A wireless balloon robot for turbine engine borescopy

Abstract

The present application belongs to the field of aero-engine and gas turbine maintenance and support, and relates to a wireless air bag robot for turbine engine endoscopic inspection. The lens of the present application can rotate with the engine rotor, the observation range is improved, the blind area of the original endoscopic method is eliminated, and the endoscopic coverage of turbine engine inspection can be collectively improved from about 60% to 100% with the existing inspection method. After using the air bag robot, only a small part of the structure of the engine needs to be opened during endoscopic inspection, and the whole engine is not affected. The air bag robot is fixed between the adjacent two blades by the extrusion of the air bag to the blades and the friction force. The process improves the size of the force in the fixing process by means of external input, and avoids the limitation caused by the small size and weak power of the air bag robot.

Description

Technical Field

[0001] This invention belongs to the field of maintenance and support for aero-engines and gas turbines, and relates to a wireless airbag robot for endoscopic inspection of turbine engines. Background Technology

[0002] Turbine engines are widely used in aviation, shipbuilding, tanks, and power industries. Currently, most aircraft engines and gas turbines are turbine engines. Turbine engines operate in harsh environments and have a high probability of failure, especially the numerous bladed components located inside, such as compressor and turbine blades, which require regular maintenance. However, due to their complex structure and deep internal location, direct observation is impossible. Complete disassembly for each inspection is not only cumbersome and time-consuming but also prone to accidental damage during disassembly, negatively impacting equipment uptime and availability. Endoscopic technology, an important tool in non-destructive testing, allows video probes to be inserted through pre-drilled endoscope holes into the engine to inspect the surface condition of bladed components without altering the overall engine configuration. By observing the images, damage can be identified and its severity assessed, thus largely solving the aforementioned problems.

[0003] Video endoscopes are currently the most commonly used type of endoscopic equipment. A typical video endoscope is shown below. Figure 1 As shown, the structure can be divided into a lens and illumination unit 21, a bending section 22, a wire 23, an external screen 24, and a main unit 25. The principle is as follows: First, the lens and illumination unit 21 is inserted into the engine using the support of the wire 23. Then, the lens and illumination unit 21 acquires surface images of the internal engine components. The acquired image data is transmitted to the display screen 252 of the main unit 25 via the wire 23, or to the external screen 24 connected to the video interface 251 for display. Analysis of the images determines the location and type of the fault. By manually operating the control button 253 on the main unit 25, the bending section 22 can be bent in a specified direction, thereby adjusting the orientation of the lens and illumination unit 21 to increase the field of view and enable observation of key areas.

[0004] Figure 2 shows a typical application process of using a video endoscope 2 to perform endoscopic inspection of the moving blades of a turbine engine. As shown in Figure 2(a), firstly, the outer casing endoscope hole cover mounting seat 31 on the outer casing 33 is opened, and the lens and illumination 21 are inserted into the engine through the outer casing endoscope hole 32 reserved on the engine and the inner casing endoscope hole 34 located on the inner casing 35.

[0005] An operator located outside the engine can semi-controllably and manually adjust the shape of the wire 23 based on feedback from the display screen 252 on the main unit 25 or the external screen 24. The operator can also control the bending section 22 to bend in a specified direction using the control button 253 on the main unit 25, so that the lens and illumination 21 reach the cascade of the stator blade 36 with the endoscope and face the moving blade 37, as shown in Figure 2(b). The operator slowly rotates the rotor outside the engine so that each moving blade in the stage containing the moving blade 37 in front of the lens and illumination 21 can be observed sequentially.

[0006] A typical endoscopic image is shown in Figure 2(c). By comparing it with a normal image, damage problems such as cracks and missing materials can be found. For example, the trailing edge of the moving blade 37 in the figure shows obvious notch damage, which will pose a risk of breakage during use and requires engine disassembly and replacement to avoid a major accident.

