Extension tool

Abstract

Extension tools and methods of inserting the extension tools within a component are provided. For example, an extension tool has a proximal end and a distal end and includes a plurality of sequentially arranged links that are movable relative to one another and a support member that defines the distal end and includes a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel. Additionally or alternatively, the extension tool can include a plurality of windows defined in the plurality of sequentially arranged links. The windows are periodically defined along the plurality of sequentially arranged links such that the periodicity of the windows corresponds to a periodicity of a plurality of features of the component.

Description

Technical Field

[0001] This topic generally relates to tools used for inspecting an environment and / or performing maintenance, cleaning, or other operations within an environment. Background Technology

[0002] Robotic arm assemblies are useful across various industries for performing operations in locations such as remote or hazardous locations. At least some robotic arm assemblies include a robotic arm formed by multiple links engaging at corresponding joints. Furthermore, multiple control lines extend through the robotic arm, each terminating in a separate link for moving such a link relative to a subsequent adjacent link. The control lines can be coupled to one or more motors within the base of the robotic arm assembly, allowing the assembly to control the movement of the robotic arm by increasing and / or decreasing the tension on the multiple control lines.

[0003] In this way, robotic arms can be used to reach locations beyond line of sight in various environments. However, for some applications, robotic arms may often be too expensive and / or more complex than required. Therefore, tools that allow users to reach remote locations in the environment in a more cost-effective manner would be useful. Summary of the Invention

[0004] Aspects and advantages of the invention will be set forth in part in the description which follows, or may be apparent from the description or may be learned by practice of the invention.

[0005] In one embodiment of this subject matter, an extension tool has a proximal end and a distal end. The extension tool includes a plurality of sequentially arranged links movable relative to each other and a support member defining the distal end. The support member includes a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel.

[0006] In another embodiment of this subject matter, an extension tool is provided for deployment within a component. The extension tool includes a plurality of sequentially arranged links movable relative to each other and a plurality of windows defined among the sequentially arranged links. The windows among the plurality of windows are periodically defined along the sequentially arranged links, such that the periodicity of the windows corresponds to the periodicity of a plurality of features of the component.

[0007] These and other features, aspects, and advantages of the invention will become more readily understood by reference to the following description and the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. Attached Figure Description

[0008] The complete and enabling disclosure of the invention, including its preferred mode, to those skilled in the art is set forth in the description with reference to the accompanying drawings, wherein:

[0009] Figure 1 A side view of an extension tool according to an embodiment of this subject is provided in a relaxed or loosened position.

[0010] Figure 2 Provided for being in a tensioned or rigid position. Figure 1 The side view of the extended tool.

[0011] Figure 3 Examples of this topic are provided. Figure 1 Side view of the support member of the extension tool.

[0012] Figure 4 A side perspective view of an extension tool according to an embodiment of the subject matter is provided, the extension tool having a support member assembly defining the distal end of the extension tool.

[0013] Figure 5A Provided Figure 4 A side perspective view of the distal connecting rod of the extension tool.

[0014] Figure 5B Provided Figure 4 A three-dimensional view of the far side of the supporting component assembly.

[0015] Figure 6 Schematic diagrams of a gas turbine engine and extension tool according to embodiments of this subject are provided.

[0016] Figure 7 Provided Figure 1 A side view of one of the links in a series of sequentially arranged extension tools.

[0017] Figure 8 Provided Figure 1 A perspective view of the proximal end of one of the links in a series of sequentially arranged extension tools.

[0018] Figure 9 Provided Figure 1 A top-view perspective view of the distal end of one of the links in a series of sequentially arranged extension tools.

[0019] Figure 10 Provided Figure 1 A side view of the transition links of the multiple sequentially arranged links of the extension tool, wherein the inner line guide segment of the transition link is shown in dashed lines.

[0020] Figure 11 Flowcharts are provided for methods of inserting extension tools according to various embodiments of this topic. Detailed Implementation

[0021] Reference will now be made in detail to the present embodiments of the invention, one or more examples of which are illustrated in the accompanying drawings. Detailed descriptions use numerical and alphabetic designations to refer to features in the drawings. Similar or analogous designations in the drawings and description have been used to refer to similar or analogous portions of the invention.

[0022] As used herein, the terms “first,” “second,” and “third” are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of the individual components.

[0023] The terms "front" and "rear" refer to relative positions within a gas turbine engine or carrier, and specifically to the normal operating posture of the gas turbine engine or carrier. For example, in the case of a gas turbine engine, "front" refers to the position closer to the engine inlet, while "rear" refers to the position closer to the engine nozzle or exhaust port.

[0024] The terms "upstream" and "downstream" refer to the relative directions of fluid flow within a fluid path. For example, "upstream" refers to the direction from which the fluid flows, while "downstream" refers to the direction from which the fluid flows.

[0025] The terms “connection,” “fixation,” “attachment,” etc., refer to direct connection, fixation, or attachment, as well as indirect connection, fixation, or attachment via one or more intermediate components or features, unless otherwise stated herein.

[0026] The singular forms “one,” “a,” and “the” include plural references unless the context clearly indicates otherwise.

[0027] The approximate language used throughout the specification and claims is applied to modify any quantitative expression that may allow for change without altering its underlying function. Therefore, values ​​modified by one or more terms such as “approximately,” “about,” and “substantially” are not limited to specified exact values. In at least some cases, approximate language may correspond to the precision of the instrument used to measure the value, or the precision of the method or machine used to construct or manufacture the component and / or system. Approximate language may refer to a margin of + / - 1%, 2%, 4%, 5%, 10%, 15%, or 20% at the endpoints of a single value, a range of values, and / or a defined range of values.

[0028] Throughout this specification and claims, scope limitations are combined and interchanged, and unless the context or language otherwise indicates otherwise, such scopes are identified and include all subscopes contained herein. For example, all scopes disclosed herein include endpoints, and endpoints may be combined independently of each other.

[0029] Generally, this subject matter relates to selectively flexible extension tools. More specifically, this subject matter relates to an extension tool having one or more features for facilitating insertion of the extension tool into a component and / or for facilitating communication between the internal channels of the extension tool and the external environment of the extension tool. In various embodiments, the selectively flexible extension tool includes a plurality of sequentially arranged links movable relative to each other and a support member defining a distal end of the extension tool. The support member includes a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel. Alternatively or additionally, the selectively flexible extension tool includes a plurality of windows defined in the plurality of sequentially arranged links. The windows in the plurality of windows may be periodically defined along the plurality of sequentially arranged links such that the periodicity of the windows corresponds to the periodicity of a plurality of features of the component. Extension tools as described herein provide benefits such as: active control of the insertion direction of the tool without the need for external ropes, etc., that may get stuck on protrusions; reduced friction between the tool and the component into which the tool is inserted; and / or consistent, controllable positioning of instruments for illumination, imaging, etc., for one or more features of the component. For example, one or more of these benefits can reduce inspection time while improving inspection quality.

[0030] Referring now to the accompanying drawings, where the same numbers represent the same elements throughout all the drawings. Figure 1 This is a schematic diagram of an extension tool 100 according to an embodiment of the present disclosure in a relaxed or loosened position. Figure 2 It is in a taut or rigid position. Figure 1 A schematic diagram of the extension tool 100. Therefore, it will be understood from the description herein that the extension tool 100 is a selectively flexible extension tool. For at least some embodiments, the extension tool 100 may also be referred to as a selectively rigidifiable guide tube.

[0031] As described in more detail herein, the extension tool 100 defines one or more channels through which it passes. Such channels may receive a pipe mirror or other means capable of transmitting images captured by an imaging device such as a camera (which may generally be referred to herein as an "imaging device"). Alternatively or additionally, the one or more channels defined through the extension tool 100 may deliver cleaning fluids (e.g., liquid or foam cleaners or other cleaning agents), cooling fluids or other fluids, and / or conduits for materials, tools, appliances or other means for repair, maintenance and / or cleaning to be transported to one or more locations within the component where the extension tool 100 is deployed. For example, the extension tool 100 may be deployed within a component, assembly, system, device, etc., and a pipe mirror may be inserted through the extension tool 100. Defects in the features of the component can be detected by the pipe mirror, which may retract to allow repair materials and / or means (e.g., manipulators for positioning the repair material and heat sources such as lasers, resistance welding devices, brazing devices, etc.) to be transported through the extension tool 100 to the defect for repair. As another example, the extension tool 100 can be used to transport coatings, patches, fluids, cleaning materials, tools, appliances, etc., to one or more features of the component in which the extension tool 100 is deployed. The extension tool 100 is a maneuverable device capable of performing a variety of applications, for example, by using various features described in more detail below.

