JP7077195B2 - Ultrasonography method and ultrasonic inspection system - Google Patents

Description

Embodiments of the present invention relate to ultrasonic inspection methods and ultrasonic inspection systems for flaw detection.

As maintenance work for rotating electric machines such as generators, it is necessary to access the outer peripheral surface of the rotor and the inner peripheral surface of the stator, and inspect the electrical and mechanical soundness using an inspection device or the like. However, when the rotor is inserted into the stator, the space between the rotor and the stator is narrow, so it is common to remove the rotor from the stator and perform inspection work. However, the work of pulling out the rotor from the stator requires a great deal of labor and time.

On the other hand, a technique has also been developed in which an inspection device is moved within a narrow gap (annular space) between the rotor and the stator while the rotor is inserted into the stator for inspection.

In addition, a flaw detection technique using ultrasonic waves is generally known.

Japanese Unexamined Patent Publication No. 2009-75101 U.S. Patent Application Publication No. 2013/0047748

It is not easy to move the inspection device to the inspection position in the narrow gap while avoiding obstacles.

It is an object of the present invention to provide a method and a system for efficiently performing ultrasonic flaw detection without much effort while moving a moving body.

In order to solve the above problems, in the ultrasonic inspection method according to the embodiment, the flaw detection target is moved by using the flaw detection position search device mounted on the moving object while moving the moving object along the surface of the flaw detection target. The moving / searching step for searching the flaw detection position of an object, the moving body stopping step for stopping the moving body when the flaw detecting position is detected in the moving / searching step, and the moving body stopping step for the moving body. The flaw detection object is provided with an ultrasonic flaw detection step for detecting the flaw detection object by using an ultrasonic flaw detector including an ultrasonic sensor mounted on the moving body in a stopped state, and the flaw detection object is a rotary electric machine. A plurality of teeth extending in the axial direction at intervals in the circumferential direction on the outer periphery of the rotor core arranged inside the cylindrical stator of the above, and the moving / searching step fixes the moving body. A moving step of moving the teeth axially along the radial tip of the teeth in the annular gap between the child and the rotor core, and a moving step of the moving steps in the circumferential direction of the plurality of teeth. It is characterized by including a search step of searching for the axial end portion of a plurality of wedges arranged adjacent to each other in the axial direction at the sandwiched axial end portion as the flaw detection position .

Further, the ultrasonic inspection system according to the embodiment includes a moving body that can move along the surface of the flaw detection object, a flaw detection position search device that is mounted on the moving body and can search for a flaw detection position, and the moving body. An ultrasonic flaw detector that is mounted to detect the flaw detection object, a movement control unit that stops the moving body when the flaw detection position search device detects the flaw detection position, and a movement control unit that stops the moving body, and when the moving body is stopped. It has an ultrasonic flaw detection control unit that controls the ultrasonic flaw detector to detect the flaw detection object, and the flaw detection object is arranged inside a cylindrical stator of a rotary electric machine. A plurality of teeth extending in the axial direction at intervals in the circumferential direction on the outer periphery of the rotor core, and the flaw detection position search device makes the moving body an annular shape between the stator and the rotor core. A moving step of moving the teeth axially along the radial tip in the gap, and a moving step, while performing the moving step, sandwiched between the plurality of teeth in the circumferential direction and axially at the axial end portion. It is characterized by performing a search step of searching for the axial end portion of a plurality of wedges arranged adjacently as the flaw detection position .

According to the embodiment of the present invention, ultrasonic flaw detection can be efficiently performed while moving a moving body.

It is a schematic vertical sectional view which shows the whole structure in the situation at the time of axial movement and search of the ultrasonic inspection system which concerns on embodiment of this invention. It is a schematic top view of the moving body of FIG. It is a block diagram which shows the functional structure of the control operation part of FIG. It is a schematic diagram which shows the installation situation of the moving body and the base unit when the ultrasonic inspection system of FIG. 1 is applied to the inspection of a rotary electric machine. FIG. 4 is a top view taken along the line VV of FIG. 4. FIG. 5 is a top view showing a state in which the moving body is engaged with the base unit. It is a perspective view which shows the arrangement state of the teeth and the wedge of the rotor of the rotary electric machine which is the object of application of the ultrasonic inspection system which concerns on embodiment of this invention. FIG. 3 is a perspective view showing a portion of the tooth shown in FIG. 7 where scratches (defects) are likely to occur. It is a flow figure which shows the procedure of the ultrasonic inspection method which concerns on embodiment of this invention. It is a flow chart which shows the detail of the axial movement / flaw detection step in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, common reference numerals are given to parts that are the same as or similar to each other, and duplicate description will be omitted.