[0007] In Figure 2, the lens and illumination 21 radially passes through multiple layers of the casing to reach the cascade of the stator blade 36 with the endoscope and inspect the moving blade 37. The path is relatively easy to navigate as there are no complex obstructions. However, inside the engine, the flow channels formed by the multiple stages of stator and moving blades are very tortuous, making it difficult for the lens and illumination 21 to pass through the moving blade 37 to observe the stator blade 38 ahead. Furthermore, the wire 23 remaining within the cascade of the moving blade 37 is easily broken by the blades due to the rotor's rotation, making it difficult for the lens and illumination 21 to move axially along the engine. In another direction, when the lens and illumination 21 moves circumferentially inside the engine, the wire 23 needs to be continuously bent. Since it is impossible to precisely control the movement of the wire 23 and the bending amplitude at different lengths manually, the lens and illumination 21 also struggles to accurately reach various angular positions circumferentially. Therefore, the reach of the lens and illumination 21 is limited. This makes it relatively easy to inspect the moving blades at each stage, but it is difficult to fully observe stationary parts such as the stationary blades at each stage and the outer ring 39. These unobservable areas account for about 40% of the area of ​​the turbine engine that needs to be inspected by endoscopy. This will result in undetected problems remaining in the engine, posing a huge challenge to the safe and reliable operation of the engine. There is an urgent need to adopt new equipment and methods to eliminate these blind spots and improve the coverage of endoscopy inspection. Summary of the Invention

[0008] To address the limitations of current endoscopic equipment in inspecting turbine engines, such as limited lens reach and blind spots, a wireless airbag robot for turbine engine endoscopic inspection has been invented. This airbag robot operates wirelessly. After being delivered to the rotor blade cascade via an auxiliary device, its airbag is inflated. Once inflated to a certain extent, the airbag compresses the blade, using the resulting friction to secure the robot between two adjacent rotor blades, preventing detachment. After disconnecting the auxiliary device from the engine and removing the device, the airbag robot slowly rotates with the rotor, simultaneously acquiring images of the front and rear stationary blades and the outer ring on the sides. The acquired data is transmitted wirelessly or temporarily stored in internal memory, eliminating the blind spots of traditional endoscopic equipment. After the endoscopic work is completed, the airbag robot can be removed using the auxiliary device without affecting normal engine operation.

[0009] The specific technical solution of the present invention is as follows:

[0010] A wireless airbag robot for endoscopic inspection of turbine engines includes a main shell, a circuit system, and an airbag structure. When the airbag structure is not inflated, it is approximately a cylinder with a gripping handle at the bottom. The circuit system has image acquisition, pressure detection, and data transmission functions. The circuit system is located inside the main shell of the airbag robot. Part of the airbag structure is inside the main shell and closely attached to the circuit system, while another part is exposed outside the main shell and can expand outward under the condition of air supply from an external auxiliary device.

[0011] The outer frame of the main body shell is a hollow cylindrical structure. To prevent the opaque metal shell from obstructing the camera image acquisition of the circuit system and the signal transmission and reception process of the Wi-Fi module, several windows are provided on the outer frame. The front, side, rear, and Wi-Fi windows all have stepped mounting edges, allowing for the installation of protective covers made of glass or other non-metallic materials. The mounting platform has threaded holes, enabling the circuit system and airbag structure to be fixed to the main body shell using lateral screws. A clamping handle is located at the bottom of the outer frame. The upper half of the clamping handle is a rounded square prism, and the lower half is cylindrical. This structure allows the auxiliary device to clamp and position the airbag robot, improving stability during clamping. The interior of the clamping handle is hollow, consisting of a frustum-shaped sealing surface and a cylindrical valve tube mounting hole, allowing the auxiliary device to inflate and deflate the airbag structure. The status of the indicator lights on the internal circuit system of the airbag robot can be observed through the indicator light window. The plugs for the data and power transmission lines can be inserted into the airbag robot through the charging and data transmission window and plugged into the charging and data transmission port of the circuit system.