[0032] The extension tool 100 typically includes a base or handle 102, a wire assembly 104, and a plurality of sequentially arranged links 106. The wire assembly 104 typically includes a root 108 and a plurality of wires 110 extending from the root 108. In the depicted embodiment, the plurality of wires 110 includes a first wire 110A and a second wire 110B, each extending through the plurality of links 106. As will be understood from the discussion herein, the wire assembly 104, particularly the first wire 110A and the second wire 110B, can operate with the plurality of sequentially arranged links 106 to achieve a relaxed position (…). Figure 1 ) and tensioned or rigid position ( Figure 2 Multiple sequentially arranged links 106 are moved between them. Furthermore, it will be understood that, for clarity, Figure 1 Only a portion of the multiple links 106 are shown; some links 106, including the transition link 106T, are omitted to more clearly show the proximal end 112 and distal end 114 of the extension tool 100.

[0033] When in a relaxed position ( Figure 1In the tensioned position, multiple sequentially arranged links 106 are under no pressure or marginal pressure, allowing the multiple sequentially arranged links 106 to pivotally move relative to each other, for example, through hinged connections between adjacent links 106. For example, in the relaxed position, the multiple links 106 can be spaced apart from each other or not under specific pressure to hold the links 106 in a specific position. In contrast, when in the tensioned position... Figure 2 When this is done, multiple sequentially arranged links 106 are pressed against each other to rigidly fix the multiple sequentially arranged links 106 together. For example... Figure 1 and 2 As shown, hinge element 126, such as a pin, forms a hinged connection or joint 128 between two adjacent links 106.

[0034] for Figure 1 and Figure 2 In the embodiments described, it will be understood that each of the plurality of links 106 is designed to produce a specific rigid shape when the plurality of links 106 are moved to a tensioned position. For example, a first link 106A of the plurality of links 106 defines a first geometry (i.e., length, curvature, etc.), and a second link 106B of the plurality of links 106 defines a second geometry (i.e., length, curvature, etc.). The first geometry differs from the second geometry. In at least some embodiments, in order to form a plurality of links 106 having a specific geometry to facilitate a desired shape of the plurality of links 106, each of the plurality of links 106 may be formed by an additive manufacturing process (sometimes also referred to as 3D printing). This can help to form links 106 of a specific shape to fit within the plurality of links 106 of the extension tool 100, thereby producing the desired shape when moved to a tensioned position, while still maintaining sufficient flexibility to adapt to the intended environment.

[0035] Furthermore, in at least some embodiments, the plurality of links 106 may be formed of one or more materials to optimize the material properties of each link 106, for example, based on the function of the respective links 106 in the extension tool 100. For example, links 106 closer to the base 102, such as the link from the base link 124 to the transition link 106T, may be formed of a stiffer material than links 106 distal to the transition link 106T, because the proximal links 106 may, for example, be more flexible or have a smaller radius of curvature, and can withstand greater stress during insertion and / or tensioning of the extension tool 100, etc. In some embodiments, the proximal links 106 may be formed of a first material (e.g., steel, etc.), while the links 106 distal to the transition link 106T are formed of a second material, which is a lighter and / or less rigid material, such as plastic, etc. Other suitable materials may also be used, and it will be understood that, in at least some embodiments, the plurality of links 106 may be formed of the same material rather than different materials.

[0036] Furthermore, regarding the multiple wires 110 of the wire assembly 104, it will be understood that each of these wires 110 can be constructed as a cable, rope, thread, etc. Therefore, it will be understood that the wires 110 are generally flexible (i.e., do not significantly impede the pivotal movement of the multiple sequentially arranged links 106 relative to each other in a relaxed position). Additionally, one or more wires 110 may be formed of a metallic material (e.g., steel, tungsten, etc.). However, alternatively, the wires 110 may be formed of any other suitable material.

[0037] In at least some embodiments, it will be understood that, Figure 1 and Figure 2 The extension tool 100 depicted may include a tooling device coupled to one of a plurality of links 106. For example, the tooling device may be coupled to a link 106 at a distal end 114 of the extension tool 100. In some embodiments, the tooling device may include one or more sensors, cameras, or both, and additionally or alternatively, may include one or more drill bits, laser tools, welding tools, rotatable tools (e.g., Phillips head screwdriver bits, flathead screwdriver bits, Torx bits, Allen bits, Pozidrives, etc.). In this way, the extension tool 100 can facilitate mechanical manipulation of parts at remote locations or along fuzzy vectors within the environment (e.g., along non-linear paths within the environment), which would otherwise be much more difficult.

[0038] However, it will be further understood that in other embodiments, the extension tool 100 may be configured in any other way to perform operations at a remote location within the environment or along a fuzzy vector.

[0039] For example, for one or more configurations, the extension tool 100 may include a flexible drive shaft, appliance, device, etc., extending through the interior of a plurality of links 106, and more specifically, through a tube defined along the length of the plurality of links 106. Specifically, for the illustrated embodiment, the extension tool 100 is configured such that when the plurality of sequentially arranged links 106 are in a tensioned position (… Figure 2 In this configuration, multiple sequentially arranged links 106 define one or more channels passing through them. In various embodiments, the channels may be fluid flow channels, may be configured, for example, as guide tubes for tools, appliances, or other devices, or may be combinations of different types of channels (e.g., fluid flow channels surrounding a guide tube).

[0040] It will be understood that, as used herein, the term "fluid flow channel" refers to any substantially continuous channel through the plurality of sequentially arranged links 106 when the plurality of sequentially arranged links 106 are in a tensioned position, which enables the supply or extraction of a gas or liquid flow to or from a location near the distal end 114 of the plurality of sequentially arranged links 106.

[0041] exist Figure 2 In the illustrated embodiment, a plurality of sequentially arranged links 106 together define a channel 116, which, in the illustrated embodiment, is a guide tube 116. Thus, with or without the tools and implements described above, the plurality of links 106 define an opening for receiving one or more flexible drive shafts, implements, and / or devices (e.g., pipe mirrors, maintenance or repair tools, cleaning implements, or other devices). It will be understood that, in order to form the channel or guide tube 116, each of the plurality of links 106 defines an opening 118 therethrough, for example, as... Figure 9 As best shown. The opening 118 of each link 106 may be defined along its length, extending from the proximal end 120 of the link to the distal end 122 of the link. The openings 118 of adjacent links 106 in a plurality of sequentially arranged links are aligned in the tensioned position to define a channel or guide tube 116 for one or more flexible drive shafts, appliances and / or devices to pass through or travel therethrough.

[0042] Furthermore, although only one channel 116 is depicted, in other embodiments, the extension tool 100 may include two or more channels. For example, when the plurality of sequentially arranged links 106 are in a tensioned position, the extension tool may include a second channel separate from channel 116. Thus, channel 116 is a first or inner channel, while the second channel is an outer channel, for example, an outer fluid flow channel for allowing fluid to flow along the outer surface of the channel or guide tube 116. In this way, the inner channel is located inside the outer channel, and the outer channel substantially completely surrounds the inner fluid flow channel. Thus, the outer channel may define a generally annular shape surrounding the inner fluid flow channel. However, in other embodiments, the two or more channels may be arranged in any other suitable manner. For example, the first and second channels may alternatively extend parallel and adjacent to each other, but may be arranged non-concentrically (e.g., one of the first or second channels extends along one side of the plurality of links 106, while the other of the first or second channel extends along the other side of the plurality of links 106).

[0043] Refer again Figure 1 and Figure 2 It will be understood that the line assembly 104 can operate together with a plurality of sequentially arranged links 106 to be in a relaxed position ( Figure 1 ) and tension position ( Figure 2 Multiple sequentially arranged links 106 can be moved between each other. Specifically, the first line 110A and the second line 110B of the line assembly 104 can be surrounded by links 106 at their distal ends 114. When the first line 110A and the second line 110B of the line assembly 104 are tensioned by applying a tension force to the lines 110A and 110B (such that a certain amount of slack is removed from the first line 110A and the second line 110B), the tension in the first line 110A and the second line 110B presses each of the multiple sequentially arranged links 106 against each other, securing the multiple sequentially arranged links 106 in place to form a substantially rigid extension. It is worth noting that, for the illustrated embodiment, the multiple links 106 include a base link 124 fixed to the base 102, thereby allowing the first line 110A and the second line 110B to be taut.

[0044] Now for reference Figures 3 to 5B In various embodiments, the extension tool 100 further includes a support member 130 defining a distal end 114. The support member 130 includes two or more wheels 132 for controlling the insertion direction of the extension tool 100. More specifically, for the depicted embodiment, the support member 130 includes a first wheel 132A disposed at the distal end 114 and a second wheel 132B spaced apart from the first wheel 132A. Each wheel 132 may be positioned about its respective lateral extension axis 131 (e.g., Figure 3 The first axis 131A and the second axis 131B shown are free to rotate. For example, compared to a tool 100 without a wheel at its distal end, the first wheel 132A at the distal end 114 helps guide the end of the extension tool 100 with reduced friction. The second wheel 132B helps avoid dragging the support member 130 when it begins to transition to an offset position relative to the link 106 adjacent to the support member 130. For example, for a support member 130 with an offset end or distal end 114 (such as, for example) Figures 2 to 6 As shown, without the second wheel 132B, when the extension tool 100 is inserted into the component, the support member 130 would have to overcome significant friction between the extension tool 100 and the component at the location where the second wheel 132B is positioned. More specifically, without the second wheel 132B, the extension tool 100 would drag along the component, and an operator or automated machine (e.g., a robot) might have difficulty pushing and overcoming the friction between the extension tool 100 and the component. Therefore, similar to the first wheel 132A, the second wheel 132B facilitates the insertion of the extension tool 100 with reduced friction.