FIG. 1 is a schematic vertical cross-sectional view showing the overall configuration of the ultrasonic inspection system according to the embodiment of the present invention in a situation during axial movement / search. FIG. 2 is a schematic top view of the moving body of FIG. FIG. 3 is a block diagram showing a functional configuration of the control operation unit of FIG. FIG. 4 is a schematic diagram showing an installation state of a moving body and a base unit when the ultrasonic inspection system of FIG. 1 is applied to inspection of a rotary electric machine. FIG. 5 is a top view taken along the line VV of FIG. 4. FIG. 6 is a top view showing a state in which the moving body is engaged with the base unit in FIG. FIG. 7 is a perspective view showing the arrangement of the teeth 122 and the wedge 123 of the rotor of the rotary electric machine to which the ultrasonic inspection system according to the embodiment of the present invention is applied. FIG. 8 is a perspective view showing a portion of the teeth 122 shown in FIG. 7 where scratches (defects) are likely to occur.

The inspection system according to the first embodiment includes a moving body 10, a base unit 11, a control operation unit 12, a cable 13 connecting the moving body 10 and the base unit 11, and a base unit 11 and a control operation unit. It has a cable 14 and a cable 14 for connecting to 12. As shown in FIGS. 4 to 6, the moving body 10 is fixed to the rotor main body 109 of the rotor 101 of the rotary electric machine 100 and the outer periphery of the rotor 101 facing each other via a gap 103 in the circumferential direction. Within the annular gap 103 between the child 102 and the rotor 102, the rotor body 109 is configured to be movable in the axial direction on the outer periphery. That is, the moving body 10 is configured to be movable along the surface of the rotor main body 109 to be a flaw detection target. The cable 13 and the cable 14 may be relayed by the base unit 11 or may be a continuous cable.

It should be noted that although expressions such as "top view" are used here, this is merely for convenience of explanation, and the actual configuration and operation do not depend on the direction of gravity. For example, in FIG. 1 and the like, the rotor main body 109 is shown to be below and the stator 102 is shown to be above with respect to the moving body 10, but in reality, such a hierarchical relationship is not always present. The moving body 10 brings the arm 23, which will be described later, into contact with the stator 102, and supports the moving body 10 by the arm 23. As a result, the moving body 10 can move along the outer surface of the rotor body 109 or the inner peripheral surface of the stator 102 in any direction of gravity.

As shown in FIG. 4, the rotor 101 sandwiches the rotor shaft 104, the rotor body 109 which is coaxially and integrally configured with the rotor shaft 104 and has the rotor coil arranged, and both sides of the rotor body 109 in the axial direction. It has an annular end ring 105 arranged to be recessed. The rotor shaft 104 is a portion of the rotor 101 on both sides in the axial direction of the rotor body 109, and includes a bearing 106 for rotationally supporting the entire rotor 101, a flange 111 for coupling with a turbine, and the like. It will be provided. The diameter of the rotor body 109 is larger than the diameter of the rotor shaft 104.

As shown in FIG. 7, the rotor body 109 has a rotor core 120. A plurality of slots 121 are formed so as to extend axially along the outer circumference of the rotor core 120. A teeth 122 projecting outward in the radial direction are formed between the two slots 121 adjacent to each other in the circumferential direction. An axially extending rotor coil (not shown) is arranged in each slot 121, and a plurality of wedges 123 for holding the rotor coil in the slot 121 are radially outer openings of each slot 121. It is located near the part. The wedge 123 extends axially along each slot 121, but the axial length of each wedge 123 is shorter than that of the slot 121, and a plurality of wedges 123 are arranged axially in each slot 121. The axial end portions 124 of the above are adjacent to each other and face each other in the axial direction at the end portion (wedge cut) 124.

