VEHICLE AND METHOD FOR THE INDEPENDENT INSPECTION OF HARD-TO-REACH INNER SPACES

• US 20110174565A1
• Filed: 11/19/2010
• Published: 07/21/2011
• Est. Priority Date: 11/27/2009
• Status: Active Grant

• Current Assignee: Baker Hughes Holdings LLC (Baker Hughes Company)
• Original Assignee: Alstom Technology Ltd. (Alstom SA)
• Inventors: MOSER, Roland Richard, SCHOENEICH, Patrick, ROCHAT, Frederic, MONDADA, Francesco
• Granted Patent: US 9,487,254 B2
• Time in Patent Office: Days
• US Class Current: 180/167
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: G01M 11/08 Testing mechanical properties G01M11/005 takes precedence
• CPC Class Codes: G01M 5/0033 by determining damage, crack or wear
• CPC Class Codes: G01M 5/0075 by means of external apparatus, e.g. test benches or portable test systems G01M5/005 takes precedence
• CPC Class Codes: G01M 5/0091 by using electromagnetic excitation or detection
• CPC Class Codes: G01N 2035/0489 Self-propelled units

Abstract

A vehicle is provided for the independent inspection of hard-to-reach inner spaces which are bounded by ferromagnetic inner walls, especially in large cast parts, such as steam chests of a steam turbine. The vehicle includes at least two wheels which are rotatable around a common axis, are at a distance from each other in the axial direction, and can be driven independently of each other. With such a vehicle, the entire inner space can be inspected if the vehicle has adherence elements which hold the vehicle against the gravity force with the wheels on the respective inner wall.

Claims

1. A vehicle (10, 10′

, 10″

) for independent inspection of inner spaces (29), which are bounded by ferromagnetic inner walls (24;

24a, b), in cast steam chests of a steam turbine, the vehicle (10, 10′

, 10″

) comprises at least two wheels (12, 13) which are rotatable around a common axis (14), are arranged at a distance from each other in an axial direction and can be driven independently of each other, the vehicle (10, 10′

, 10″

) further comprises adherence elements (21, 22;

25, 26) which hold the vehicle (10, 10′

, 10″

) against a force of gravity with the at least two wheels (12, 13) on the respective inner wall (24;

24a, b).

2. The vehicle as claimed in claim 1, wherein the adherence elements comprise at least one permanent magnet (21, 22;

25, 26).

3. The vehicle as claimed in claim 2, wherein at least two permanent magnets (21, 22;

25, 26) are associated with the at least two wheels (12, 13).

4. The vehicle as claimed in claim 3, wherein the at least two permanent magnets (25, 26) are arranged partially or completely in the at least two wheels (12, 13) for protection against outside influences.

5. The vehicle as claimed in claim 3, wherein the at least two permanent magnets (21, 22;

25, 26) are decoupled from the at least two wheels (12, 13) of the vehicle (10, 10′

, 10″

).

6. The vehicle as claimed in claim 1, wherein a separate drive (15, 16) is associated with each of the wheels (12, 13), and the drives (15, 16) are supplied with power from an energy storage (20) which is accommodated in the vehicle (10, 10′

, 10″

), the drives (15, 16) are controlled by a control unit (19) which is accommodated in the vehicle (10, 10′

, 10″

).

7. The vehicle as claimed in claim 6, wherein the control unit (19) receives control commands from outside the inner space wirelessly.

8. The vehicle as claimed in claim 1, wherein the at least two wheels (12, 13) are interconnected by an elastically flexible cross-member (30) which acts as a spring suspension.

9. The vehicle as claimed in claim 1, wherein the vehicle (10, 10′

, 10″

) has a cylindrical housing (11) which extends between the wheels in the axial direction.

10. The vehicle as claimed in claim 1, wherein at least one sensor (23) selected from the group consisting of:

cameras, optical sensors, electric sensors, electromagnetic sensors and ultrasonic sensors, is arranged on the vehicle (10, 10′

, 10″

).

11. A method for independently inspecting inner spaces (29), which are bounded by ferromagnetic inner walls (24;

24a, b), in steam chests of steam turbines, the method comprising

introducing a vehicle (10, 10′

, 10″

) into the inner space (29), the vehicle (10, 10′

, 10″

) comprises at least two wheels (12, 13) which are rotatable around a common axis (14), are arranged at a distance from each other in an axial direction and can be driven independently of each other, the vehicle (10, 10′

, 10″

) further comprises adherence elements (21, 22;

25, 26) which hold the vehicle (10, 10′

, 10″

) against a force of gravity with the at least two wheels (12, 13) on the respective inner wall (24;

24a, b).

12. The method of claim 11, wherein the adherence elements comprise at least one permanent magnet (21, 22;

25, 26) is associated with each of the at least two wheels (12, 13).

13. The method of claim 11, wherein at least one sensor (23) selected from the group consisting of:

cameras, optical sensors, electric sensors, electromagnetic sensors and ultrasonic sensors, is arranged on the vehicle (10, 10′

, 10″

).

14. The method of claim 11, further comprising controlling the vehicle (10, 10′

, 10″

) from outside the inner space (29) wirelessly.

15. The method of claim 13, further comprising transmitting data obtained by the at least one sensor (23) to outside the inner space wirelessly.