KR102385622B1 - Robot system for inspecting stator wedge - Google Patents

Abstract

An embodiment of the present invention includes a mobile driving unit having a moving wheel unit moving along the axial direction of a stator, and an integrated control unit provided on the moving wheel unit; a module unit for position control that is supported and coupled to the mobile driving unit, and whose position is adjusted to a required position through rotation and length adjustment; and an inspection module unit coupled to the position control module unit and inspecting a wedge provided inside the stator.

Description

ROBOT SYSTEM FOR INSPECTING STATOR WEDGE

The present invention relates to a stator wedge inspection robot system, and more particularly, to a stator wedge inspection robot system configured to automatically inspect the state and fastening strength of wedges provided in a stator.

In general, a generator is composed of a stator, a rotor, an exciter, a bearing and an oil supply, a ventilation and a cooling device, and the supplied mechanical energy source (thermal power, hydraulic power, wind power, nuclear power, etc.) is converted into electrical energy.

In such a generator, failure occurs due to damage and deterioration of components due to repeated starting and stopping. To prevent this in advance, to secure operation reliability and to facilitate power supply and demand, regular inspection and diagnosis are required.

The stator of the generator is composed of an iron core and a stator winding, and a stator winding is inserted for each slot between the iron core structures. Here, the windings are fixed with a wedge and an insulating material in order to restrain the windings between the iron cores to protect them from vibrations that occur when the generator is running.

In order to evaluate the soundness of the stator, we conduct wedge fastening strength inspection, inspection for foreign substances and cracks through visual inspection, and EL-CID (Electromagnetic Core Imperfection Detection)-based stator iron core insulation state inspection to reinforce insulation and replace windings at a reasonable time. This can be done.

If the windings are damaged due to vibrations generated during generator operation, winding abrasion, insulation peeling, and internal coolant leakage may occur. Since such a problem can cause a reduction in the life of the generator and an accidental stop, it is very important to check the wedge fastening strength of the stator to suppress the vibration of the stator winding.

In the prior art, in examining the wedge fastening strength of such a stator, a person directly performed the inspection through a percussion sound in the stator. However, in this case, the diagnostic result may vary depending on the subjective experience and condition of the examiner, and thus reliability is lowered. And as the inspection is performed in a narrow and poor environment inside the stator, there is a problem in that the fatigue of the inspector is high and the risk of an accident is high.

Another method of inspecting the wedge fastening strength of a stator is to inspect the inside of the stator through a robot that moves in close contact with the iron core of the stator. The problem is that it is impossible to inspect the stator, including wedges located in the gas hole zone. And even in the case of a robot capable of running in the baffle section, there is a problem that inspection is impossible because the space at the lower end of the wedge where the baffle and the wedge are attached is narrow and the wedge size is small.

Accordingly, various studies have been made on an inspection robot that enables passage of obstacles such as baffles and enables precise inspection of the stator even for wedges located in the gas hole zone.

Prior Document 1: Korean Patent Publication No. 2004-0100364 (2004.12.02)

An object of the present invention for solving the above problems is to provide a stator wedge inspection robot system configured to automatically inspect the state and fastening strength of wedges provided in a stator.

In order to achieve the above technical object, an embodiment of the present invention includes: a mobile driving unit having a moving wheel unit moving along the axial direction of a stator, and an integrated control unit provided on the moving wheel unit; a module unit for position control that is supported and coupled to the mobile driving unit, and whose position is adjusted to a required position through rotation and length adjustment; and an inspection module unit coupled to the position control module unit and inspecting a wedge provided inside the stator.

In one embodiment of the present invention, the position control module unit, one end is coupled to the mobile driving unit, the rotary arm is rotated from the mobile driving unit; a first position adjusting unit coupled to the other end of the rotary arm, the length of which is adjusted based on the rotary arm; and a second position adjusting unit coupled to an end of the first position adjusting unit and moving in the wedge direction from the first position adjusting unit, wherein the second position adjusting unit includes a distance sensor for measuring a distance from the wedge Additional may be provided.

