Robot device, inspection device, inspection device of generator, and inspection method

{
  "publication_number": "US10444287B2",
  "country": "US",
  "kind": "B2",
  "title": "Robot device, inspection device, inspection device of generator, and inspection method",
  "abstract": "According to one embodiment, a robot device includes a robot and a station part. The robot is inserted into a gap between an outer peripheral surface of a first part of a first member and a second member surrounding the outer peripheral surface. The first member includes the first part and a second part. A step is formed between the first part and the second part. The station part includes an elevating mechanism. The elevating mechanism lowers the robot onto the outer peripheral surface of the first member on a lower stage side of the step, and raises the robot from the outer peripheral surface.",
  "claims": [
    "1. A robot device comprising: a robot inserted into a gap between an outer peripheral surface of a first part of a first member and a second member surrounding the outer peripheral surface, the first member including the first part and a second part, a step being formed between the first part and the second part; and a station part including an elevating mechanism, the elevating mechanism lowering the robot onto the outer peripheral surface of the first member on a lower stage side of the step, and raising the robot from the outer peripheral surface.",
    "2. The device according to claim 1, wherein the elevating mechanism includes a lever, a first rod fixed to one edge of the lever and extending in a first direction, a second rod connected to one other edge of the lever and extending in the first direction at a position shifted from a core of the first rod, and a stage connected to the first rod and supporting the robot, the stage ascending and descending in conjunction with rotation of the second rod.",
    "3. The device according to claim 1, wherein the robot includes an adsorption part adsorbing on the outer peripheral surface of the first part.",
    "4. An inspection device comprising: an inspection robot inserted into a gap between an outer peripheral surface of a columnar part of a columnar body and an outer peripheral body surrounding the outer peripheral surface, the columnar body including the columnar part and a part, the columnar part and the part arranged in an axial direction of the columnar part with a step between the columnar part and the part; and a station part including an elevating mechanism and attached to the part, the elevating mechanism lowering the inspection robot onto the outer peripheral surface of the columnar part on a lower stage side of the step, and raising the inspection robot from the outer peripheral surface.",
    "5. The device according to claim 4, wherein the elevating mechanism includes a lever, a first rod fixed to one edge of the lever and extending in the axial direction of the columnar part, a second rod fixed to one other edge of the lever and extending in the axial direction of the columnar part at a position shifted from a core of the first rod, and a stage connected to the first rod and supporting the inspection robot, the stage ascending and descending in conjunction with rotation of the second rod.",
    "6. The device according to claim 4, wherein the inspection robot travels on the outer peripheral surface of the columnar part in the axial direction of the columnar part.",
    "7. The device according to claim 4, wherein the inspection robot includes an adsorption part adsorbing on the outer peripheral surface of the columnar part.",
    "8. The device according to claim 4, wherein the inspection robot includes an arm extending toward the outer peripheral body, and a sensor held on the arm and contacting the outer peripheral body.",
    "9. The device according to claim 4, wherein the station part is transferable in a circumferential direction of the part.",
    "10. The device according to claim 5, wherein the stage is curved along the outer peripheral surface of the columnar part.",
    "11. The device according to claim 4, wherein the inspection robot includes a base plate curved along the outer peripheral surface of the columnar part.",
    "12. An inspection device of a generator comprising: an inspection robot inserted in a gap between an outer peripheral surface of a rotor body of a rotor and a stator core surrounding the outer peripheral surface, the rotor including the rotor body and a part, the part provided on an edge in an axial direction of the rotor body with a step between the rotor body and the part; and a station part including an elevating mechanism and attached to the part, the elevating mechanism lowering the inspection robot onto the outer peripheral surface of the rotor body on a lower stage side of the step, and raising the inspection robot from the outer peripheral surface.",
