EP3811065A1 - Inspektionsverfahren und inspektionsfahrzeug - Google Patents
Inspektionsverfahren und inspektionsfahrzeugInfo
- Publication number
- EP3811065A1 EP3811065A1 EP19745990.2A EP19745990A EP3811065A1 EP 3811065 A1 EP3811065 A1 EP 3811065A1 EP 19745990 A EP19745990 A EP 19745990A EP 3811065 A1 EP3811065 A1 EP 3811065A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- inspection vehicle
- chassis
- inspection
- cavity
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23R—GENERATING COMBUSTION PRODUCTS OF HIGH PRESSURE OR HIGH VELOCITY, e.g. GAS-TURBINE COMBUSTION CHAMBERS
- F23R2900/00—Special features of, or arrangements for continuous combustion chambers; Combustion processes therefor
- F23R2900/00019—Repairing or maintaining combustion chamber liners or subparts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9548—Scanning the interior of a cylinder
Definitions
- the invention relates to a method for inspecting the interior of an annular cavity, in particular in the form of an asymmetrical cross-section having Ringbrennkam mer a gas turbine of a power plant.
- the invention further relates to an inspection vehicle for carrying out such a method.
- Annular combustion chambers of gas turbines require regular inspection, for example to determine the condition of the heat shield plates with which the annular combustion chamber is used
- the present invention provides a method of the type mentioned, which is characterized in that it is carried out using an inspection vehicle.
- the use of such an inspection vehicle is advantageous in that no one has to enter the annular combustion chamber.
- it is also not necessary to lower the temperature within the ring combustion chamber to 40 ° C. for carrying out the process, which takes a lot of time. Rather, the inspection can be started at higher temperatures, which is associated with short downtimes. Due to the fact that the inspection vehicle the
- the present invention creates an inspection vehicle to solve the problem mentioned above, which is designed to carry out the method according to the invention.
- the inspection vehicle comprises a chassis, two wheel groups held on the chassis, which are designed to move the inspection vehicle in a circumferential direction through the cavity and each have at least four wheels, the wheels of the first group of wheels being designed to move radially to support externally arranged cavity wall, and wherein the wheels of the second wheel group are designed to be supported on a radially inner cavity wall, several motors which are assigned to different wheels and drive them in a motor-rotating manner about their respective wheel axis, one of the motors controlling control device and an inspection device held on the chassis.
- the inspection vehicle according to the invention is securely supported on the radially inner cavity wall and on the radially outer cavity the wall of the room, which allows the inspection vehicle to autonomously drive the annular combustion chamber along its 360 ° extent using the motor drive.
- the motors are preferably assigned at least two wheels of the first wheel group lying opposite one another to the chassis and two wheels of the second wheel group lying opposite one another in order to ensure proper propulsion of the inspection vehicle at all positions of the annular cavity.
- all wheels of the inspection vehicle can each be driven by a motor.
- the inspection is carried out using the inspection device, for example by capturing corresponding image data.
- the cavity positions at which the image data are recorded by the inspection device can be calculated, for example, by recording the distance traveled by the inspection vehicle from the starting point of the inspection.
- the number of revolutions of the individual motors can be used to determine the distance.
- a separate displacement sensor can also be provided on the chassis, which detects the distance traveled.
- two wheels of a wheel group are arranged opposite each other in pairs relative to the chassis, as is customary in conventional vehicles. This leads to a simple structure of the inspection vehicle according to the invention.
- none of the wheel axles extends parallel to another wheel axle.
- the alignment of each individual wheel is adapted to the asymmetrical cross section of the annular cavity, whereby a particularly secure hold of the inspection vehicle is achieved while driving through the cavity.
- the respective distances between the wheel axles of the wheels of at least one of the wheel groups and the chassis are preferably individually adjustable, especially adjustable via pneumatically or electrically operated, linear retractable and extendable telescopic devices.
- the inspection vehicle In the retracted state of the telescopic devices, the inspection vehicle can thus be easily positioned in the cavity to be inspected. The distances can then be increased, in particular by extending the telescopic devices, in such a way that all the wheels contact the cavity wall assigned to them under a corresponding contact pressure.
- the motor is connected to a wheel via at least one transmission, which serves to adjust the speed.
- a worm gear is advantageously connected to the drive wheel. Due to the self-locking feature, the worm gear allows the wheels to lock even if the power supply is cut off, so that if the power supply is cut off, the inspection vehicle remains securely in its position within the cavity.
- the inspection vehicle is advantageously supplied with voltage and / or with data and / or with compressed air via at least one supply line.