In one embodiment of the present invention, the inspection module unit, the position control module portion for supporting and fixed to the base support; a striking unit provided on the base support and striking the wedge; and a vibration measuring unit provided on the base support and measuring the vibration of the wedge caused by the striking of the striking unit.

In one embodiment of the present invention, the integrated control unit, a control box provided with an installation space therein; a data storage unit in which information on the stator is pre-stored; an operation control unit for controlling the operation of the moving wheel unit and the module unit for position control; a robot position recognizing unit for recognizing the current position of the inspection robot through the image acquired through the first photographing unit provided in the mobile driving unit and the stator modeling information stored in the data storage unit; a wedge position recognizing unit for recognizing an inspection position of the wedge through an image obtained through a second photographing unit provided in the position control module unit and stator modeling information stored in the data storage unit; a determination unit for determining the state and fastening strength of the wedge from the sensor signal measured from the inspection module unit; and a communication unit provided inside the control box and communicating with an external device.

In one embodiment of the present invention, the determination unit, a data collection unit receiving the sensor signal measured from the inspection module unit; a pre-processing unit for pre-processing the sensor signal information of the data collection unit; a feature point extraction unit for extracting a feature point from the sensor signal information passed through the preprocessor; a wedge state estimator for estimating a state and fastening strength of the wedge based on the information obtained from the feature point extraction unit; and a result output unit providing the result of the wedge state estimator to the communication unit.

The effect of the stator wedge inspection robot system according to the present invention described above will be described as follows.

According to the present invention, the stator wedge inspection robot system is configured such that the inspection robot automatically inspects the state and fastening strength of wedges provided in the stator. Accordingly, there is no need for a conventional inspector to directly enter the narrow and poor stator and perform the inspection.

In addition, since the inspection robot is made to accurately determine the wedge state and fastening strength according to predetermined criteria, it is possible to prevent the problem that the inspection result varies according to the conventional inspector.

According to the present invention, the stator wedge inspection robot system is provided with a moving wheel unit moving along the axial direction of the stator, and a position control module unit for moving the inspection module unit to a required position through rotation and length adjustment. It is possible to pass through and accurate stator inspection is possible even for wedges located in the gas hole zone. That is, in the case of the conventional inspection robot moving in close contact with the iron core of the stator, it is difficult to pass an obstacle such as a baffle, and it is possible to solve the problem that the inspection of the stator including the wedge located in the gas hole zone is impossible.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a schematic illustration of a stator wedge inspection robot system according to an embodiment of the present invention.
2 is a block diagram of a stator wedge inspection robot system according to an embodiment of the present invention.
3 is an exemplary diagram illustrating an inspection step of a determination unit according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be implemented in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, parts indicated with the same reference numerals throughout the specification mean the same components.

Throughout the specification, when a part is "connected" with another part, this includes not only the case where it is "directly connected" but also the case where it is "indirectly connected" with another member interposed therebetween. .

In the present invention, the upper and lower parts mean positioned above or below the target member, and do not necessarily mean positioned at the upper or lower part with respect to the direction of gravity.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic illustration of a stator wedge inspection robot system according to an embodiment of the present invention, FIG. 2 is a configuration diagram of a stator wedge inspection robot system according to an embodiment of the present invention, and FIG. It is an exemplary view showing the inspection step of the determination unit according to an embodiment.

1 to 3 , the stator wedge inspection robot system 1000 may include a mobile driving unit 500 , a position control module unit 300 , and an inspection module unit 400 .

Here, the mobile driving unit 500 may include a moving wheel unit 100 and an integrated control unit 200 .

The moving wheel unit 100 is configured to guide the movement of the inspection robot.

