposed between two windows provided so as to be opposite one another on the housing lower side and on the housing upper side and the mirror is held so as to be pivotable about a mirror pivot axis in such a manner that the camera, as a function of the pivoted position of the mirror, observes the rotor through a lower window or the stator through an upper window. ### Claim 4 (depends on 3) The inspection vehicle as claimed in claim 3, wherein the camera is able to be moved back and forth relative to the mirror. ### Claim 5 (depends on 4) The inspection vehicle as claimed in claim 4, wherein the camera is movable in a motorized manner. ### Claim 6 (depends on 3) The inspection vehicle as claimed in claim 3, wherein the camera is aligned in the main direction of travel, wherein the housing upper side above the camera is provided with a passage opening, and wherein the camera is able to be moved up and down through the passage opening between a first position, in which said camera is disposed within the housing and directed onto the mirror, and a second position, in which said camera is disposed outside the housing. ### Claim 7 (depends on 3) The inspection vehicle as claimed in claim 3, wherein the mirror is pivotable in a motorized manner. ### Claim 8 (depends on 1) The inspection vehicle as claimed in claim 1, wherein the inspection technology and the motors are supplied with power by way of at least one accumulator that is disposed within the housing. ### Claim 9 (depends on 1) The inspection vehicle as claimed in claim 1, wherein the intermediate elements of traction groups disposed opposite one another, by way of a lever mechanism, are coupled to one another in such a manner that, when one of the two traction groups is pivoted downward by a predetermined degree about the third pivot axis assigned to this traction group, the other of the two traction groups is pivoted upward by a corresponding degree about the third pivot axis assigned to that traction group, and vice versa. ### Claim 10 (depends on 1) The inspection vehicle as claimed in claim 1, wherein each traction group has three wheels that are disposed so as to be mutually offset in the main direction of travel and by separate motors are in each case driven so as to rotate about the wheel axes of said wheels. ### Claim 11 (depends on 1) The inspection vehicle as claimed in claim 1, wherein magnets are disposed at least on the lower sides of the traction groups. ### Claim 12 (depends on 1) The inspection vehicle as claimed in claim 1, wherein an overall height of said inspection vehicle, when the latter is placed on a level surface, is less than 20 mm. ### Claim 13 (depends on 12) The inspection vehicle as claimed in claim 12, wherein the overall height of said inspection vehicle, when the latter is placed on a level surface, is less than 16 mm. ### Claim 14 (depends on 1) The inspection vehicle as claimed in claim 1, wherein the housing is configured to be substantially rectangular.