[0045] exist Figure 3In the illustrated embodiment, the support member 130 is a distal link 106D of a plurality of sequentially arranged links 106, such that the distal link 106D defines a distal end 114 and includes a first wheel 132A and a second wheel 132B. More specifically, each of the first wheel 132A and the second wheel 132B is attached to the distal link 106D. In some embodiments, the first wheel 132A and the second wheel 132B may be formed separately from the distal link 106D and then attached to the support member 130 / distal link 106D. In other embodiments, each of the first wheel 132A and the second wheel 132B may be integrally formed with the distal link 106D. For example, the first wheel 132A and the second wheel 132B may be formed together with the distal link 106D by an additive manufacturing process (e.g., 3D printing), such that the wheels 132A, 132B can be described as “printed in place”.

[0046] Special reference Figure 4 and Figure 5B In other embodiments, the support member 130 is removably coupled to a plurality of sequentially arranged links 106, such that the first wheel 132A and the second wheel 132B can be removed from the extension tool 100. More specifically, in Figure 4 In the illustrated embodiment, the support member 130 includes a first flexible member 134A for extending through a plurality of links 106 and a second flexible member 134B disposed between a first wheel 132A and a second wheel 132B. Furthermore, in Figure 4 In one embodiment, the support member 130 includes five wheels 132—a first wheel 132A and a second wheel 132B—and a third wheel 132C, a fourth wheel 132D, and a fifth wheel 132E disposed at the distal end 114 between the first wheel 132A and the second wheel 132B. That is, of the five wheels 132, the second wheel 132B is positioned closest to the proximal end 112 of the extension tool 100, such that the third wheel 132C, the fourth wheel 132D, and the fifth wheel 132E are positioned between the distal first wheel 132A and the proximal second wheel 132B. A flexible member 134 is located between each pair of adjacent wheels 132. More specifically, the second flexible member 134B is disposed between the second wheel 132B and the third wheel 132C, the third flexible member 134C is disposed between the third wheel 132C and the fourth wheel 132D, the fourth flexible member 134D is disposed between the fourth wheel 132D and the fifth wheel 132E, and the fifth flexible member 134E is disposed between the fifth wheel 132E and the first wheel 132A. The support member 130, the wheel 132, and the flexible member 134 form a support member assembly 136 for insertion through a plurality of links 106, such that the support member 130 can protrude from the farthest link 106 to guide the extension tool 100 to a position within a component, device, system, etc.

[0047] The flexible member 134 can be any flexible member, for example, having sufficient stiffness to facilitate the steering of the support member 130 through the plurality of links 106 once the extension tool 100 is in place within a component such as a gas turbine combustor or turbine stage, pressure vessel, etc., and having sufficient flexibility to facilitate the withdrawal of the support member 130 from the plurality of links 106. In some embodiments, each flexible member 134 is a spring, for example, for Figure 4 and 5B In the embodiment shown, each of the first flexible member 134A, the second flexible member 134B, the third flexible member 134C, the fourth flexible member 134D, and the fifth flexible member 134E is a spring. Other suitable flexible members may also be used, and in some embodiments, a combination of two or more different types of flexible members may be used to form the support member assembly 136.

[0048] Furthermore, in the illustrated embodiment, the length of the first flexible member 134A extending from the proximal end 112 to the support member 130 is significantly longer than the lengths of the other flexible members 134. That is, the first flexible member 134A is longer than each of the second flexible member 134B, the third flexible member 134C, the fourth flexible member 134D, and the fifth flexible member 134E. In some embodiments, each of the second flexible member 134B, the third flexible member 134C, the fourth flexible member 134D, and the fifth flexible member 134E may have the same length or be of equal length, but in other embodiments, one or more of the second flexible member 134B, the third flexible member 134C, the fourth flexible member 134D, and the fifth flexible member 134E may have different lengths. Moreover, although previously described as having a first flexible member 134A extending from the proximal end 112 of the tool 100 to the support member 130, it will be understood that in suitable embodiments, the first flexible member 134A may be segmented into or comprise a plurality of flexible members. In other words, the support member assembly 136 does not need to include only a single flexible member 134 extending from the proximal end 112 of the tool 100 to the support member 130, but in some embodiments, it may include multiple flexible members extending from the proximal end 112 to the support member 130.

[0049] like Figure 4 and 5AAs shown, the distal link 106D of a plurality of sequentially arranged links 106 defines an opening 138 for receiving a support member 130. More specifically, the opening 138 allows the wheel 132 of the support member 130 to extend distally to the plurality of links 106. That is, the wheel 132 extends distally relative to the plurality of links 106, and a positioning feature 140 at the proximal end 142 of the support member 130 is received in the opening 138. More specifically, the opening 138 has a perimeter P, and the positioning feature 140 at the proximal end 142 of the support member cooperates with the perimeter P to position the wheel 132 in a predetermined orientation.

[0050] Special reference Figure 5A and 5B The positioning feature 140 also includes an end stop 144 for restricting the support member 130 from traveling through the plurality of links when the first wheel 132A and the second wheel 132B (for the illustrated embodiment, and the third wheel 132C, the fourth wheel 132D, and the fifth wheel 132e disposed between them) are positioned distal to the plurality of links 106. Once the wheel 132 has moved away from the distal link 106D, such that the first wheel 132A defines the distal end 114 of the extension tool 100, the end stop 144 cooperates with a protrusion 146 extending into the opening 138 on the distal link 106 to prevent the support member assembly 136 from continuing to travel from the distal link 106D. More specifically, the end stop 144 of the support member 130 defines a recess for receiving a protrusion 146 of the distal link 106D, such that when the protrusion 146 contacts the proximal wall 148 of the end stop 144, it prevents the support member 130 from traveling further distally through the link 106. Therefore, the positioning feature 140 including the end stop 144 is positioned on the support member 130 such that the desired length of the support member 130, including the wheel 132, extends distally from the distal link 106D of the plurality of links 106. Furthermore, it will be understood that the end stop 144 only restricts the distal travel of the support member assembly 136 and therefore does not interfere with the retraction of the support member assembly 136 through the link 106; that is, the end stop 144 does not interfere with the proximal travel (towards the proximal end 112) of the support member assembly 136. Furthermore, as Figure 5B As shown, the sixth flexible member 134F is disposed between the end stop 144 and the second wheel 132B, for example, to promote flexibility in the support member 130 to move through the link 106 as described above.

[0051] like Figures 1 to 5B As shown, the support member 130 is along the longitudinal centerline CL of the support member. SM The extension causes the distal end 114, defined by and being the distal end of the support member 130, to be offset away from the longitudinal centerline CL of the support member. SM In addition, such as Figure 2As most clearly shown in the illustrated embodiment, the support member 130 is biased in a direction opposite to the majority link 106, which is relative to the longitudinal centerline CL of the link. L A slight offset causes the majority of the links 106 to form an arcuate shape for passing through annular or circular parts, assemblies, systems, etc. In other embodiments, the plurality of links 106 may define other shapes when tensioned, depending on the shape of the part, assembly, system, etc. into which the extension tool 100 is inserted. It will be understood that the support member 130, whether formed as the distal link 106D of the plurality of links 106 or as part of a removable support member assembly 136, is offset in a direction that facilitates insertion of the extension tool 100 into a device or apparatus for inspection, maintenance, cleaning, etc. The offset distal end 114 of the extension tool 100, together with the wheel 132 positioned at and near the distal end 114, helps control the insertion direction of the extension tool 100. This active control of the insertion direction—through the offset wheel-like end provided by the offset support member 130—may be particularly advantageous in insertion into a ring, more specifically, in "upward" or counter-gravity insertion into a ring.

[0052] Furthermore, it will be understood that, Figure 4 , 5A The flexible support member 130 of the support member assembly 136 shown in 5B presents an offset configuration as it exits the distal link 106D and defines the distal end 114. More specifically, for movement through the plurality of links 106, the flexible member 134 bends to allow the support member assembly 136 to pass through the links 106 along a path defined by the internal channel 116. That is, the flexible member 134 allows the support member assembly 136 to conform to the shape of the internal channel 116 defined by the plurality of links 106, such that the support member assembly 136 can travel through the links 106. However, when the support member 130 of the support member assembly 136 emerges from the opening 138 in the distal link 106D, the support member 130 presents as... Figure 4 and 5B The bias configuration shown, together with wheel 132, helps to control the insertion direction of the extension tool 100 as described above.