Such a moving wheel part 100 has, for example, a driving wheel 101 provided in both lower portions of the control box 210 and an auxiliary wheel 102 provided in front and rear lower portions of the control box 210 . can Here, the driving wheel 101 is selectively rotated by the integrated control unit 200 to guide the movement of the inspection robot. In addition, the auxiliary wheel 102 may be a caster, and the auxiliary wheel 102 serves to assist the inspection robot to move stably in a state in which the control box 210 is supported.

The number and shape of the wheels provided in the moving wheel unit 100 are not particularly limited, and may be made in any shape as long as the inspection robot can move stably without shaking.

The inspection robot may be selectively moved to a position required by a user along the axial direction of the stator 10 through the moving wheel part 100 .

Here, the baffle 20 provided inside the stator 10 is not connected as a whole along the circumference of the stator 10 , but rather the lower part of the stator 10 so that the inspection robot can move in the axial direction of the stator 10 . The side may be formed in a form in which the baffle 20 is not connected.

The mobile driving unit 500 may include a first photographing unit 120 . Such a first photographing unit 120 may be, for example, a camera.

The first photographing unit 120 is configured to photograph the periphery of the moving wheel unit 100 in motion. Here, the image data obtained from the first photographing unit 120 is provided to the integrated control unit 200 , and the integrated control unit 200 moves inside the stator 10 through the image data provided from the first photographing unit 120 . It is possible to accurately determine the position of the inspection robot in progress.

The mobile driving unit 500 may further include a first lighting unit 130 . The first lighting unit 130 as described above allows the first photographing unit 120 to take pictures around the moving wheel unit 100 in a dark environment, so that effective photographing is performed.

Meanwhile, the integrated control unit 200 is provided above the moving wheel unit 100 .

The integrated control unit 200 selectively controls the operation of the module unit 300 for position control including the driving wheel 101 . The detailed contents of the integrated control unit 200 will be described later.

And the module unit 300 for position control is configured to guide the inspection module unit 400 to a required position in a state supported by the integrated control unit 200 .

The module unit 300 for position control may include a rotary arm 310 , a first position control unit 320 , and a second position control unit 330 .

Here, one end of the rotary arm 310 is configured to be coupled to the mobile driving unit 500 . The rotary arm 310 is configured to be rotatable based on the integrated control unit 200 in the mobile driving unit 500 . For example, the rotary arm 310 may be configured to be able to rotate 360° with respect to the integrated control unit 200 . This is in order to be able to inspect all of the omnidirectional wedges 30 provided in the stator 10 .

And one end of the first position adjusting unit 320 is coupled to the other end of the rotary arm (310).

The first position adjusting unit 320 is made to be adjustable in length based on the rotary arm 310 . That is, the other end of the first position adjusting unit 320 may be selectively adjusted in length so as to be closer to or farther away from the rotary arm 310 . The length of the first position adjusting unit 320 may be adjusted so that, for example, the inspection module unit 400 can be closely attached to the wedge 30 . The first position adjusting unit 320 is configured to selectively adjust the movement of the test module unit 400 from the center of the stator 10 to the wedge 30 .

And the second position adjusting unit 330 is coupled to the end of the first position adjusting unit (320).

The second position adjusting unit 330 is configured to be movable in the wedge 30 direction so as to be in close contact with the wedge 30 from the end of the first position adjusting unit 320 . For example, the second position adjusting unit 330 may be moved in the vertical direction from the first position adjusting unit 320 . That is, the second position adjusting unit 330 may be selectively moved within a predetermined movement distance range in the axial direction of the stator 10 with respect to the first position adjusting unit 320 . Accordingly, the inspection module unit 400 is linearly moved in the axial direction inside the stator 10 by the second position adjusting unit 330 , and may be moved between the wedges 30 within the same slot. Such movement of the second position adjusting unit 330 does not necessarily have to be moved only in a vertical direction with respect to the above-mentioned first position adjusting unit 320 , and the end of the first position adjusting unit 320 is not necessarily moved. Of course, if it can be effectively adhered to the wedge 30 from the can be made of any structure.

The second position adjusting unit 330 may further include a distance sensor unit 331 .