- a winding device is advantageously provided for the automatic winding and unwinding of the at least one supply line in order to avoid overrunning the at least one supply line and unwanted tensile forces due to dragging of the at least one supply line.
- distance sensors are arranged on the chassis, which are designed and arranged in such a way that they detect current distances to a side wall of the annular cavity, the control device being designed such that it uses CAD Comparing the data of the cavity with the desired distances and controlling the motors on the basis of the comparison result.
- the spacing essentially aligned in the axial direction of the annular cavity Sensors can be arranged, for example, over the length of the inspection vehicle in order to determine the precise alignment of the inspection vehicle within the cavity by means of a corresponding comparison of the detected distance data. If the actual alignment does not correspond to the target alignment, individual motors can be controlled accordingly via the control device in order to correct the alignment.
- At least one camera device connected to the control device is preferably held on the chassis and is oriented essentially in the axial direction of the annular cavity.
- two camera devices are advantageously provided, one of which is aligned in the direction of the burner of the gas turbine and one in the direction of the turbine, so that the burner and the first guide vanes can also be inspected when driving through the annular combustion chamber.
- the inspection device itself can be equipped with a wide variety of sensors.
- it preferably has at least one camera device, which is advantageously set up in such a way that in each case it can completely capture a heat shield plate.
- the inspection device is advantageously held on the chassis such that it can be moved by a motor relative to the chassis, so that it can be moved as freely as possible within the annular cavity and can reach all areas to be inspected.
- the inspection device is preferably linear along a linear axis extending essentially in the axial direction of the annular cavity, pivoting about a first pivot axis extending essentially in the circumferential direction of the ring combustion chamber, pivoting about a second pivot axis extending parallel to the first pivot axis and pivoting about a Third pivot axis extending perpendicular to the second pivot axis. So that becomes a very good freedom of movement of the inspection device achieved with a simple structure.
- Figure 1 is a perspective view of an inspection vehicle according to an embodiment of the present invention.
- FIG. 2 shows a further perspective view of the inspection vehicle shown in FIG. 1, with a winding device being omitted for illustration purposes;
- Figure 3 is a perspective view of the inspection vehicle shown in Figure 2 Darge driving through an annular cavity and
- FIG. 4 shows a top view of the FIG.
- the inspection vehicle 1 shown in FIGS. 1 to 4 is used to inspect the interior of an annular cavity 2, in the present case an asymmetrical cross-section of an annular combustion chamber of a gas turbine (not shown) of a power plant.
- the inspection vehicle 1 comprises a chassis 3 which, in the embodiment shown, has a frame-like structure. On the chassis 3 are held two wheel groups that are designed to move the inspection vehicle 1 in a circumferential direction U through the cavity 2.
- the lower first wheel group shown in FIG. 1 has four wheels 4a which are designed to rest on a radially outer cavity wall 5 to support.
- the second wheel group arranged at the top in FIG. 1 also has four wheels 4b, which are designed to be located in a radially inner cavity wall
- each wheel 4a, 4b is assigned an electric motor 7, which is connected to the assigned wheel 4a, 4b via a first gear 8 and a second gear 9, which is a worm gear.
- the wheels 4b of the upper second wheel group are also assigned linearly retractable and extendable telescopic devices 10, so that the respective distances between the wheel axles of the wheels 4a, 4b and the chassis 3 can each be set or changed individually.
- the telescopic devices 10 are operated pneumatically. In principle, however, it is also possible to provide them with electric motors.
- the wheel axles about which the wheels 4a, 4b rotate are each oriented differently, so that none of the wheel axles extends parallel to one of the other wheel axles.
- the motors 7 are controlled via a control device 11, which is also held on the chassis 3.
- distance sensors 12 are provided, which are designed and arranged in such a way that they detect current distances of the chassis 3 from a side wall 13 of the annular cavity 2, as is indicated by the lines 14, the control device 11 being laid out in such a way that that it compares the current distances with target distances obtained from CAD data of the cavity 2 and controls the motors 7 on the basis of the comparison result.
- three distance sensors 12 are provided, which are held in the movement direction of the inspection vehicle 1 at uniform intervals on the chassis 3 and are aligned essentially in an axial direction A of the annular cavity 2. Furthermore, in the present case, two camera devices 15 connected to the control device 11 are held on the chassis 3, which are also aligned in an essentially axial direction A of the cavity 2 such that one of the camera devices 15 has the burners and the other camera device. direction 15 detects the first guide vane in the turbine, as indicated by lines 16 in the figures.