[0053] like Figures 2 to 5A and Figures 6 to 8As shown, in this embodiment, a plurality of sequentially arranged links 106 define a plurality of windows 150. Each window 150 defines an opening in the link 106 for communication between an internal passage 116 defined by the link 106 and the environment outside the extension tool 100. The windows 150 are periodically defined along the links 106 such that the periodicity of the windows 150 corresponds to the periodicity of multiple features of the components, assemblies, systems, devices, etc., in which the extension tool 100 is deployed. That is, the position of each window 150 corresponds to the periodic features of components, etc., in which the extension tool 100 is deployed for inspection, maintenance, cleaning, etc.

[0054] For example, refer to Figure 6 This will describe one application of the various extended tools 100 disclosed herein. Specifically, Figure 6 An extended tool 100, depicted according to an embodiment of this subject, is used for navigating a non-linear path within an environment, which, in the illustrated embodiment, is a gas turbine engine 10. Specifically, for Figure 6 In one embodiment, the gas turbine engine 10 is configured as a turbofan engine. A turbofan engine typically includes a fan section 14 and a turbine 16.

[0055] Turbine 16 typically includes: a compressor section having a low-pressure (“LP”) compressor 22 and a high-pressure (“HP”) compressor 24; a combustion section 26; a turbine section including an HP turbine 28 and an LP turbine 30; and an exhaust section (not shown). The compressor section, combustion section 26, turbine section, and exhaust section are each arranged in a series flow sequence. The LP compressor 22 and LP turbine 30 are connected via an LP shaft 36, and similarly, the HP compressor 24 and HP turbine 28 are connected to an HP shaft 34. Furthermore, turbine 16 includes a housing 18 that at least partially surrounds the aforementioned components of turbine 16. Additionally, in the illustrated embodiment, fan section 14 includes a fan 38 having a plurality of fan blades 40, which are driven by the LP shaft 36.

[0056] A close-up schematic diagram of a portion of the combustion section 26 of the gas turbine engine 10 is provided within the circled area. The combustion section 26 typically includes an inner liner 42 and an outer liner 44, which together at least partially define the combustion chamber or burner 46. The combustion section 26 also includes a plurality of deflectors 48 arranged periodically around the longitudinal centerline axis 12 of the gas turbine engine 10. More specifically, the deflectors 48 may be located at the front end of the burner 46, between the annular inner liner 42 and the annular outer liner 44. Each deflector 48 has an opening 50 in which a fuel nozzle 52 is disposed when the engine 10 is assembled. It will be understood that the deflectors 48 and the fuel nozzle 52 are arranged in a regular, periodic manner around the annular front end of the burner 26.

[0057] After a period of operation, undesirable coke buildup may form on or inside the fuel nozzle 52. For example, during a shutdown of the gas turbine engine 10, fuel may remain inside the fuel nozzle 52, and residual heat within the gas turbine engine 10 may cause the remaining fuel to coke. During, for example, maintenance intervals, the extension tool 100 can be used to remove coke buildup on or inside the fuel nozzle 52. Furthermore, the extension tool 100 can be used to inspect the deflector 48, repair any damage to the deflector 48, and / or clean the deflector 48.

[0058] Figure 6 The extension tool 100 depicted herein can be constructed according to one or more embodiments described herein. For example, the extension tool may typically include a plurality of links 106 movable to a tensioned position (as shown), the plurality of links 106 having a non-linear, two-dimensional, or three-dimensional shape when in the tensioned position. Notably, the additional ability to move to a slack position can facilitate the movement of the plurality of links 106 through the gas turbine engine 10 environment and through a port, for example, in the combustor 46, through which the extension tool 100 is inserted.

[0059] Furthermore, the extension tool 100 can define a window 150 in one of the plurality of links 106, such that the window 150 has a periodic arrangement similar to that of the deflector 48 and the fuel nozzle 52. In the depicted embodiment, the periodicity of the window 150 matches or is identical to the periodicity of the fuel nozzle 52 (and / or the deflector 48 and / or the opening 50), such that a duct mirror or other instrument traveling through the plurality of links 106 can inspect, perform maintenance, cleaning, or otherwise repair each periodic feature (e.g., the deflector 48 and / or the fuel nozzle 52 received therein). That is, one of the plurality of windows 150 is aligned with a corresponding feature among the plurality of features (e.g., the corresponding deflector 48 and / or the corresponding fuel nozzle 52) to facilitate inspection, maintenance, cleaning, repair, etc., of each feature.

[0060] The periodic correspondence between windows 150 and features helps ensure that each feature is inspected or otherwise repaired. To further ensure that no feature is overlooked, or to facilitate specialized repair of one or more specific features, each window 150 defined in the extension tool 100 can be labeled and indexed to a corresponding feature among multiple features. For example, as... Figure 7 and 8 As shown, each window 150 can be sequentially labeled with letters (e.g., A, B, C, D, etc.). Each label A, B, C, D, etc., can be associated with a corresponding feature (e.g., ...). Figure 6The corresponding fuel nozzle 52 shown is matched, and the match between the corresponding window 150 and the feature can be stored, for example, in a lookup table used during inspection, maintenance, cleaning, etc., of components including that feature. As an example, Figure 6 One of the multiple fuel nozzles 52 shown may have been previously repaired, and using a window 150 corresponding to or known to be aligned with the repaired fuel nozzle 52, a pipe mirror, etc., can be deployed by the extension tool 100 to inspect the repair through the corresponding window 150. Furthermore, as previously mentioned, the extension tool 100 can be developed for a specific component (e.g., burner 26) that includes this feature, such that, for example, it can be easily determined which window 150 is aligned with which feature when the extension tool 100 is inserted into the component at a given position in a given direction, by the periodicity of the feature and the corresponding periodicity of the window 150.

[0061] It will be understood that, in various embodiments, the multiple features may be multiple turbine nozzle airfoils of engine 10, multiple compressor blades of engine 10, weld lines of pressure vessels, internal structural components of fuel tanks, etc. The extension tool 100 can be used with specific components, devices, equipment, etc., such that the periodicity of window 150 is adapted to the periodicity of the relevant features. Furthermore, the periodicity of window 150 does not necessarily correspond to multiple links 106; that is, window 150 may not be confined in each link 106, window 150 may not be confined to the same position along each link 106, etc. Additionally, the length of each link 106 can be defined when the extension tool 100 is in a relaxed position (…). Figure 1 The optimization extension tool navigates through the components, while the periodicity of window 150 is determined by alignment with periodic features in the components. Therefore, no specific relationship is required between the length of link 106 and the periodicity of window 150, except that window 150 may not span the joint 128 between the two links 106, except depending on the form or construction of the ends 120, 122 of link 106.

[0062] In addition, although Figure 2 , 3Link 106 depicted in Figures 7 and 8 includes a pair of windows 150 defined opposite to each other in the lateral direction of link 106, but the windows 150 need not be defined in pairs. More specifically, link 106 may define only one window 150 without a second window 150 defined laterally opposite to that window. Furthermore, windows 150 may be defined at different locations along the periphery or circumference of one or more links 106. For example, for a plurality of links 106 having a generally circular cross-sectional shape as shown, a first link 106 may define a first window 150 at a first circumferential location along the first link 106, and a second link 106 may define a second window at a second circumferential location along the second link 106, wherein the second circumferential location differs from the first circumferential location. In other embodiments, the first link 106 may define first and second windows 150 at different circumferential locations relative to the first link 106. In this way, the position of window 150 can be further adapted to the position of the corresponding feature or component of the part in which the extension tool 100 is deployed, for example, for the inspection, maintenance, cleaning, etc. of various features or components.

[0063] In some embodiments, one or more of the plurality of windows 150 are defined by a diverging wall 152; for example, each window 150 may be defined by a diverging wall 152. More specifically, each window 150 is defined by one or more walls 152, which define the shape of the window 150. Figure 4 and 5A As shown, the wall 152 defining the window 150 can diverge from the inner surface 154 of the wall 178 of the link 106 to the outer surface 156, such that the window 150 is defined by the diverging wall 152. The diverging wall 152 can limit the interference of the wall 152 on the field of view of a camera or other imaging device (e.g., a pipe mirror) observed through the window 150 having the diverging wall 152; that is, the diverging wall can adapt to the field of view of an imaging device such as a pipe mirror. Additionally or alternatively, the diverging wall 152 can help guide fluid from an internal channel (e.g., channel 116) through the link 106 to a feature of the component in which the extension tool 100 is inserted; for example, the diverging wall 152 can match the divergence angle of a jetting process for jetting fluid (e.g., a cleaning or washing solution). Other benefits can also be achieved from the diverging wall 152, and other configurations of the wall 152 can also be used. For example, in some embodiments, it may be suitable to use a converging rather than diverging wall 152, or the wall 152 may generally be "straight" or planar without any diverging or converging configurations, such as... Figure 3 , 7 As shown in Figure 8.