In the example shown in FIG. 7, the radial outer end of the wedge 123 and the radial outer end of the teeth 122 have substantially the same radial height position.

The stator 102 has a substantially cylindrical shape, and is arranged so as to surround the radial outside of the rotor body 109 with a gap 103. Although detailed illustration is omitted, the stator 102 includes a stator core formed by laminating a plurality of electromagnetic steel sheets in the axial direction, and a plurality of stator 102 formed so as to extend axially along the inner circumference of the stator core. Includes a stator coil located in the stator slot and a stator wedge for holding the stator coil in the stator slot.

As shown in FIG. 4, the frame 107 is arranged so as to support the stator 102 and cover the stator 102. The bearing 106 is supported by the frame 107. A closed space is formed in the frame 107 and is filled with a cooling medium. Within the frame 107, a fan 108 is attached to the rotor shaft 104 to force the cooling medium to flow.

The inspection system according to this embodiment rotates in the vicinity of the ends (wedge cuts) 124 of a plurality of wedges 123 facing each other in the axial direction in each slot 121 of the rotor core 120 shown in FIG. Paying attention to the fact that the tooth (target for flaw detection) 122 of the child iron core 120 is liable to have a defect, it is configured so that the flaw detection position can be efficiently searched. During the operation of the rotary electric machine, the rotation of the rotor 101 causes vibration at the end of the wedge 123 of the rotor 101, and the teeth 122 of the rotor core 120 in contact with the vibration are likely to have a defect extending in the direction perpendicular to the axial direction. it is conceivable that. A thick line A in FIG. 8 shows a position where a defect is likely to occur in the teeth 122 of the rotor core 120 in the vicinity of the end portion (cut of the wedge) 124 of the wedge 123. The inspection system according to this embodiment can move the moving body 10 while searching for the end position of the wedge 123, and can efficiently detect the vicinity of the end position of the wedge 123. The flaw detection position described here represents a position on or along the surface of a flaw detection object such as the rotor main body 109 or the teeth 122, and the flaw detection position in the rotary electric machine 100 is a position in the axial direction and /. Or it represents the position in the circumferential direction.

The base unit 11 is mounted on the outer peripheral surface of the end ring 105. The base unit 11 is configured to be able to move (rotate) in the circumferential direction on the outer peripheral surface of the end ring 105. By moving in the axial direction, the moving body 10 can engage with or disengage from the end ring 105 via the base unit 11. When the moving body 10 is in a state of being engaged with the end ring 105 via the base unit 11 (the state shown in FIG. 6), the moving body 10 is moved (rotated) in the circumferential direction to end the moving body 10. It can be rotated circumferentially along the ring 105. In this way, the moving body 10 can be moved in the circumferential direction along the end ring 105.

As shown in FIGS. 1 and 2, the moving body 10 includes a moving body main body 20 and a load 21 mounted on the moving body main body 20, and is configured as a vehicle as an example.

The moving body 10 can move linearly at least in the axial direction of the rotary electric machine 100, and the crawler 22 is attached to the moving body main body (vehicle body) 20. The crawler 22 is a means of moving the moving body 10, is in contact with the outer peripheral surface of the rotor main body 109, and is pressed against the outer peripheral surface of the rotor main body 109 by the arm 23. The wheels of the crawler 22 are driven by the moving drive unit 24, and the moving body 10 can move forward, backward, and stop. Further, the crawler 22 is configured so that the forward and backward directions (angle with respect to the axial direction of the rotor body 109) by the moving drive unit 24 can be adjusted by adjusting the rotation speeds of the left and right wheels, respectively. .. As the means of transportation, in addition to the crawler 22 which is an endless track, a configuration consisting of only wheels may be used.

The loading object 21 is mounted on the moving body main body 20. The mounted object 21 includes a moving drive unit 24, an arm 23, an arm drive unit 25, a transmission / reception unit 26, a distance measuring instrument 27, a moving distance measuring unit 28, a flaw detection position search device 29, and an ultrasonic flaw detector 30.