Here, the distance sensor unit 331 is configured to measure the distance to the target point. The distance sensor unit 331 is, for example, configured to measure the distance from the current position where the inspection module unit 400 is located to the wedge 30 to be inspected.

A plurality of distance sensors may be provided in the distance sensor unit 331 . For example, a long-distance measuring sensor for measuring a long distance and a short-range measuring sensor for measuring a precise distance of the wedge 30 to be inspected may be provided. In this case, the distance measurement sensor may be a TOF sensor that measures the distance by irradiating light toward the object and calculating the reflected return time. In addition, the short-range measuring sensor may be a sensor that measures a high-resolution distance for precise control in a state spaced very close to the wedge 30 .

In this way, as the distance sensor unit 331 is provided with a long-distance measuring sensor and a short-distance measuring sensor together, in a state in which the inspection module unit 400 is far from the wedge 30, the first position adjusting unit 320 is a long-distance measuring sensor A high-speed position adjustment is made through the , and the second position adjusting unit 330 in a state close to the wedge 30 performs close control through a short-distance measurement sensor. Accordingly, the working time for the inspection module 400 to be in close contact with the wedge 30 can be minimized.

In this way, the distance sensor unit 331 is configured to measure information about the distance so that the striking unit 420 can strike the wedge 30 . Such distance sensor units 331 are not limited to a specific number, and various sensors capable of measuring a distance may be provided.

In addition, the second position adjusting unit 330 may further include a second photographing unit 332 . The second photographing unit 332 is configured to photograph an image inside the stator 10 .

The image data obtained from the second photographing unit 332 is provided to the integrated control unit 200 , and the integrated control unit 200 uses the image data provided from the second photographing unit 332 to provide a wedge inside the stator 10 . (30) The location can be accurately identified. Through the image data provided from the second photographing unit 332 as described above, the integrated control unit 200 may selectively control the operation of the position control module unit 300 .

In addition, a second lighting unit 333 may be further provided in the second position adjusting unit 330 . Such a second lighting unit 333 allows the second photographing unit 332 to effectively photograph the interior of the stator 10 in a dark environment.

As described above, the position control module unit 300 includes the rotary arm 310 , the first position control unit 320 , and the second position control unit 330 , and is provided at the end of the position control module unit 300 . The inspection module unit 400 to be used can be accurately moved to the position of the wedge 30 requested by the user.

When the module unit 300 for position control is coupled to the mobile driving unit 500, one module unit 300 for position control may be coupled, and two module units 300 for position control that are symmetrical to face each other are The number and arrangement of the module unit 300 for position control, such as may be coupled to the integrated control unit 200 in the mobile driving unit 500, may be variously configured according to the user. Here, when the module unit 300 for position control is provided as a pair at both ends of the integrated control unit 200 , the inspection of both ends of the stator 10 and the inspection of adjacent sections may be performed together.

Meanwhile, the inspection module unit 400 may include a base support unit 410 , a striking unit 420 , and a vibration measuring unit 430 .

Here, the base support part 410 is supported and fixed to the second position adjustment part 330 .

The striking part 420 and the vibration measuring part 430 may be provided on the base support part 410 .

On the other hand, the striking unit 420 is made to strike the wedge 30 that is required to be inspected. The striking unit 420 is configured to grasp the fastening strength of the wedge 30 through the striking of the wedge 30 with a predetermined force.

The striking unit 420 is provided with a force sensor to measure the strength of the force applied when the wedge 30 is struck. The striking part 420 may be struck through a solenoid and a link structure so that, for example, the effect of gravity is not large when striking. And the number of hits to the wedge 30 may be made multiple hits by varying the intensity and time instead of a single hit.

In addition, the vibration measuring unit 430 may be disposed adjacent to the striking unit 420 .

The vibration measuring unit 430 is configured to measure the vibration transmitted to the wedge 30 when the striking unit 420 is struck.