[0064] Now for reference Figures 7 to 10The links 106 arranged in sequence each have a specific shape at their proximal end 120 and distal end 122. For example, as Figure 7 , 9 As shown in embodiment 10, each of the plurality of links 106 has a distal link end 122 having an elongated hook-shaped nose 158, and each of the plurality of links 106 has a proximal link end 120 having a shape 160 complementary to the elongated hook-shaped nose 158. More specifically, the proximal link end 120 may define a shape 160 that is for receiving a recess in an adjacent distal link end 122, the shape of which is complementary to the shape of the elongated hook-shaped nose 158 of the distal link end 122.

[0065] It will be understood that the distal end 122 of the link defines a male alignment feature that mates with or is received by a female alignment feature of the proximal end 120 of the adjacent link. Therefore, when the extension tool 100 is tensioned... Figure 2 In the tensioned configuration shown, the elongated hook-shaped nose 158 and the complementary shape or recess 160 cooperate to align adjacent links 106 with each other. Furthermore, the elongated hook-shaped nose 158 helps guide each link 106 into and / or through which the extension tool 100 is inserted. More specifically, the elongated hook shape of the distal nose 158 of each link 106 can “capture” the wall defining the opening or orifice into which the extension tool 100 is inserted, to aid in guiding each link 106 into the opening or orifice. This “capture” can be particularly beneficial when a movable collar or the like defines a portion of an opening or orifice; the elongated hook-shaped nose 158 captures or stabilizes the collar relative to the link 106 to guide the distal end 122 of the link into the opening or orifice, thereby guiding the remainder of the link 106 into the opening or orifice.

[0066] Special steering Figure 8 In at least some embodiments, each of a plurality of sequentially arranged links 106 defines a line of sight 162, for example, to guide a duct mirror or other imaging device through an internal channel 116 defined by the link 106. Figure 8 As shown, line of sight 162 extends between each of a plurality of windows 150 arranged along path 164. As previously described, path 164 can be defined to position each window 150 at a corresponding feature among a plurality of features. That is, as described above, windows 150 among the plurality of windows 150 can be defined at various locations along extension tool 100 to correspond, for example, periodic features of components on which extension tool 100 is deployed. The various locations of windows 150 define path 164 such that path 164 extends from or near proximal end 112 through windows 150 to the farthest window 150.

[0067] It will be understood that, for an extension tool 100 having a pair of windows 150 defined as intersecting or aligned with each other (thus defining an opening in the lateral direction T through the corresponding link 106), a path 164 can be defined through each corresponding window 150 of the pair of windows 150, for example, as Figure 8 As shown, the first path 164A passes through the first window 150A of a pair of windows 150, and the second path 164B passes through the second window 150B of a pair of windows 150. A line of sight 162 is defined along each path 164; for example, as... Figure 8 As shown, a first line of sight 162A is defined along each path 164A, and a second line of sight 162B is defined along a second path 164B.

[0068] Line of sight 162, for example, by providing an image device within channel 116, can guide an image device, such as a pipe mirror, through channel 116 by tracking features of channel 116. Thus, line of sight 162 helps maintain the orientation of the image device within channel 116, and the image device can follow the corresponding line of sight 162 to advance along the corresponding path 164 to each successive window 150. Figure 8 As further shown, each window 150 may be marked adjacent to the line of sight 162, enabling the imaging device to confirm its position within the extension tool 100 and / or components, systems, devices, equipment, etc., in which the extension tool 100 is deployed. As previously described, window markings (e.g., such as...) Figure 8 The letter “A” shown can be indexed to a specific feature, such that when the extension tool 100 is deployed within a component, a window 150 with a specific label corresponds to a specific feature among a plurality of features of the component. Furthermore, for an extension tool 100 comprising a pair of windows 150 defined relative to each other in the lateral direction T, a separate label can be assigned to the label adjacent to each window in the pair of windows 150 to distinguish the insertion direction. For example, one window 150 in the pair of windows 150 can be labeled with the letter “A”, and the opposite window 150 in the pair of windows 150 can be labeled with the letter “Z”, so that the user of the extension tool 100 can determine whether the insertion direction (of the tool 100, pipe mirror, etc.) is clockwise or counterclockwise based on which window 150 (i.e., “A” window 150 or “Z” window 150) provides a view of the component features.

[0069] Now for reference Figure 2 and Figure 10 In at least some embodiments, a plurality of sequentially arranged links 106 include a transition link 106T, wherein the position of the line 110 defines a first radius of curvature R between the extension tool 100 at its proximal end 112 and the transition link 106T. lFurthermore, the switching occurs when a second radius of curvature R2 is defined between the transition link 106T and the support member 130. More specifically, the first line 110A is a continuous line 110 having a first portion 166A extending through the plurality of links 106 and a second portion 166B extending through the plurality of links 106, and the first portion 166A and the second portion 166B are integrally formed at the distal link 106D. Similarly, the second line 110B is a continuous line 110 having a first portion 168A extending through the plurality of links 106 and a second portion 168B extending through the plurality of links 106, and the first portion 168A and the second portion 168B are integrally formed at the distal link 106D. For example, briefly refer now. Figure 3 A side view of the distal link 106D is provided, showing a first opening 165A that passes through the distal link 106D for the first line 110A to surround and thus define a proximal extension on one side of a plurality of links 106 (i.e., one of the first portion 166A and the second portion 166B) and a distal extension on the opposite side of the plurality of links 106 (i.e., the other of the first portion 166A and the second portion 166B), wherein the two portions join at the distal link 106D. Similarly, Figure 3 A second opening 165B is shown, which passes through the distal link 106D for the second line 110B to be wrapped around and thus defines a proximal extension on one side of a plurality of links 106 (i.e., one of the first portion 168A and the second portion 168B) and a distal extension on the opposite side of the plurality of links 106 (i.e., the other of the first portion 168A and the second portion 168B), wherein the two portions engage at the distal link 106D. Therefore, each of the first line 110A and the second line 110B wraps around the distal link 106, which allows lines 110A, 110B to provide tension to move the link 106 to a tensioned position. Figure 2 ).

[0070] In addition, such as Figure 2As shown, the extension tool 100 in the tensioned position bends in two different directions. Typically, when in the tensioned position, the extension tool 100 includes at least two arcs or curves that are curved or bent in different directions, and these at least two arcs or curves may have the same or different radii of curvature. More specifically, in the depicted embodiment, the extension tool 100 bends to the right as it advances distally along the plurality of links 106 from the base 102 to the transition link 106T, and bends to the left as it advances distally along the plurality of links 106 from the transition link 106T to the support member 130. As previously described, the first right-hand curve has a first radius of curvature R1, while the second left-hand curve has a different second radius of curvature R2. More generally than right or left, the center or center C1 of the first radius of curvature R1 is located on a side of the plurality of links 106 that is different from the center or center C2 of the second radius of curvature R2. Furthermore, in at least some embodiments, for example... Figure 2 As shown, the first radius of curvature R1 is smaller than the second radius of curvature R2.

[0071] Return to reference Figure 10 , Figure 10 Transition link 106T is shown, with line guides 170 for each line 110 highlighted to show how the lines 110 cross within transition link 106T. More specifically, as Figure 8 and 9 As most clearly shown, a plurality of sequentially arranged links 106 include a first line guide 170 for a first line 110A and a second line guide 172 for a second line 110B. Each link 106 includes a segment 174 of the first line guide 170 and a segment 176 of the second line guide 172, that is, each link 106 defines a corresponding segment 174, 176 of the line guide 170, 172, such that the links 106 together define the first line guide 170 and the second line guide 172. In the illustrated embodiment, the line guide segments 174, 176 are defined by a wall 178 of each of the plurality of links 106. Thus, the line guides 170, 172 are defined within the wall 178 of the link 106 between the outer surface 156 of the link 106 and the internal channel 116.

[0072] refer to Figure 2 and Figure 10In the depicted embodiment, link 106 has an inner side 182 and an outer side 184 relative to each of two arcs or curves in the tensioned extension tool 100. That is, each link 106 defining the respective curve has an inner side 182 that is closer to the center C of the respective curve than the outer side 184, wherein the inner side 182 and the outer side 184 are opposite each other in the lateral direction T. For each curve, a first line 110A is provided on the outer side 184 of link 106, and a second line 110B is provided on the inner side 182 of link 106. Because the inner side 182 and the outer side 184 are not the same for each link, but are opposite to those for the proximal side of the transition link 106T compared to the distal link 106 of the transition link 106T, lines 110A and 110B must switch sides to remain on the inner side 182 for all links 106 (in the case of the second line 110B) or on the outer side 184 for all links 106 (in the case of the first line 110A). For the depicted embodiment, switching sides is advantageous because one line 110 can be held under a tension different from that in the other line 110 to maintain all hinge elements 126 at the joint 128 between adjacent links 106 in contact with each other during insertion and / or removal of the extension tool 100 from the component.