[0012] Now Figure 5 The following example illustrates the installation position, method, and function of some components on the outer frame of the main body shell. The rear and side window protective covers are made of transparent material and are respectively adhered to the stepped rear and side windows, protecting the lens without affecting camera operation. The Wi-Fi window protective cover is made of non-metallic material and is adhered to the Wi-Fi window, allowing the internal Wi-Fi module of the airbag robot to avoid the shielding effect of metallic materials, enabling it to send and receive data to and from the outside of the airbag robot. The front and rear thin-film pressure sensors are rectangular thin sheets, respectively adhered to the surfaces of the front and rear strain tank mounting slots, used to sense the pressure generated at that location when the airbag robot contacts the blades and provide feedback to the operator to determine the tightness of the fixation. The wiring of the front and rear thin-film pressure sensors passes through the front and rear wiring holes to reach the interior of the main body shell and connects to designated pins on the main control circuit board of the circuit system. The front elastic strain gauge shell, made of elastic non-metallic material, covers the front diaphragm pressure sensor and is bonded to the surface of the front strain gauge shell mounting groove. It protects the front diaphragm pressure sensor and evenly transfers the stress generated by compression to the covered sensor. The anti-slip particles on its outer side increase the friction when in contact with the blade, thus improving the tightness of the fixation. The rear elastic strain gauge shell has the same structure and function as the front elastic strain gauge shell and is bonded to the surface of the rear strain gauge shell mounting groove using the same fixing method. Considering the subsequent installation of other parts, the remaining parts of the main shell will not be assembled at this time.

[0013] The main structure of the circuit system is shown in Figure 6. The system includes three sets of cameras for image acquisition. Each set of cameras is equipped with a front-facing illumination circuit board, which provides illumination during image acquisition to ensure clear images. The front-view camera connects to the front-view illumination circuit board via pins on its own circuit board and a socket on the front-view illumination circuit board. The front-view illumination circuit board and the front-view camera are mounted on the top of the irregular mounting frame using bolts, support rings, washers, and nuts. The Wi-Fi module, side-view camera, and side-view illumination circuit board are fixed to the side of the irregular mounting frame in the same way, while the rear-view illumination circuit board and rear-view camera are fixed to the bottom of the battery box. The Wi-Fi module is used for wireless data transmission and reception. The main control circuit board and charging circuit board are fixed to the top of the battery box. The main control circuit board and the charging circuit board are connected via pins and sockets to enable communication between the chips. After the battery is placed in the battery box, it is secured with battery clips, providing power to the entire circuit system of the airbag robot. The charging circuit board has charging and data transmission ports. After inserting data and power transmission lines, it can charge the battery and perform operations such as programming or exporting data to the main control circuit board. The charging circuit board also has indicator lights to display the charging status and operating conditions of the airbag robot. The main control circuit board controls the opening and closing of the various electrical devices of the airbag robot. After assembling the above modules, the irregularly shaped mounting brackets and battery boxes, which hold the circuit boards, are further secured to the side of the circuit mounting plate with the cylindrical protrusion using mounting screws and battery box fixing screws, respectively. Each camera is connected to a designated pin on the main control circuit board via a ribbon cable. This completes the assembly of the main body of the circuit system. In addition to the main body, the circuit system also includes a rear-side thin-film pressure sensor, a front-side thin-film pressure sensor, and a rear-side thin-film pressure sensor located in three different positions. The rear-side thin-film pressure sensor is located on the back side of the circuit mounting plate, and its wiring passes through the wiring holes on the circuit mounting plate and connects to a designated pin on the main control circuit board. The installation positions of the front-side and rear-side thin-film pressure sensors are as described above. Figure 5 As shown.

[0014] airbag structure as Figure 7As shown, the system includes a valve, valve cannula, clamp, and airbag. Its function is to inflate the airbag by externally supplied gas when the airbag robot reaches the blade cascade, compressing the blade surface and using friction to fix the airbag robot between two adjacent blades. The valve is a conical structure made of elastic thin film, divided into three sections with gaps between them. This allows the valve to be opened by an auxiliary device, opening the inflation path. However, after the auxiliary device is removed, the valve closes again under the pressure of the airbag's internal pressure, maintaining its integrity and sealing the air passage to prevent leakage of high-pressure gas. The valve and valve cannula are bonded together to achieve connection and sealing between the elastic and rigid components. The top of the valve cannula is a pagoda-shaped round tube connector, which is inserted into the flexible tube at the bottom of the airbag during installation and fixed and sealed by the clamp, ensuring complete air passage connection between the auxiliary device and the airbag. After the auxiliary device opens the valve, the airbag can be inflated or deflated. The valve structure has a one-way conduction function, so when the auxiliary device stops supplying air and is removed, the gas inside the airbag cannot leak into the atmosphere through the valve, allowing the airbag to maintain its inflated state. When the airbag robot is not in operation, the airbag no longer inflates but retracts inside the main shell, facilitating storage and access to the engine.