As such, the sensor provided in the striking unit 420 and measurement information measured by the vibration measuring unit 430 may be provided to the integrated control unit 200 .

Meanwhile, the integrated control unit 200 is configured to control the overall operation of the moving wheel unit 100 , the position control module unit 300 , and the inspection module unit 400 .

The integrated control unit 200 includes a control box 210, a data storage unit 220, an operation control unit 230, a robot position recognition unit 240, a wedge position recognition unit 250, a determination unit 260, and a communication unit ( 270) may be included.

Here, the control box 210 is provided on the upper portion of the moving wheel unit 100 and forms the outer shape of the integrated control unit 200 . An installation space is provided inside the control box 210 , and various components constituting the integrated control unit 200 may be provided in the installation space.

And the data storage unit 220 is provided inside the control box (210). The data storage unit 220 may store information about the stator 10 in advance. That is, modeling information for the entire stator 10 modeled based on a laser sensor or the like may be pre-stored in the data storage unit 220 . Such a data storage unit 220 is not necessarily provided inside the control box 210, for example, may be provided in an external computer.

And the operation control unit 230 is configured to control the operation of the driving wheel 101 and the module unit 300 for position control. At this time, the operation control unit 230 is configured to control the operation of the driving wheel 101 and the position control module unit 300 based on information provided through the robot position recognition unit 240 and the wedge position recognition unit 250 . . That is, the operation control unit 230 may control the forward and backward movement of the inspection robot, and may control the position of the inspection module unit 400 through operation control of the position control module unit 300 .

And the robot position recognition unit 240 is configured to grasp the position of the moving robot in the stator (10).

The robot position recognition unit 240 performs a mapping operation between modeling information of the stator 10 pre-stored in the data storage unit 220 and image data obtained through the first photographing unit 120 provided in the mobile driving unit 500 . Through this, the current position of the inspection robot can be determined. Here, when the first photographing unit 120 travels inside the stator 10 , the inspection robot may always travel straight by recognizing the iron core line by securing the image of the lower end.

The robot position recognition unit 240 detects the current position and movement of the inspection robot through estimating the angle of the inspection robot with respect to the axis direction of the stator 10 and estimating the iron core line in the image provided through the first photographing unit 120 . will take control

The method for determining the position of the inspection robot in motion is not limited to the above-described method, and any method may be applied as long as the position of the inspection robot is more accurate.

In addition, the wedge position recognition unit 250 maps the stator 10 modeling information pre-stored in the data storage unit 220 to image data obtained through the second photographing unit 332 provided in the inspection module unit 400 . The inspection position of the wedge 30 may be determined through the operation.

The second photographing unit 332 scans the inside of the stator 10 in the circumferential direction, and can accurately determine the inspection position of the wedge 30 through the scanned image data, modeling information of the stator 10, and a mapping operation.

Here, the wedge position recognizing unit 250 receives, for example, the image data provided from the second photographing unit 332 photographing the inside of the stator 10 in the circumferential direction through the rotation of the rotary arm 310, for example, the wedge ( 30) Inspection position of the wedge 30 through the corresponding 2D junction image and the stator 10 modeling information and mapping operation in the state that the image is extracted and the wedge 30 image data extracted for each angle is changed into one 2D junction image can be accurately identified.

The method for determining the position of the wedge 30 provided inside the stator 10 is not limited to the above-mentioned method, and any method is applied if a more accurate position of the wedge 30 is possible. Of course it is possible.

And the determination unit 260 is configured to determine the state and fastening strength of the wedge 30 from the sensor signal measured from the inspection module unit 400 .

The determination unit 260 may include a data collection unit 261 , a preprocessor 262 , a feature point extraction unit 263 , a wedge state estimator 264 , and a result output unit 265 .