The distance measuring instrument 27 measures the distance from the stator 102. The moving distance measuring unit 28 measures the moving distance of the moving body 10 by measuring the movement of the crawler 22, for example.

The flaw detection position search device 29 searches for a flaw detection position, and in this embodiment, is a device that detects a cut 124 in the wedge 123 of the rotor 101. The flaw detection position search device 29, for example, captures the wedge 123 of the rotor 101 with a camera, performs image processing, and recognizes and detects the cut 124 of the wedge 123. The camera as a part of the flaw detection position search device 29 also functions as a camera for detecting the position of the moving body 10. However, in addition to the camera as a part of the flaw detection position search device 29, another camera for detecting the position of the moving object may be included in the mounting 21. Further, a lighting device (not shown) that illuminates the surroundings may be included in the mounting 21 in order to make the image information acquired by the camera clear.

The ultrasonic flaw detector 30 performs ultrasonic flaw detection on the teeth 122 of the rotor 101. The ultrasonic flaw detector 30 includes two ultrasonic sensors 31 and a sensor position adjusting device 32 that supports them and adjusts the position of each ultrasonic sensor 31 with respect to the moving body 10 along the surface of the flaw detection object. .. The two ultrasonic sensors 31 are arranged side by side in the traveling direction (moving direction) of the moving body 10 and are spaced apart from each other. The sensor position adjusting device 32 can not only adjust the position of the ultrasonic sensor 31 along the surface of the flaw-detecting object with respect to the moving object 10, but also adjust the orientation of the ultrasonic sensor 31. Here, the orientation of the ultrasonic sensor 31 represents a circumferential angle when the normal of the surface of a flaw-detecting object such as the rotor body 109 or the teeth 122 is the axis, and / or an angle formed with this normal. .. In the rotary electric machine 100, the normal on the surface of the rotor main body 109 and the teeth 122 is in the radial direction of the rotary electric machine 100.

The mobile drive unit 24, the distance measuring instrument 27, the moving distance measuring unit 28, the flaw detection position search device 29, and the ultrasonic flaw detector 30 are controlled and operated by the control operation unit 12, and the obtained data is controlled. It is processed by the operation unit 12. The exchange of these information is performed through the cables 13 and 14. Further, all or part of the information may be exchanged wirelessly through the transmission / reception unit 26. Further, at least a part of the configuration of the control operation unit 12 may be mounted on the moving body main body 20 so that the moving body 10 autonomously controls and operates. Further, the entire control operation unit 12 can be mounted on the moving body main body 20.

As shown in FIG. 3, the control operation unit 12 includes an input unit 40, a calculation / control unit 41, a storage unit 42, a display unit 43, and a transmission / reception unit 44. The control operation unit 12 can be realized by a general-purpose computer such as a personal computer.

The input unit 40 includes a shape information input unit 46 and an inspection start command input unit 47.

The shape information input unit 46 inputs shape information related to the shape of the stator 102 and the shape of the rotor body 109 to which the moving body 10 should be supported. This shape information is based on, for example, design information and actual measurement information of the rotary electric machine 100. To acquire shape information by actual measurement, for example, while manually moving (running) the moving body 10, data is acquired using a camera, a distance measuring instrument 27, or the like, and shape information is obtained based on the data obtained thereby. Can also be obtained.

The inspection start command input unit 47 inputs an inspection start command.

The calculation / control unit 41 includes a movement control unit 50, an arm drive control unit 51, an ultrasonic flaw detection control unit 52, a moving body position calculation unit 53, and an image recognition position calculation unit 55.

The movement control unit 50 controls the movement (traveling) of the moving body 10 by controlling the moving driving unit 24 mounted on the moving body main body 20. The arm drive control unit 51 controls the arm drive unit 25. The ultrasonic flaw detection control unit 52 controls the ultrasonic flaw detection device 30.