[0015] Now combined Figure 8 Explain the assembly relationships between the various systems of the airbag robot. (According to...) Figure 5 After assembling the external parts of the main body shell in the described manner, the side of the circuit system with the circuit board mounted faces the outer frame and is inserted into it. Then, the valve tube of the airbag structure is inserted into the valve tube mounting hole at the bottom of the outer frame, and the flat side of the airbag is aligned with the side of the circuit mounting plate without the circuit board. Next, the airbag fixing bracket is fastened onto the airbag structure, so that the rectangular frame at the center of the airbag fixing bracket fits around the airbag. Lateral screws are passed sequentially through the edge through holes of the airbag fixing bracket, the airbag, and the circuit mounting plate, and screwed into the threaded holes of the mounting platform on the outer frame. Along the robot axis, top and bottom screws are passed through the top and bottom of the outer frame, respectively, and screwed into the threaded holes at both ends of the airbag fixing bracket. After screwing in the top screw, the front viewing window protective cover is then glued to the front viewing window. The airbag robot assembly is now complete.

[0016] A cross-sectional view of the assembled airbag robot is shown below. Figure 9 As shown, a back-side thin-film pressure sensor is attached to the contact surface between the circuit mounting plate and the airbag to sense the pressure generated at that location when the airbag robot contacts the blade. When the airbag inflates and compresses the blade, the reaction force of the blade on the airbag is transmitted to the circuit mounting plate, and then through the mounting platform to the main body shell. Ultimately, this causes the front and rear elastic strain shells of the main body shell to compress the blade on the other side, thereby fixing the airbag robot between two adjacent blades.

[0017] The beneficial effects of this invention are:

[0018] Compared with the prior art, the technical solution adopted in this invention has the following technical effects:

[0019] 1. The lens can rotate with the engine rotor, increasing the observable range and eliminating blind spots in traditional endoscopic methods.

[0020] After being inserted into the blade cascade via an auxiliary device, this airbag robot can inflate its airbag by externally inputting gas. The friction generated by the compression with the blades then fixes it between two adjacent blades. Compared to the limitations of traditional endoscopes, which have fixed lens positions and limited reach, this airbag robot can rotate slowly with the rotor. Therefore, it can acquire images of blind spots in traditional endoscopic methods during rotation. Combined with existing inspection methods, this can increase the endoscopic coverage of turbine engine inspections from approximately 60% to 100%.

[0021] 2. Can operate under wireless conditions

[0022] Existing endoscopes use a wired connection between the lens and the main unit for controlling the lens's position and transmitting signals. Therefore, during endoscopic examinations, the wire must remain inside the engine, and the engine must be stationary with the rotor not rotating when inspecting stationary components. In contrast, this airbag robot, fixed between two adjacent moving blades, allows the auxiliary device to be physically disconnected and retracted outside the engine. The airbag robot operates wirelessly, allowing the engine rotor to rotate slowly under manual or motor-driven operation. This wireless approach eliminates the constraint of the connection between the lens and the main unit, expanding the application scenarios and efficiency of endoscopic examinations.

[0023] 3. No damage to the engine

[0024] When using this airbag robot for endoscopic inspection, an auxiliary device carries the robot into and out of the engine through a pre-designed endoscopic port. During this process, disassembly of engine components is limited to the vicinity of the endoscopic port, and the airbag robot does not damage surrounding structures while operating inside the engine. Because this airbag robot can work with existing inspection methods to achieve 100% endoscopic coverage, it also avoids the disassembly process caused by blind spots in the endoscopic view. Therefore, using this airbag robot, endoscopic inspections only require opening a small portion of the engine structure, without affecting the overall engine structure.

[0025] 4. Capable of capturing three images simultaneously, providing a wide field of view.

[0026] Existing endoscopes typically have only one lens, thus only capable of acquiring images from a single direction at a time. If observation from different angles is required, the folding lens in front of the main lens must be replaced, and the rotor rotation process repeated multiple times, resulting in a lengthy endoscopic examination. In contrast, this airbag robot is equipped with three cameras—front, side, and rear—each facing a different direction, along with corresponding lighting circuit boards. This allows it to acquire images from three directions simultaneously with each rotor rotation: two rows of stationary blades at the front and rear, and the outer ring of the rotor on the side. This significantly improves work efficiency.