[0073] like Figure 10 As shown, lines 110A and 110B intersect in transition link 106T, which is the transition position between two arcs or curves. Therefore, for each of the first portion 166A and the second portion 166B of the first line 110A, the first line guide segment 174 of the transition link 106T is defined at the proximal end 120 of the link in the upper portion 186 of the wall 178 of the transition link 106T, and at the distal end 122 of the link in the lower portion 188 of the wall 178. The first line guide segment 174 transitions smoothly from the upper portion 186 to the lower portion 188. Similarly, for each of the first portion 168A and the second portion 168B of the second line 110B, the second line guide segment 176 of the transition link 106T is defined at the proximal end 120 of the link in the lower portion 188 of the wall 178 and at the distal end 122 of the link in the upper portion 186 of the wall 178, wherein the second line guide segment 176 transitions along a smooth curve from the lower portion 188 to the upper portion 186. It will be understood that "upper" and "lower" are used only for convenience, as... Figure 10 The position of the transition link 106T in the diagram, where the line guide segments 174, 176 appear to switch from above to below each other (and vice versa). However, the terms "above" and "below" are intended only to indicate that the wall portions are opposite each other and are not intended to limit the construction of the line guide segments 174, 176 and / or the transition link 106T.

[0074] like Figure 10 As shown, when each line guide 170, 172 transitions from a portion of wall 178 to the opposite portion of wall 178, the first line guide segment 174 and the second line guide segment 176 form an X shape. It will be understood that the line guides 170, 172 (more specifically, line guide segments 174, 176) do not contact each other, such that lines 110A, 110B do not contact each other. Instead, each line 110A remains within its respective line guide 170, 172 to facilitate tensioning and relaxation of the extension tool 100.

[0075] In other embodiments, the first line 110A and the second line 110B may also transition from one side of the extension tool 100 to the other in other ways. For example, in Figure 10 The diagram depicts a cross transition within the transition link 106T. As shown, the cross transition applies essentially zero torque to link 106, which may be beneficial for at least some link materials (e.g., plastics undergoing material creep). Furthermore, the cross transition may be more stable than other transition schemes. However, other transition designs can also be used, such as a 180° twist design. A 180° twist design allows each line to be twisted 180° to transition from one side of the extension tool 100 to the opposite side; this may be a simpler design than the cross transition, but it may be less stable and lacks the same benefits relative to, for example, material creep.

[0076] The extension tool 100 may also include other features or elements. (Return to Reference) Figure 7 In at least some embodiments, a plurality of sequentially arranged links 106 include light elements 190 for illuminating the environment outside the plurality of links 106. For example, one or more links 106 may include one or more light elements 190, such as light-emitting diodes (LEDs), light guides, etc., for providing light within a component of the insertion extension tool 100. The light elements 190 may be embedded in the outer surface 156 of one or more links 106. Alternatively or additionally, one or more light elements 190 may be included within the links 106, for example, to illuminate an internal channel 116, thereby aiding an imaging device (e.g., a duct mirror, etc.) in navigating the channel 116. In such embodiments, with or without the light element embedded in the outer surface 156, the light element 190 may be embedded in the inner surface 154 of the wall 178 of each link 106, such that light is directed into the channel 116. A wire 110 may be used as a conductor to provide power to the light elements 190. For example, each optical element 190 or one or more sets of optical elements 190 may be supplied with power from line 110 via circuitry connected to line 110 using a pickup or brush, such that line 110 may continue to slide slidably within their respective channels or guides 170, 172.

[0077] Furthermore, in at least some embodiments, the extension tool 100 also includes features for providing one or more fluid flows through it. For example, channel 116 may be wholly or partially a fluid flow channel for providing fluid flows through it. In embodiments, channel 116, defined by the walls 178 of the plurality of links 106, is for receiving cooling fluid F within the plurality of sequentially arranged links 106. Figure 8 , 9 The channel 116 is a cooling passage. In some embodiments, the channel 116 may receive a cooling fluid flow in addition to receiving one or more appliances, tools, or other devices. For example, cooling fluid F may flow through the channel 116 to cool one or more appliances, tools, or other devices and / or cool the extension tool 100 and / or its surrounding environment. This cooling may allow the extension tool 100 to be deployed within components, systems, devices, or equipment, for example, without waiting for the components, etc., to cool to a threshold temperature. It will be understood that the cooling fluid F may flow out through multiple windows 150, and in embodiments including a radiating window wall 152, the window 150 may define a nozzle for delivering the cooling fluid flow F to the environment outside the extension tool 100.

[0078] As an example, the cooling fluid flow F through channel 116 allows the extension tool 100 to be deployed on the gas turbine engine (e.g., after engine shutdown) earlier than an uncooled extension tool 100. Figure 6 In the engine 10 shown. The cooling fluid flow F through the extension tool 100 can keep the extension tool 100 and / or the appliances, tools and / or other devices used with it sufficiently cold to be used within the engine 10, even if the engine 10 has not been cooled to the threshold temperature.

[0079] In other embodiments, channel 116 may receive a cooling fluid flow F but not one or more appliances, tools, or other devices; that is, channel 116 may be solely a cooling channel. In still other embodiments, the plurality of links 106 may define one or more channels other than channel 116. Other channels may receive or replace channel 116 receiving the cooling fluid flow F. In yet another embodiment, one or more channels defined by the plurality of links 106, including channel 116, may receive one or more different fluid flows, such as a heated gas flow, a pressurized gas flow, a heated liquid flow, a pressurized liquid flow, a cleaning foam, or other cleaning material flow. Different fluid flows may have different temperatures, pressures, and / or compositions. For example, one channel may receive a cooling fluid flow F, and another channel may receive a liquid detergent flow, etc. As another example, a channel may be configured to receive different fluid flows at different times during the deployment of the extension tool 100 in the component; for example, the channel may receive a cooling fluid flow F at one time, a liquid detergent flow at another time, and a heated gas flow at yet another time. As described above, the window 150 defined in the plurality of links 106 can act as a nozzle for directing fluid (e.g., washing fluid or foam, detergent, gas, etc.) to the outside of the extension tool 100, for example, to a specific feature of the component or the general external environment.

[0080] As can also be understood from the above discussion, for the depicted and described embodiments, adjacent links 106 are sealed together by mating geometries at their respective ends, which are shaped to complement the mating geometries of adjacent links. The walls 178 of the links 106 are pressed together, and the contact pressure applied by the line 110 can form a contact seal between them to provide a seal between these links 106.

[0081] Generally, embodiments of the extension tool 100 described herein can be manufactured or formed using any suitable process. However, according to several aspects of this subject matter, the extension tool 100 can be formed using additive manufacturing processes such as 3D printing. The use of such a process can allow, for example, each link 106 and support member 130 to be formed as a single integral part, or as any suitable number of sub-parts. In particular, the manufacturing process can allow each link 106 and support member 130 to be integrally formed and include various features that are not possible using existing manufacturing methods. For example, the additive manufacturing method described herein is capable of manufacturing links 106 having any suitable size and shape, including cavities, channels, sight and line guides, as well as windows, end geometries, and other features that are not possible using existing manufacturing methods. Some of these novel features are described herein.

[0082] As used herein, the term "additive manufacturing" or "additive manufacturing technology or process" generally refers to a manufacturing process in which consecutive layers of material are provided on one another to "stack" a three-dimensional part layer by layer. Consecutive layers are often fused together to form a monolithic part that may have multiple integral sub-parts. Although additive manufacturing technology is described herein as capable of manufacturing complex objects by typically building them point-by-point, layer-by-layer in a vertical direction, other manufacturing methods are possible and within the scope of this subject matter. For example, while the discussion herein involves adding material to form consecutive layers, those skilled in the art will understand that the methods and structures disclosed herein can be practiced with any additive manufacturing technology or manufacturing technique. For example, embodiments of the invention may use additive, subtractive, or hybrid processes.

[0083] Suitable additive manufacturing techniques according to this disclosure include, for example, fused deposition modeling (FDM), selective laser sintering (SLS), 3D printing (e.g., by inkjet and laser jetting), stereolithography (SLA), direct selective laser sintering (DSLS), electron beam sintering (EBS), electron beam melting (EBM), laser engineered net-shape (LENS), laser net-shape manufacturing (LNSM), direct metal deposition (DMD), digital light processing (DLP), direct selective laser melting (DSLM), selective laser melting (SLM), direct metal laser melting (DMLM), and other known processes.

[0084] In addition to processes using direct metal laser sintering (DMLS) or direct metal laser melting (DMLM), where the energy source is used to selectively sinter or melt portions of the powder layers, it should be understood that, according to alternative embodiments, the additive manufacturing process can be a "binder jetting" process. In this respect, binder jetting involves the continuous deposition of additive powder layers in a manner similar to that described above. However, instead of using an energy source to generate an energy beam to selectively melt or fuse the additive powder, binder jetting selectively deposits a liquid binder onto each powder layer. The liquid binder can be, for example, a photocurable polymer or another liquid binder. Other suitable additive manufacturing methods and variations are intended to fall within the scope of this subject matter.