The moving body position calculation unit 53 is based on the history of the moving body position information, the shape information, the moving distance obtained by the moving distance measuring unit 28 mounted on the moving body main body 20, and the like, and the current position of the moving body 10. Is to calculate. The image recognition position calculation unit 55 calculates the current position of the moving body 10 based on the history of the moving body position information, the shape information, the image obtained by the camera mounted on the moving body main body 20, and the like. be. In calculating the current position of the moving body 10, both the result of the moving body position calculation unit 53 and the result of the image recognition position calculation unit 55 are taken into consideration to obtain a more accurate result. good.

The storage unit 42 includes a shape information storage unit 58, a moving body position information storage unit 59, an inspection result information storage unit 60, and an image information storage unit 61.

The shape information storage unit 58 stores the shape information input by the shape information input unit 46. The moving body position information storage unit 59 stores the moving body position information calculated by the moving body position calculation unit 53. The inspection result information storage unit 60 stores the inspection results by the ultrasonic flaw detector 30. The image information storage unit 61 stores an image obtained by a camera or the like.

The display unit 43 can display the position of the moving body 10 calculated by the moving body position calculation unit 53, the current or past image taken by the camera, the result of the inspection by the ultrasonic flaw detector 30, and the like.

The transmission / reception unit 44 of the control operation unit 12 transmits / receives a signal to / from the transmission / reception unit 26 included in the mounting 21. The signal can be transmitted and received by wire via cables 13 and 14, or by wireless.

FIG. 9 is a flow chart showing a procedure of an inspection method by the inspection system according to the first embodiment of the present invention. First, the shape information is input by the shape information input unit 46, and these information are stored in the shape information storage unit 58 (step S10). Next, the operator inputs the inspection start command by the inspection start command input unit 47 (step S11). After this, the inspection system automatically performs the inspection work. In this embodiment, an example is shown in which the inspection target range (inspection target range) is designated as the entire circumference of the rotor main body 109.

When the inspection start command is input in step S11, the base unit 11 moves to the circumferential position (inspection start circumferential position) of the teeth 122 of the rotor 101 corresponding to the inspection start position (step S12).

When the base unit 11 moves in the circumferential direction to the inspection start circumferential position, the moving body 10 and the base unit 11 are separated (step S13). As a result, the moving body 10 engaged with the end ring 105 via the base unit 11 is axially separated from the end ring 105.

Next, under the control of the movement control unit 50, the moving body 10 moves (runs) in the axial direction to the inspection position and performs flaw detection (step S14). The details of this step S14 will be described later with reference to FIG.

Next, it is determined whether or not the moving body 10 has reached the base unit 11 (step S15), and if it has not reached, that is, if it is NO in step S15, the process returns to step S14 described above. If the moving body 10 has reached the base unit 11, that is, if YES in step S15, the moving body 10 and the base unit 11 are coupled (step S16).

After step S16, it is determined whether or not the base unit 11 has already made a round on the outer circumference of the end ring 105 (or the inspection of the entire inspection target range specified in advance has been completed) (step S17). If the base unit 11 has already completed one round (or the inspection of the entire inspection target range specified in advance has been completed), that is, if YES in step S17, the operation is terminated. If the base unit 11 has not yet made a round (or the inspection of the entire inspection target range specified in advance has been completed), that is, if it is NO in step S17, the end with the moving body 10 and the base unit 11 coupled. It moves on the outer circumference of the ring 105 by a predetermined distance in the circumferential direction (step S18). Then, returning to the above-mentioned step S13, the inspection after the above-mentioned step S14 is further carried out at another circumferential position where the moving body 10 is separated from the base unit 11 and moved by a predetermined distance in the circumferential direction.

In this way, the inspection system automatically executes a series of operations after the inspection start command input (step S11).

As shown in FIG. 4, when the base unit 11 is attached to only one of the two end rings 105 at both ends in the axial direction of the rotor main body 109, the moving body 10 is attached to the base unit 11. After separating and moving in the axial direction to reach the end ring 105 on the opposite side of the base unit 11, the moving body 10 travels in the same axial direction in the opposite direction and returns to the original base unit 11. As another example, when the base unit 11 is attached to both of the two end rings 105 (not shown), the moving body 10 is the same because the moving body 10 is alternately coupled to the two base units 11. The inspection can be performed while traveling in both directions without going through the axial path twice. This makes it possible to perform a more efficient inspection.