A schematic view of the process of determining the state and fastening strength of the wedge 30 from the determination unit 260 , first, the data collection unit 261 includes the sensor measured from the striking unit 420 and the vibration measuring unit 430 . made to provide information. For example, information measured through a force sensor provided in the striking unit 420 and information measured through an acceleration sensor provided in the vibration measuring unit 430 may be provided to the data collection unit 261 . Here, the data collection unit 261 samples information provided from the force sensor and the acceleration sensor, and then performs a quantization process.

Next, the pre-processing unit 262 is configured to pre-process the sensor signal information of the data collecting unit 261 . The preprocessor 262 removes data noise of the sensor signal information provided from the data collection unit 261 and performs data normalization. Here, the noise removal may be, for example, DC offset removal or bandpass filtering. In addition, data normalization may be, for example, normalizing the maximum size of information data provided from the force sensor and the acceleration sensor.

Next, the key point extraction unit 263 is configured to extract the key point from the sensor signal information that has passed through the pre-processing unit 262 . For example, sensor signal information provided from the force sensor and the acceleration sensor may be converted into time series data and frequency data, respectively. In this way, a feature point having a high linear discrimination power may be extracted from a total of four data.

Next, the wedge state estimator 264 estimates the state of the wedge 30 and estimates the fastening strength of the wedge 30 . Here, in the estimation of the state of the wedge 30 , similar data may be selected by estimating the length of the wedge 30 or the density of fillings hidden under the wedge 30 . In addition, in the estimation of the fastening strength of the wedge 30 , it is possible to estimate the fastening strength in various stages, such as the 1st step, the 2nd step, the 3rd step, the 4th step, the 5th step, using the wedge 30 state estimation result and the feature point.

Finally, the result output unit 265 is configured to provide the result of the wedge state estimator 264 to the communication unit 270 . The result output unit 265 may provide the user with the result of the fastening strength of the wedge 30 in the form of a graphic or the like.

The communication unit 270 may be configured to be able to communicate with an external device. Here, the external device may be a user terminal.

Accordingly, the operator may be remotely provided with operation state information of the inspection robot in real time while connected to the communication unit 270 through the user terminal. In addition, the operator may control the overall operation of the stator wedge inspection robot system 1000 through the user terminal.

Here, the user terminal configured to communicate with the communication unit 270 may be any device as long as it is provided with an input device capable of inputting text and an output device capable of displaying on the screen, for example.

Such a user terminal may be, for example, any type of handheld-based wireless communication device equipped with a touch screen panel, such as a mobile phone, a smart phone, a personal digital assistant (PDA), a portable multimedia player (PMP), a tablet PC, etc. , desktop PCs, tablet PCs, laptop PCs, IPTVs including set-top boxes, etc., may be devices with a foundation for installing and running applications.

Such a user terminal is configured to be accessible only to a user terminal in which a dedicated program accessible to the communication unit 270 is installed.

And, when accessing the communication unit 270 using a user terminal, only a worker who has been given a unique ID and password (PW) designated in advance can access the communication unit 270 .

The communication unit 270 including the user terminal is configured to transmit/receive data using an Internet protocol using various wired/wireless communication technologies such as an Internet network, an intranet network, a mobile communication network, and a satellite communication network.

Here, the communication network is a closed network such as a local area network (LAN) and a wide area network (WAN), and an open network such as the Internet, as well as CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), Networks such as Global System for Mobile Communications (GSM), Long Term Evolution (LTE), and Evolved Packet Core (EPC), and a next-generation network and computing network to be implemented in the future may be collectively a concept.

In this way, the user can monitor the working state of the inspection robot remotely through the user terminal.

When looking at the overall operating state of the stator wedge inspection robot as described above, first, the inspection robot is inserted into the stator 10 . At this time, the inspection robot is moved into the stator 10 based on a straight travel.

Next, the wedge 30 provided in the stator 10 using the rotary arm 310 is scanned.

Next, the position of the wedge 30 to be inspected is selected, and the inspection module unit 400 is moved and closely attached to the wedge 30 required to be inspected through the position control module unit 300 .

Next, the inspection module unit 400 inspects the fastening strength by striking the wedge 30 .