- An inspection device 17 is presently arranged in the front area of the inspection vehicle 1 in such a way that it can be moved mechanically relative to the chassis 3, specifically linearly along a linear axis 18 extending essentially in the axial direction of the annular combustion chamber 2, pivoting about a substantially in Circumferential direction of the ring combustion chamber 2 extending first pivot axis 19, pivoting about a second pivot axis 20 extending parallel to the first pivot axis 19 and pivoting about a third pivot axis 21 extending perpendicular to the second pivot axis 20.
- the linear movement along the linear axis 18 is before lying on a motor and realized a belt drive.
- the swiveling movements are realized via a motor and an assigned gear.
- the inspection device 17 itself comprises a camera device 22 and a camera housing 23 which surrounds and protects it.
- the camera device 22 is set up in such a way that it can completely capture one of the heat shield elements with which the cavity 2 is lined.
- the supply of the inspection vehicle 1 with voltage, data and compressed air takes place via at least one supply line 24 which is arranged on a winding device 25 which automatically unwinds and winds up the at least one supply line 24.
- the inspection vehicle 1 In order to carry out an inspection of the annular cavity 2 or the annular combustion chamber, the inspection vehicle 1 is inserted through a manhole into the cavity 2 in a first step, all of the telescopic devices 10 being in the retracted state. Then the telescopic devices 10 are extended until all the wheels 4a, 4b bear against the radially outer and inner cavity walls 5 and 6 with a contact pressure.
- the alignment of the wheel axles is chosen such that the alignment of the respective wheels 4a, 4b is optimally adapted to the asymmetrical cross section of the cavity 2.
- the alignment of the individual wheel axles can be preset. she can also be varied within certain limits in order to be able to adapt the inspection vehicle 1 to different cross-sectional geometries of cavities 2.
- the inspection vehicle 1 can also be modular in order to facilitate its insertion into the annular cavity 2. Accordingly, the modules can be inserted into the cavity 2 one after the other and only then connected to one another.
- the chassis 3 with the control device 11, the wheels 4a, 4b arranged on the chassis 3 with the associated motors 7, gears 8, 9 and telescopic devices 10, and the inspection device 17 with the linear axis and the three pivot axes 19, 20, 21 available as individual modules.
- the modular breakdown of the inspection vehicle 1 is basically freely selectable.
- the direction of the linear axis 18 of the inspection device 17 should be selected such that the Inspektionseinrich device 17 can be moved as flexibly as possible in the axial direction A of the annular cavity 2.
- the configuration of the linear axis 18 or its attachment to the chassis 3 can be carried out in such a way that the extension of the line axis can be adjusted in certain areas.
- a predetermined starting point within the cavity 2 is selected.
- the actual position of the inspection vehicle 1 is stored in the control device 11 and compared with CAD data of the cavity 2.
- the inspection vehicle 1 is now moved in the circumferential direction U through the cavity 2 such that the inspection device 17 can detect each of the heat shield elements lining the cavity 2.
- the distance sensors 12 can be used to determine when the inspection vehicle 1 passes the transition between two adjacent heat shield elements.
- the position can then be compared with the CAD data of the cavity 2 in order to verify the current position of the inspection vehicle 1 within the cavity 2, which was calculated, for example, based on the number of revolutions of the individual motors 7. This ensures that those detected by the inspection device 17 Data of the correct circumferential position of the cavity 2 are assigned.
- the distance sensors 12 record the current distances between the chassis 3 and the side wall 13 of the cavity 2, specifically in the front, middle and rear region of the chassis 3. By comparing the data recorded by the three distance sensors 12 with CAD data of the cavity 2 Target distances can be determined whether the chassis 3 is properly aligned with the side wall 13 of the cavity 2. If this is not the case, the control device 11 controls one or more of the motors 7 driving the wheels 4a, 4b in order to correct the alignment of the chassis 3 with the side wall 13. In this way, the inspection vehicle 1 can be prevented from getting stuck within the cavity 2.
- the winding device 25 rolls the supply line 24 as required. In this way, over driving the supply line 24 and unwanted tensile forces due to dragging the supply line 24 can be avoided.
- the second gear 9 designed as a worm gear, ensures that the wheels 4a, 4b lock due to their self-locking, so that the inspection vehicle 1 remains securely in its position within the cavity 2.