FIG. 10 is a flow chart showing details of the axial movement / flaw detection step S14 in FIG. 9.

First, the flaw detection position search device 29 is used to search for the flaw detection position while moving the moving body in the axial direction (step S141). Specifically, the moving body is moved while searching for the cut 124 of the wedge 123 of the rotor.

Then, when the flaw detection position (break of the rotor wedge 123) 124 is detected (YES in step S142), the moving body 10 is stopped (step S143).

Next, the sensor position adjusting device 32 adjusts the position of the ultrasonic sensor 31 with respect to the moving body 10 along the surface of the tooth 122 (step S144). At this time, as shown in FIG. 2, by arranging two ultrasonic sensors 31 so as to sandwich the axial position of the cut 124 of the wedge 123 of the rotor, the vicinity of the cut 124 of the wedge 123 of the rotor is located. It is easy to detect defects in the resulting teeth 122. The defect of the teeth 122 may extend in the direction in which the cut 124 of the rotor wedge 123 extends, that is, in the direction perpendicular to the axial direction (direction substantially parallel to the plane defined by the radial and circumferential directions of the rotary electric machine 100). This is because it is effective to detect the angle of incidence by injecting ultrasonic waves diagonally toward the tip position of the expected defect. On the contrary, it is difficult to detect the defect when ultrasonic waves are applied from the direction in which the defect extends.

The adjustment of the position of the ultrasonic sensor 31 along the surface of the tooth 122 with respect to the moving body 10 in step S144 may adjust not only the axial position of the ultrasonic sensor 31 but also the circumferential position. Further, in step S144, not only the position of the ultrasonic sensor 31 is adjusted, but also the orientation of the ultrasonic sensor 31 (the circumferential angle when the normal of the surface of the teeth 122 is the axis, and / or the angle formed with this normal). May also be adjusted. As a result, ultrasonic waves can be incident on the direction in which the assumed defect extends from the direction in which the defect can be easily detected.

In step S143, the moving body is controlled so that the position where the flaw detection position is detected and the moving body actually stops is an appropriate position for the ultrasonic sensor 31 to perform the ultrasonic inspection. It is also possible to omit the sensor position adjustment by the sensor position adjusting device 32. However, in that case, it is necessary to consider the mileage of the moving body until the moving body actually stops after the flaw detection position is detected in step S143.

Next, ultrasonic flaw detection is performed using an ultrasonic flaw detector (step S145).

Next, if the flaw detection of the target area at the circumferential position is not completed (NO in step S146), the process returns to step S141.

When the flaw detection of the target area at the circumferential position is completed (YES in step S146), the process proceeds to step S15 in FIG.

As described above, according to this embodiment, ultrasonic flaw detection can be efficiently performed without much labor while moving the moving body. In particular, by searching for the cut 124 of the wedge 123 of the rotor 101, it is possible to efficiently identify the location to be detected.

[Other embodiments]
In the above description, as the flaw detection position search device 29, an example of searching for the cut 124 of the wedge 123 based on the image of the wedge 123 using a camera is shown, but as another example of the flaw detection position search device 29, a gap sensor is shown. Can also be used.

In the above description, two ultrasonic sensors 31 are used, but only one or three or more ultrasonic sensors 31 may be used. When only one ultrasonic sensor 31 is used, it is desirable that the sensor position is slightly deviated from the axial position of the cut 124 of the wedge 123 of the rotor 101. This is because the defect of the tooth 122 often extends in the direction in which the cut 124 of the rotor wedge 123 extends, that is, in the direction perpendicular to the axial direction, and it is difficult to detect the defect when ultrasonic waves are applied from the direction in which the defect extends. be.

Although some embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other embodiments, and various omissions, replacements, changes, and combinations can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope of the invention described in the claims and the equivalent scope thereof, as are included in the scope and gist of the invention.