    "13. The device according to claim 12, wherein the elevating mechanism includes a lever, a first rod fixed to one edge of the lever and extending in the axial direction of the rotor body, a second rod fixed to one other edge of the lever and extending in the axial direction of the rotor body at a position shifted from a core of the first rod, and a stage connected to the first rod and supporting the inspection robot, the stage ascending and descending in conjunction with rotation of the second rod.",
    "14. The device according to claim 12, wherein the inspection robot travels on the outer peripheral surface of the rotor body in the axial direction of the rotor body.",
    "15. The device according to claim 12, wherein the inspection robot includes an adsorption part adsorbing on the outer peripheral surface of the rotor body.",
    "16. The device according to claim 12, wherein the inspection robot includes an arm extending toward the stator core, and a sensor held on the arm and contacting the stator core.",
    "17. The device according to claim 12, wherein the station part is transferable in a circumferential direction of the part.",
    "18. The device according to claim 13, wherein the stage is curved along the outer peripheral surface of the rotor body.",
    "19. The device according to claim 12, wherein the inspection robot includes a base plate curved along the outer peripheral surface of the rotor body.",
    "20. An inspection method comprising: attaching a station part to a part of a columnar body including a columnar part and the part, the columnar part and the part being arranged in an axial direction of the columnar part with a step between the columnar part and the part; lowering an inspection robot held on the station part onto an outer peripheral surface on a lower stage side of the step by driving the station part in a gap between the outer peripheral surface of the columnar part and an outer peripheral body surrounding the outer peripheral surface; inspecting at least the columnar part of the columnar part and the outer peripheral body by the inspection robot; and raising the inspection robot from the outer peripheral surface by driving the station part."
  ],
  "description_excerpt": "Embodiments described herein relate generally to a robot device, an inspection device, an inspection device of a generator, and an inspection method.\n\nFor example, an apparatus for inspecting a narrow gap between a rotor and a stator of a generator by a robot is proposed.\n\nFIG. 1 is a schematic perspective view of a station part in an inspection device of an embodiment;\n\nFIG. 2 is a schematic perspective view of an inspection robot in the inspection device of the embodiment;\n\nFIG. 3A to FIG. 5B are schematic views showing an operation of the inspection device of the embodiment;\n\nFIG. 6 is a schematic view showing the operation the inspection device of the embodiment; and\n\nFIG. 7 is a schematic view showing the operation the inspection device of the embodiment.\n\nAccording to one embodiment, a robot device includes a robot and a station part. The robot is inserted into a gap between an outer peripheral surface of a first part of a first member and a second member surrounding the outer peripheral surface. The first member includes the first part and a second part. A step is formed between the first part and the second part. The station part includes an elevating mechanism. The elevating mechanism lowers the robot onto the outer peripheral surface of the first member on a lower stage side of the step, and raises the robot from the outer peripheral surface.\n\nVarious embodiments will be described hereinafter with reference to the accompanying drawings. In the drawings, similar components are marked with like reference numerals.",
  "cpc": [
    "G01R 31/34",
    "B25J 11/00",
    "B25J 5/005",
    "G01R 31/44",
    "H05F 1/00",
    "Y10S 901/44"
  ],
  "ipc": [
    "B25J 5/00",
    "G01R 31/34",
    "G01R 31/44",
    "H05F 1/00"
  ],
  "assignees": [
    "Toshiba Corp"
  ],
  "inventors": [
    "Hiroaki Kuwahara",
    "Hideo CHIKAOKA",
    "Tomio Iwata",
    "Fujio Terai",
    "Yuuichiro Gunji",
    "Akihiro Matsuzaki"
  ],
  "filing_date": "2017-11-09",
  "publication_date": "2019-10-15",
  "grant_date": "2019-10-15",
  "priority_date": "2016-11-09",
  "application_number": "US-201715808038-A",
  "family_id": "62063794",
  "cited_by_count": 0,
  "citations": [
    "US7201055B1",
    "US20070277629A1",
    "US20090301168A1",
    "US9148045B2"
  ]
}