[0027] 4. It can be tightly integrated with engine blades, preventing it from falling into the engine and ensuring high reliability.

[0028] This airbag robot uses inflated airbags to compress the blades, securing itself between adjacent blades through friction. This external input method increases the force required for fixation, overcoming limitations imposed by the robot's small size and limited power. During airbag inflation, three thin-film pressure sensors at different locations detect the pressure at the contact point between the robot and the blades. Inflation stops only when all three sensors detect pressures exceeding predetermined values, ensuring the force generated by compressing the blades is sufficient to secure the robot and prevent it from detaching during slow rotor rotation. This eliminates the risk of the airbag robot falling into the engine and becoming unremovable, compromising safety.

[0029] 5. Equipped with a lighting system to ensure image quality.

[0030] The interior of the engine is dimly lit due to obstructions from components such as the casing and blades. Direct image acquisition in this environment would fail to clearly depict the surface features of the observed parts, potentially leading to inaccurate or misdiagnosed conditions during subsequent diagnostics. This airbag robot equips each of its internal cameras with lighting circuitry and is powered by an onboard battery, providing sufficient visible light illumination to the field of view. This ensures clear, high-quality images and accurate fault diagnosis.

[0031] 6. Signal transmission is achieved through wireless transmission, enabling the acquisition of real-time images.

[0032] During the process of entering and exiting the engine and slowly rotating with the rotor to collect images, the airbag robot can transmit the sensor data generated by itself and the images captured by the lens to the outside in real time through the built-in Wi-Fi module. This allows the operator outside the engine to obtain images during the endoscopy process as well as the position and status information of the airbag robot, thereby enabling online diagnosis and more accurate judgment of faults.

[0033] 7. Solve the image storage problem by using its own built-in memory, eliminating the risk of signal theft.

[0034] When performing endoscopic inspections on turbine engines with confidentiality requirements, the Wi-Fi module of the airbag robot can be replaced with a storage module. This allows the image data acquired by the airbag robot to be temporarily stored internally instead of being transmitted wirelessly. After the airbag robot completes image acquisition and the engine is removed, the image data can be exported from the storage module via a wired connection, avoiding the risk of theft and leakage associated with wireless signal transmission. Attached Figure Description

[0035] Figure 1 A schematic diagram of a video endoscope structure is available.

[0036] Figure 2(a) Schematic diagram of the working status of the video endoscope;

[0037] Figure 2(b) Enlarged view of the working position of the video endoscope lens;

[0038] Figure 2(c) Typical endoscopic image;

[0039] Figure 3 Schematic diagram of the overall structure of the airbag robot;

[0040] Figure 4(a) Front view of the outer frame structure of the airbag robot;

[0041] Figure 4(b) Cross-sectional view of the outer frame structure of the airbag robot (AA section);

[0042] Figure 4(c) Top view of the outer frame structure of the airbag robot;

[0043] Figure 4(d) Schematic diagram of the B-side of the airbag robot's outer frame structure;

[0044] Figure 5 Schematic diagram of the main shell assembly of the airbag robot;

[0045] Figure 6(a) Assembly diagram of the airbag robot circuit system;

[0046] Figure 6(b) Overall diagram of the airbag robot circuit system;

[0047] Figure 7 Schematic diagram of the airbag structure of the airbag robot;

[0048] Figure 8 Schematic diagram of airbag robot assembly;

[0049] Figure 9 Cross-sectional view of an airbag robot;

[0050] Figure 10(a) Schematic diagram of the process of the airbag robot entering the moving blade cascade;

[0051] Figure 10(b) Schematic diagram of airbag robot inflation;

[0052] Figure 11 A typical field-of-view diagram of the working process of an airbag robot;

[0053] Figure 12 A diagram illustrating the data export process from the storage module.