- Carrying out an annular combustion chamber inspection using the inspection vehicle 1 according to the invention is advantageous in that no person has to enter the annular cavity 2. Accordingly, the requirements placed on the temperature of the annular combustion chamber and the operation of the turbine to carry out an inspection are comparatively low. Due to the fact that the inspection vehicle 1 drives through the cavity 2 autonomously and When carrying out the inspection, a very objective assessment is carried out with the same quality standard. Manual logging of the inspection results and errors when transferring manual log notes to a database are also eliminated.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018214413.3A DE102018214413A1 (de) | 2018-08-27 | 2018-08-27 | Inspektionsverfahren und Inspektionsfahrzeug |
PCT/EP2019/068372 WO2020043374A1 (de) | 2018-08-27 | 2019-07-09 | Inspektionsverfahren und inspektionsfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3811065A1 true EP3811065A1 (de) | 2021-04-28 |
Family
ID=67480159
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19745990.2A Withdrawn EP3811065A1 (de) | 2018-08-27 | 2019-07-09 | Inspektionsverfahren und inspektionsfahrzeug |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210324991A1 (de) |
EP (1) | EP3811065A1 (de) |
DE (1) | DE102018214413A1 (de) |
WO (1) | WO2020043374A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20210255112A1 (en) * | 2020-02-18 | 2021-08-19 | Infrastructure Preservation Corporation | Robotic inspection system for structural columns |
CN112431999B (zh) * | 2020-12-01 | 2021-08-13 | 福建省中建检测技术有限公司 | 一种耐磨管道检测修复机器人及其使用方法 |
CN112865307B (zh) * | 2021-01-13 | 2021-11-23 | 华东交通大学 | 一种牵引变电所辅助监控系统 |
CN113090852A (zh) * | 2021-03-19 | 2021-07-09 | 东莞市广渠建筑工程有限公司 | 一种大管径排水管道非开挖修复方法 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4177734A (en) * | 1977-10-03 | 1979-12-11 | Midcon Pipeline Equipment Co. | Drive unit for internal pipe line equipment |
NO851590L (no) * | 1984-05-14 | 1985-11-15 | Kraftwerk Union Ag | Selvdrevet inspeksjons- og tilsynskjoeretoey. |
DE3612498A1 (de) * | 1986-04-14 | 1987-10-29 | Norske Stats Oljeselskap | Selbstfahrendes fahrzeug fuer rohrleitungen |
FR2662989A1 (fr) * | 1990-06-11 | 1991-12-13 | Esstin | Vehicule auto propulse et articule a verins telescopiques pour l'inspection de tuyauteries. |
JP3149110B2 (ja) * | 1990-09-28 | 2001-03-26 | 株式会社東芝 | 走行機構及びその走行機構を備えた走行装置 |
WO1997014910A2 (de) * | 1995-10-16 | 1997-04-24 | Siemens Aktiengesellschaft | Rohrinnenmanipulator zum prüfen oder bearbeiten der innenoberfläche eines rohres |
JPH10318478A (ja) * | 1997-05-14 | 1998-12-04 | Tokyo Gas Co Ltd | 管内走行装置 |
DE19924607A1 (de) * | 1999-05-28 | 2000-11-30 | Siemens Ag | Inspektionsvorrichtung für eine Ringbrennkammer einer Gasturbine und Verfahren zur Inspektion einer Ringbrennkammer einer Gasturbine |
DE102004029631B4 (de) * | 2004-06-18 | 2006-04-13 | Hc Pipe Tech Gmbh | Wagen zum zentrierten Durchfahren von Rohren |
US7188568B2 (en) * | 2005-06-29 | 2007-03-13 | Arizona Public Service Company | Self-propelled vehicle for movement within a tubular member |
US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
NO328066B1 (no) * | 2008-01-25 | 2009-11-23 | Helix Technologies As | Rortraktor |
DE102008064208A1 (de) * | 2008-12-22 | 2010-08-26 | Analytic Pipe Gmbh | Bewegliches Inspektionsgerät für Pipelines |
JP5574861B2 (ja) * | 2010-07-14 | 2014-08-20 | 株式会社東京エネシス | 配管減肉測定装置 |
US10060569B2 (en) * | 2014-06-25 | 2018-08-28 | Orlande Wayne Sivacoe | Pipe pig |
DE102017201403A1 (de) * | 2017-01-30 | 2018-08-02 | Siemens Aktiengesellschaft | Vorrichtung zur beschleunigten Inspektion von einem Hohlraum, insbesondere von Hitzeschilden in einer Brennkammer |
-
2018
- 2018-08-27 DE DE102018214413.3A patent/DE102018214413A1/de not_active Withdrawn
-
2019
- 2019-07-09 US US17/270,018 patent/US20210324991A1/en active Pending
- 2019-07-09 WO PCT/EP2019/068372 patent/WO2020043374A1/de unknown
- 2019-07-09 EP EP19745990.2A patent/EP3811065A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2020043374A1 (de) | 2020-03-05 |
US20210324991A1 (en) | 2021-10-21 |
DE102018214413A1 (de) | 2020-02-27 |
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