[0085] The additive manufacturing process described herein can be used to form parts using any suitable material. For example, the material can be plastic, metal, concrete, ceramic, polymer, epoxy resin, photosensitive polymer resin, or any other suitable material that can be solid, liquid, powder, sheet, wire, or any other suitable form. More specifically, according to embodiments of this subject matter, the additively manufactured parts described herein can be formed partially, integrally, or in some combination of materials, including but not limited to pure metals, nickel alloys, chromium alloys, titanium, titanium alloys, magnesium, magnesium alloys, aluminum, aluminum alloys, iron, ferroalloys, stainless steel, and nickel or cobalt-based superalloys (e.g., available from Special Metals Corporation under the name...). Those obtained). These materials are examples of materials suitable for the additive manufacturing processes described herein, and are generally referred to as "additive materials".

[0086] Furthermore, the additive manufacturing processes disclosed herein allow a single component to be formed from multiple materials. Therefore, the components described herein can be formed from any suitable mixture of the aforementioned materials. For example, a component may comprise multiple layers, segments, or parts formed using different materials, processes, and / or on different additive manufacturing machines. In this way, components with different materials and material properties can be constructed to meet the needs of any particular application. Moreover, while the additive manufacturing processes for forming the components described herein are described in detail, it should be understood that in alternative embodiments, all or part of these components may be formed by casting, machining, and / or any other suitable manufacturing process. In fact, any suitable combination of materials and manufacturing methods can be used to form these components.

[0087] It is worth noting that, in the embodiments, certain features of the components described herein were previously impossible due to manufacturing limitations. However, the inventors have advantageously utilized current advances in additive manufacturing technology to develop embodiments of such components generally according to this disclosure. While this disclosure is generally not limited to using additive manufacturing to form these components, additive manufacturing does offer a number of manufacturing advantages, including ease of manufacture, reduced costs, and higher accuracy.

[0088] In this regard, additive manufacturing methods can be used to form even multi-part components as a single continuous material, and therefore can include fewer sub-parts and / or joints compared to existing designs. The integral formation of these multi-part components through additive manufacturing can advantageously improve the overall assembly process. For example, integral formation reduces the number of individual parts that must be assembled, thereby reducing associated time and overall assembly costs. Additionally, existing problems related to, for example, leakage, the quality of joints between individual parts, and overall performance can be advantageously reduced.

[0089] Furthermore, the additive manufacturing methods described above enable the creation of more complex and intricate shapes and profiles for the components described herein. For example, such components may include thin additive manufacturing layers, unique mating or complementary geometries, customized cooling cavity dimensions and shapes, and / or customized channel numbers, shapes, and paths. As a specific example, using additive manufacturing methods such as those described herein, one or more of a plurality of links 106 can be formed with unique line guide channels and line paths defined therein. Furthermore, each of the plurality of links 106 can have a unique geometry, including various channels, line guides and / or line guide segments 116, 170, 172, 174, 176, line of sight 162, window 150, and / or other features that may be defined therein, allowing the extension tool 100 to be customized in size, shape, etc., for use in specific parts, assemblies, systems, devices, equipment, etc. Moreover, additive manufacturing methods can allow the manufacture of such customized extension tools 100, including, for example, a plurality of unique links 106, with reduced manufacturing time, cost, and complexity compared to other manufacturing methods.

[0090] Furthermore, while additive manufacturing can produce individual integral parts, as described herein, from a single material, the additive manufacturing process can also produce individual parts made of different materials, allowing different parts of the part to exhibit different performance characteristics. The continuous, additive nature of the manufacturing process makes the construction of these novel features possible. As a result, the parts described herein can exhibit improved performance and reliability.

[0091] It should be understood that the extension tool 100, comprising multiple links 106 and support members 130, described herein is for illustrative purposes only. For example, the extension tool 100 is used herein to describe various constructions, structures, and methods of manufacturing the extension tool 100. It should be understood that the additive manufacturing techniques discussed herein can be used to manufacture other extension tools, links, or similar components for any suitable device, for any suitable purpose, and for any suitable industry. Therefore, the components and methods described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way.

[0092] This subject also includes insertion methods, namely, methods for inserting the extension tool 100 into components, etc. The extension tool 100 can be constructed according to any of the various embodiments described herein. For example, as... Figure 11As shown, method 200 includes (202) inserting a support member 130 through a port or aperture in the component, the support member 130 defining a distal end 114 of the extension tool 100. Method 200 also includes (204) pushing the extension tool 100 to guide a plurality of links 106 through the port. As described herein, the distal end 122 of each link 106 may include an elongated hook-shaped nose 158, which, for example, helps guide the link 106 through the port by “capturing” the structure defining the aperture and then sliding into the aperture. As the links 106 move through the port, adjacent links 106 close at their mating, complementary-shaped ends 120, 122, for example, to help prevent the links 106 from getting stuck on any protrusions or vertical surfaces of the component in the insertion path of the extension tool 100.

[0093] Furthermore, when the extension tool 100 is pushed to guide the plurality of links 106 into the component, the support member 130, including the wheel 132, guides the links 106 through the component. The biased shape of the support member 130, together with the wheel 132, can particularly facilitate insertion into curved components, such as annular gas turbine combustors, annular gas turbine turbine or compressor stages, spherical or cylindrical pressure vessels or tanks, or along non-linear insertion paths. More specifically, for example, the biased shape of the support member 130 and the wheel 132 help prevent the links 106 from getting stuck or blocked on features or surfaces of the component compared to the relatively blunt distal end of the links 106.

[0094] Method 200 also includes (206) tensioning or rigidifying the extension tool 100 to give it a predetermined shape, for example Figure 2 As shown. In some embodiments, the extension tool 100 can be manually tensioned or rigidified; for example, a person can manually manipulate the elements of the base 102 to tighten the line 110 and pull the link 106 and the support member 130 together. In other embodiments, the extension tool 100 can be automatically tensioned or rigidified; for example, the base 102 can be coupled to or integrated with automated machinery (e.g., a robot) to use digital control, computer control, etc., to tighten the line 110.

[0095] When the extension tool 100 is inserted into the component, for an extension tool 100 including a plurality of windows 150, the windows 150 are aligned with periodic features of the component. One or more appliances, tools, and / or devices may be inserted individually (e.g., sequentially) or in combination with each other into the extension tool 100 to perform inspection, maintenance, cleaning, repair, or other activities. Furthermore, one or more fluids may flow along one or more channels defined in the extension tool 100 while, before, or after, the appliances, tools, and / or devices are inserted into the tool 100. After the activity involving the extension tool 100 is completed, the tool 100 may return to its relaxed position. Figure 1 ) and remove it from the component.

[0096] It will be understood that while examples of this subject matter are described herein with regard to aviation gas turbine engines, particularly turbofan engines, this subject matter can also be used in other contexts. For example, the extension tool 100 described herein can be used for other gas turbine engines, such as turboshaft engines, turboprop engines, or turbojet gas turbine engines, including marine and industrial engines and auxiliary power units. As a further example, the extension tool 100 described herein can be used for inspection, maintenance, cleaning, and / or other activities, for example, in tanks, pressure vessels, etc., in oil and gas applications. This subject matter may also have other applications.

[0097] Therefore, this subject matter relates to a selectively flexible extension tool, which, due to the internal channel defined therein, can also be referred to as a selectively rigidifiable guide tube. As described herein, the extension tool is relatively flexible when not rigidified, allowing it to be moved into place before tensioning or rigidification. The invention provides a wheel, described herein as a support member, at the end or distal end of the extension tool, which is offset or deflected from the centerline of the extension tool. This wheeled end or distal end facilitates active control of the insertion direction of the extension tool, for example, the circumferential direction of insertion after radial insertion through the port, which facilitates the insertion of relatively long extension tools into gas turbine combustors, in the ring between the gas turbine rotor and stator, through the duct mirror port, and even upward against gravity. Furthermore, by providing the support member as part of the extension tool, whether the support member is a removable or permanent feature of the extension tool, the wheeled end or distal end provides a solution for guiding the end of the extension tool without requiring special or additional processing steps and without control input to make it work. The support member offsets the end of the extension tool in the direction in which it is oriented and is intuitive to use. Furthermore, the support members are located within the cross-section of the extension tool, eliminating the inherent risk of jamming from external ropes or other external equipment used to manipulate the end of the extension tool, and eliminating the need for additional forming members that would otherwise be required to control the deployment direction of the end of the extension tool. Additionally, the wheel arrangement can be printed in place as part of the distal link of the extension tool or as a separate, removable component, ensuring the safety of the wheel assembly. Multiple wheels can be printed into a single component, for example, to reduce friction with features such as the liner of a gas turbine engine burner and to guide the rotation of the link to a circumferential position. Then, as the slack or loose extension tool droops as it traverses its circumference, the distal wheels can abut against an outer surface, such as the liner of a gas turbine engine burner, guiding the extension tool.