[0054] In the diagram, 1 is the airbag robot; 11 is the main body shell; 1101 is the front viewing window protective cover; 1102 is the top screw; 1103 is the outer frame; 1104 is the front cable hole; 1105 is the front strain tank mounting slot; 1106 is the side viewing window; 1107 is the side viewing window protective cover; 1108 is the Wi-Fi window; 1109 is the Wi-Fi window protective cover; 1110 is the mounting platform; 1111 is the rear viewing window protective cover; 1112 is the indicator light window; 1113 is the charging and data transmission window; 1114 is the rear strain tank mounting slot; 1115 is the rear cable hole; and 1116 is the valve mounting hole. 1117. Sealing surface; 1118. Clamping handle; 1119. Front elastic strain housing; 1120. Rear elastic strain housing; 1121. Bottom screw; 1122. Airbag fixing bracket; 1123. Side screw; 1124. Front viewing window; 1125. Rear viewing window; 12. Circuit system; 1201. Bolt; 1202. Front lighting circuit board; 1203. Support ring; 1204. Front-view camera; 1205. Washer; 1206. Nut; 1207. Wi-Fi module; 1208. Circuit mounting plate wiring hole; 1209. Side-view camera; 1210. Circuit mounting plate; 1 211. Main control circuit board; 1212. Charging circuit board; 1213. Battery box fixing screws; 1214. Rearview lighting circuit board; 1215. Rearview camera; 1216. Battery clip; 1217. Battery; 1218. Battery box; 1219. Charging and data transmission port; 1220. Indicator light; 1221. Irregular mounting bracket fixing screws; 1222. Side lighting circuit board; 1223. Irregular mounting bracket; 1224. Rear side membrane pressure sensor; 1225. Front side membrane pressure sensor; 1226. Rear side membrane pressure sensor; 1227. Storage module; 13. Airbag structure; 13 01. Valve; 1302. Valve tube; 1303. Tube clamp; 1304. Airbag; 2. Video endoscope; 21. Lens and illumination; 22. Bend; 23. Wire; 24. External screen; 25. Main unit; 251. Video interface; 252. Display screen; 253. Control button; 3. Aircraft engine; 31. Outer casing endoscopic port plug mounting base; 32. Outer casing endoscopic port; 33. Outer casing; 34. Inner casing endoscopic port; 35. Inner casing; 36. Stationary vane with endoscopic port; 37. Moving vane; 38. Front stationary vane; 39. Outer ring; 4. Auxiliary devices; 5. Data and power transmission lines. Detailed Implementation

[0055] This invention can be implemented in many different forms and should not be considered limited to the embodiments described in this patent. The invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0056] Example 1:

[0057] A wireless airbag robot for endoscopic inspection of turbine engines includes a main body shell 11, a circuit system 12, and an airbag structure 13. When the airbag structure 13 is not inflated, it is approximately a cylinder with a gripping handle 1118 at the bottom. Figure 3 As shown. The circuit system 12 has functions such as image acquisition, pressure detection, and data transmission. Its main body is located inside the main shell 11 of the airbag robot 1, with a small number of parts attached to the surface of the main shell 11. Part of the airbag structure 13 is inside the main shell 11, closely attached to the circuit system 12, while the other part is exposed outside the main shell 11. It can expand outward under the condition of air supply from the external auxiliary device 4.

[0058] The main part of the main body shell 11 is the outer frame 1103 shown in Figure 4, which is a cylindrical hollow body. To prevent the opaque metal main body shell 11 from obstructing the camera image acquisition of the circuit system 12 and the signal transmission and reception process of the Wi-Fi module 1207, several windows are opened on the outer frame 1103. Among them, the front window 1124, the side window 1106, the rear window 1125 and the Wi-Fi window 1108 all have stepped mounting edges, which can be sealed with protective covers made of glass or other non-metallic materials. The mounting platform 1110 has threaded holes, so that the circuit system 12 and the airbag structure 13 can be fixed to the main body shell 11 by side screws 1123. A gripping handle 1118 is provided at the bottom of the outer frame 1103. The upper half of the gripping handle 1118 is a regular square prism with rounded corners, and the lower half is cylindrical. This structure enables the auxiliary device 4 to grip and position the airbag robot 1 and improves the stability during the gripping process. The interior of the gripping handle 1118 is a hollow structure, consisting of a frustum-shaped sealing surface 1117 and a cylindrical valve tube mounting hole 1116. The auxiliary device 4 can inflate and deflate the airbag structure 13 through this channel. The status of the indicator light 1220 on the internal circuit system 12 of the airbag robot 1 can be observed through the indicator light window 1112. The plug of the data and power transmission line 5 can enter the airbag robot 1 through the charging and data transmission window 1113 and be plugged into the charging and data transmission port 1219 of the circuit system 12.