Finally, the determination unit 260 in the integrated control unit 200 determines whether the wedge 30 is abnormal based on the sensor signal information provided from the inspection module unit 400 .

The inspection robot is gradually moved by a predetermined distance in the axial direction of the stator 10 and repeatedly inspects in the above-mentioned manner.

In this way, the stator wedge inspection robot system 1000 according to the present invention moves the moving wheel part 100 along the axial direction of the stator 10 and the inspection module part 400 to a position required through rotation and length adjustment. As the module unit 300 for position control that moves is provided, obstacles such as baffles can pass through, and the wedge 30 located in the gas hole zone can be precisely inspected for the stator 10 .

However, this is only a preferred embodiment of the present invention, and the scope of the present invention is not limited by the scope of the present invention.

The description of the present invention described above is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

10: stator
20: baffle
30: wedge
100: moving wheel part
101: drive wheel
102: auxiliary wheel
120: first photographing unit
130: first lighting unit
200: integrated control
210: control box
220: data storage unit
230: operation control
240: robot position recognition unit
250: wedge position recognition unit
260: judgment unit
261: data collection unit
262: preprocessor
263: feature point extraction unit
264: wedge state estimation unit
265: result output unit
270: communication department
300: module unit for position control
310: rotary arm
320: first position control unit
330: second position control unit
331: distance sensor unit
332: second recording unit
333: second lighting unit
400: inspection module unit
410: base support
420: hitting unit
430: vibration measurement unit
500: mobile driving unit
1000: stator wedge inspection robot system

Claims (5)

a mobile driving unit having a moving wheel unit moving along the axial direction of the stator and an integrated control unit provided on an upper portion of the moving wheel unit;
a module unit for position control that is supported and coupled to the mobile driving unit, and whose position is adjusted to a required position through rotation and length adjustment; and
The stator wedge inspection robot system is coupled to the position control module and includes an inspection module unit for inspecting a wedge provided inside the stator.
According to claim 1,
The position control module unit,
a rotary arm having one end coupled to the mobile driving unit and rotating from the mobile driving unit;
a first position adjusting unit coupled to the other end of the rotating arm, the length of which is adjusted based on the rotating arm; and
It is coupled to the end of the first position adjuster, comprising a second position adjuster moved in the wedge direction from the first position adjuster,
The stator wedge inspection robot system is provided with a distance sensor for measuring a distance to the wedge in the second position adjusting unit.
According to claim 1,
The inspection module unit,
a base support part supported and fixed to the position control module part;
a striking unit provided on the base support and striking the wedge; and
The stator wedge inspection robot system is provided on the base support and includes a vibration measuring unit for measuring the vibration of the wedge by the striking of the striking unit.
According to claim 1,
The integrated control unit,
Control box provided with an installation space inside;
a data storage unit in which information on the stator is pre-stored;
an operation control unit for controlling the operation of the moving wheel unit and the module unit for position control;
a robot position recognizing unit for recognizing the current position of the inspection robot through the image acquired through the first photographing unit provided in the mobile driving unit and the stator modeling information stored in the data storage unit;
a wedge position recognizing unit for recognizing an inspection position of the wedge through an image obtained through a second photographing unit provided in the position control module unit and stator modeling information stored in the data storage unit;
a determination unit for determining the state and fastening strength of the wedge from the sensor signal measured from the inspection module unit; and
The stator wedge inspection robot system is provided inside the control box and includes a communication unit communicating with an external device.
5. The method of claim 4,
The judging unit,
a data collection unit receiving the sensor signal measured from the inspection module unit;
a pre-processing unit for pre-processing the sensor signal information of the data collection unit;
a feature point extraction unit for extracting a feature point from the sensor signal information passed through the preprocessor;
a wedge state estimator for estimating a state and fastening strength of the wedge based on the information obtained from the feature point extraction unit; and
and a result output unit providing the result of the wedge state estimation unit to the communication unit.

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