10 ... mobile body, 11 ... base unit, 12 ... control operation unit, 13 ... cable, 14 ... cable, 20 ... mobile body body, 21 ... loading object, 22 ... crawler, 23 ... arm, 24 ... mobile drive unit, 25 ... arm drive unit, 26 ... transmission / reception unit, 27 ... distance measuring instrument, 28 ... moving distance measuring unit, 29 ... flaw detection position search device, 30 ... ultrasonic flaw detector, 31 ... ultrasonic sensor, 32 ... sensor position adjustment device, 40 ... Input unit, 41 ... Calculation / control unit, 42 ... Storage unit, 43 ... Display unit, 44 ... Transmission / reception unit, 46 ... Shape information input unit, 47 ... Inspection start command input unit, 50 ... Movement control unit, 51 ... Arm drive control unit, 52 ... Ultrasonic flaw detection control unit, 53 ... Moving body position calculation unit, 55 ... Image recognition position calculation unit, 58 ... Shape information storage unit, 59 ... Moving body position information storage unit, 60 ... Inspection result information Storage unit, 61 ... Image information storage unit, 100 ... Rotating electric machine, 101 ... Rotator, 102 ... Stator, 103 ... Gap, 104 ... Rotor shaft, 105 ... End ring, 106 ... Bearing, 107 ... Frame, 108 ... Fan , 109 ... Stator body, 111 ... Flange, 120 ... Rotor core, 121 ... Slot, 122 ... Teeth (object to be detected), 123 ... Wedge, 124 ... End (cut of wedge)

Claims (5)

A movement / search step for searching the flaw detection position of the flaw detection target using the flaw detection position search device mounted on the moving object while moving the moving object along the surface of the flaw detection object.
A moving body stop step for stopping the moving body when the flaw detection position is detected in the moving / searching step, and a moving body stopping step.
An ultrasonic flaw detection step in which the moving body is stopped in the moving body stopping step and an ultrasonic flaw detecting device including an ultrasonic sensor mounted on the moving body is used to detect the flaw detection object, and an ultrasonic flaw detection step.
Equipped with
The flaw-detecting object is a plurality of teeth extending in the axial direction at intervals in the circumferential direction on the outer periphery of the rotor core arranged inside the cylindrical stator of the rotary electric machine.
The movement / search step is
A moving step of moving the moving body axially along the radial tip of the tooth within an annular gap between the stator and the rotor core.
While performing the movement step, the axial end portion of a plurality of wedges sandwiched by the plurality of teeth in the circumferential direction and arranged axially adjacent to each other at the axial end portion is searched for as the flaw detection position. Exploration steps and
including
An ultrasonic inspection method characterized by that. It is characterized by further having a sensor position adjusting step for adjusting the position of the ultrasonic sensor with respect to the moving body along the surface of the flaw detection object after the moving body stop step and before the ultrasonic flaw detection step. The ultrasonic inspection method according to claim 1. The first or second aspect of the ultrasonic flaw detection step is to detect a flaw detection object by using two ultrasonic sensors arranged apart from each other in the moving direction of the moving body. The ultrasonic inspection method described in. The ultrasonic inspection method according to any one of claims 1 to 3 , wherein the sensor position adjusting step includes a step of adjusting the orientation of the ultrasonic sensor. A moving object that can move along the surface of the object to be detected, and
A flaw detection position search device mounted on the moving body and capable of searching for a flaw detection position,
An ultrasonic flaw detector mounted on the moving body to detect the flaw detection object, and an ultrasonic flaw detector.
A movement control unit that stops the moving body when the flaw detection position search device detects the flaw detection position.
An ultrasonic flaw detection control unit that controls the ultrasonic flaw detector to detect the flaw detection object when the moving body is stopped, and an ultrasonic flaw detection control unit.
Have,
The flaw-detecting object is a plurality of teeth extending in the axial direction at intervals in the circumferential direction on the outer periphery of the rotor core arranged inside the cylindrical stator of the rotary electric machine.
The flaw detection position search device is
A moving step of moving the moving body axially along the radial tip of the tooth within an annular gap between the stator and the rotor core.
While performing the movement step, the axial end portion of a plurality of wedges sandwiched by the plurality of teeth in the circumferential direction and arranged axially adjacent to each other at the axial end portion is searched for as the flaw detection position. Exploration steps and
To run
An ultrasonic inspection system characterized by that.

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