[0098] As further described herein, the inventors have recognized that including one or more windows in the body of an extension tool or a rigidifiable guide tube provides a stable support structure (e.g., for guiding a pipe mirror for inspection; for guiding fluid for maintenance, repair, or cleaning, etc.) and enables fine-grained positional control. For example, multiple windows defined in an extension tool provide greater control over the position of a pipe mirror, for example, for inspection at multiple circumferential locations within the annular space of a burner. Furthermore, the invention described herein enables consistent illumination and imaging of features such as fuel nozzles, deflectors, turbine nozzle airfoils, etc., with consistent spacing and positioning. Additionally, the extension tool, through the hinge of an access hole or port, allows for relative movement for subsequent processing, for example, in the case where a fuel nozzle crack is identified and needs to be traced. Furthermore, the extension tool described herein can facilitate precise steering of the inspection end, for example, using the lines of sight and / or window markings described herein, and can also facilitate reduced inspection time. Other benefits and advantages of this subject matter can also be achieved.

[0099] Further aspects of the invention are provided by the subject matter of the following clauses:

[0100] 1. An extension tool having a proximal end and a distal end, the extension tool comprising: a plurality of sequentially arranged links movable relative to each other; and a support member defining the distal end, the support member including a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel.

[0101] 2. The extension tool according to any of the preceding clauses, wherein the plurality of sequentially arranged links include a distal link, and wherein the distal link is the support member such that the distal link defines the distal end and includes the first wheel and the second wheel.

[0102] 3. The extension tool according to any of the preceding clauses, wherein each of the first wheel and the second wheel is attached to the distal link.

[0103] 4. The extension tool according to any of the preceding claims, wherein each of the first wheel and the second wheel is integrally formed with the distal link.

[0104] 5. The extension tool according to any of the preceding clauses, wherein the support member is removably coupled to the plurality of sequentially arranged links, such that the first wheel and the second wheel can be removed from the extension tool.

[0105] 6. The extension tool according to any of the preceding clauses, wherein the support member comprises: a first flexible member for extending through the plurality of links; and a second flexible member disposed between the first wheel and the second wheel.

[0106] 7. The extension tool according to any of the preceding clauses, wherein the plurality of sequentially arranged links define an opening for receiving the support member, the opening having a perimeter defined by the plurality of sequentially arranged links, and wherein the support member includes a positioning feature for engaging with the perimeter to position the first wheel and the second wheel in a predetermined orientation.

[0107] 8. The extension tool according to any of the preceding clauses, wherein the positioning feature further includes an end stop for restricting the support member from traveling through the plurality of sequentially arranged links when the first wheel and the second wheel are positioned distal to the distal link of the plurality of sequentially arranged links.

[0108] 9. The extension tool according to any of the preceding clauses, wherein the support member extends along the longitudinal centerline of the support member such that the distal end of the support member is offset away from the longitudinal centerline of the support member.

[0109] 10. The extension tool according to any of the preceding clauses, further comprising: a plurality of windows defined in a plurality of sequentially arranged links, wherein the windows in the plurality of windows are periodically defined along the plurality of sequentially arranged links such that the periodicity of the windows corresponds to the periodicity of features of the component in which the extension tool is deployed.

[0110] 11. An extension tool for deployment within a component, comprising: a plurality of sequentially arranged links movable relative to each other; and a plurality of windows defined within the plurality of sequentially arranged links, wherein the windows among the plurality of windows are periodically defined along the plurality of sequentially arranged links such that the periodicity of the windows corresponds to the periodicity of a plurality of features of the component.

[0111] 12. The extension tool according to any of the preceding clauses, wherein a window in the plurality of windows is defined at one or more circumferential positions along a link in the plurality of sequentially arranged links, and wherein the window in the plurality of windows defines an opening in the link in the plurality of sequentially arranged links for communication between an internal passage of the plurality of sequentially arranged links and an environment outside the extension tool.

[0112] 13. An extension tool according to any of the preceding clauses, wherein each of the plurality of windows is labeled, and wherein each label corresponds to a corresponding feature among the plurality of features.

[0113] 14. The extension tool according to any of the preceding clauses, wherein each of the plurality of windows is defined by a diverging wall.

[0114] 15. An extension tool according to any of the preceding clauses, wherein a line of sight is defined in each of the plurality of sequentially arranged links, the line of sight extending between each of the plurality of windows arranged along a path to position each window at a corresponding feature among the plurality of features.

[0115] 16. The extension tool according to any of the preceding clauses, wherein each of the plurality of sequentially arranged links includes a proximal end and a distal end, the distal end of each of the plurality of sequentially arranged links having an elongated hook-shaped nose, and the proximal end of each of the plurality of sequentially arranged links having a shape complementary to the elongated hook-shaped nose.

[0116] 17. The extension tool according to any of the preceding clauses, wherein the plurality of sequentially arranged links include a transition link defining a first line guide segment in a wall of the transition link and a second line guide segment in the wall, wherein the first line guide segment transitions from an upper portion of the wall at a proximal end of the transition link to a lower portion of the wall at a distal end of the transition link, and wherein the second line guide segment transitions from the lower portion of the wall at the proximal end of the transition link to the upper portion of the wall at the distal end of the transition link.

[0117] 18. The extension tool according to any of the preceding clauses, wherein the plurality of sequentially arranged links include a light element for illuminating the environment outside the plurality of sequentially arranged links.

[0118] 19. The extension tool according to any of the preceding clauses, wherein the plurality of sequentially arranged links include a cooling channel for receiving cooling fluid within the plurality of sequentially arranged links.

[0119] 20. The extension tool according to any of the preceding clauses, further comprising: a support member defining a distal end of the extension tool, the support member including a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel.

[0120] 21. A method of inserting an extension tool into a component, the extension tool comprising a plurality of sequentially arranged links movable relative to each other and a support member including at least two wheels, the method comprising: inserting the support member defining a distal end of the extension tool through a port in the component; pushing the extension tool to guide the plurality of sequentially arranged links through the port; and tensioning the extension tool such that the extension tool takes on a predetermined shape.

[0121] 22. The method according to any of the preceding clauses, wherein when the extension tool is pushed through the port, the support member guides the plurality of sequentially arranged links through the component.

[0122] 23. The method according to any of the preceding clauses, wherein the extension tool is manually tensioned.

[0123] 24. The method according to any of the preceding clauses, wherein the extension tool is automatically tensioned.

[0124] 25. The method according to any of the preceding clauses further includes inserting a duct mirror into a channel defining the plurality of sequentially arranged links.

[0125] 26. The method according to any of the preceding clauses, guiding the pipe mirror to a window of a plurality of windows periodically defined in the extension tool to view features of the component.

[0126] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any combination of methods. The patentable scope of the invention is defined by the claims, but may include other examples that would occur to a person skilled in the art. Such other examples are intended to fall within the scope of the claims if they comprise structural elements that are not indistinguishable from the literal language of the claims, or if they comprise equivalent structural elements that are not substantially different from the literal language of the claims.

Claims

1. An extension tool having a proximal end and a distal end, characterized in that, The extended tool includes: A plurality of sequentially arranged links, wherein the plurality of sequentially arranged links are movable relative to each other; and A support member defining the distal end, the support member including a first wheel disposed at the distal end and a second wheel spaced apart from the first wheel, wherein the support member extends along a longitudinal centerline of the support member such that the distal end of the support member is biased away from the longitudinal centerline of the support member, wherein the second wheel is substantially aligned with at least the distal link of the plurality of sequentially arranged links.

2. The extension tool according to claim 1, characterized in that, in, The distal link is the support member, such that the distal link defines the distal end and includes the first wheel and the second wheel.

3. The extension tool according to claim 2, characterized in that, Each of the first wheel and the second wheel is attached to the distal link.

4. The extension tool according to claim 3, characterized in that, Each of the first wheel and the second wheel is integrally formed with the distal link.

5. The extension tool according to claim 1, characterized in that, The support member is removably connected to the plurality of sequentially arranged links, such that the first wheel and the second wheel can be removed from the extension tool.

6. The extension tool according to claim 5, characterized in that, The support member includes: A first flexible member, the first flexible member being used to extend through the plurality of sequentially arranged links; and A second flexible member is disposed between the first wheel and the second wheel.

7. The extension tool according to claim 5, characterized in that, The plurality of sequentially arranged links define an opening for receiving the support member, the opening having a perimeter defined by the plurality of sequentially arranged links, and wherein the support member includes a positioning feature for engaging with the perimeter to position the first wheel and the second wheel in a predetermined orientation.

8. The extension tool according to claim 7, characterized in that, The positioning feature further includes an end stop for restricting the support member from traveling through the plurality of sequentially arranged links when the first wheel and the second wheel are positioned distal to the distal link in the plurality of sequentially arranged links.

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