[0059] Now Figure 5The following example illustrates the installation position, method, and function of some parts on the outer frame 1103 of the main body shell 11. The rear view window protective cover 1111 and the side view window protective cover 1107 are made of transparent material and are respectively bonded to the stepped rear view window 1125 and the side view window 1106, protecting the lens without affecting camera operation. The Wi-Fi window protective cover 1109 is made of non-metallic material and is bonded to the Wi-Fi window 1108, allowing the Wi-Fi module 1207 inside the airbag robot 1 to avoid the shielding effect of metallic materials and send and receive data to and from the outside of the airbag robot 1. The front thin-film pressure sensor 1225 and the rear thin-film pressure sensor 1226 are rectangular thin sheets, respectively bonded to the surfaces of the front strain tank mounting groove 1105 and the rear strain tank mounting groove 1114, used to sense the pressure generated at that location when the airbag robot 1 contacts the blade and provide feedback to the operator to determine the tightness of the fixation. The wiring of the front thin-film pressure sensor 1225 and the rear thin-film pressure sensor 1226 passes through the front wiring hole 1104 and the rear wiring hole 1115, respectively, to reach the interior of the main housing 11 and connects to designated pins on the main control circuit board 1211 of the circuit system 12. The front elastic strain housing 1119 is made of elastic non-metallic material. After covering the front thin-film pressure sensor 1225, it is bonded to the surface of the front strain housing mounting groove 1105, protecting the front thin-film pressure sensor 1225 and uniformly transferring the stress generated by compression to the covered sensor. The anti-slip particles on its outer side can increase the friction when in contact with the blade to improve the tightness of the fixation. The rear elastic strain housing 1120 has the same structure and function as the front elastic strain housing 1119 and is bonded to the surface of the rear strain housing mounting groove 1114 using the same fixing method. Considering the subsequent installation of other parts, the remaining parts of the main housing 11 will not be assembled for the time being.

[0060] The main structure of the circuit system 12 is shown in Figure 6. The system includes three sets of cameras for image acquisition. Each set of cameras is equipped with a front-facing illumination circuit board, which provides illumination during image acquisition to ensure clear images are captured. The front-view camera 1204 is connected to the front-view illumination circuit board 1202 via pins on its own circuit board and pin sockets on the front-view illumination circuit board 1202. The front-view illumination circuit board 1202 and the front-view camera 1204 are mounted on the top of the irregular mounting bracket 1223 using bolts 1201, support rings 1203, washers 1205, and nuts 1206. The Wi-Fi module 1207, the side-view camera 1209, and the side-view illumination circuit board 1222 are fixed to the side of the irregular mounting bracket 1223 in the same manner, while the rear-view illumination circuit board 1214 and the rear-view camera 1215 are fixed to the bottom of the battery box 1218. The Wi-Fi module 1207 is used for wireless data transmission and reception. The main control circuit board 1211 and the charging circuit board 1212 are fixed to the top of the battery box 1218. The main control circuit board 1211 and the charging circuit board 1212 are connected via pins and sockets to enable communication between the chips. The battery 1217 is placed in the battery box 1218 and secured by a battery clip 1216, providing power to the entire circuit system 12 of the airbag robot 1. The charging circuit board 1212 has a charging and data transmission port 1219. Inserting the data and power transmission lines 5 allows for charging of the battery 1217 and for programming or exporting data from the main control circuit board 1211. The charging circuit board 1212 also has an indicator light 1220 to display the charging status and operating conditions of the airbag robot 1. The main control circuit board 1211 controls the opening and closing of the various electrical devices of the airbag robot 1. After completing the above module assembly, the irregular mounting bracket 1223 and battery box 1218, which hold the circuit boards, are further fixed to the side of the circuit mounting plate 1210 with the cylindrical protrusion using the irregular mounting bracket fixing screws 1221 and the battery box fixing screws 1213, respectively. Each camera is connected to a designated pin on the main control circuit board 1211 via a ribbon cable. Thus, the main body of the circuit system 12 is assembled. In addition to the main body, the circuit system 12 also includes a rear-side thin-film pressure sensor 1224, a front-side thin-film pressure sensor 1225, and a rear-side thin-film pressure sensor 1226 distributed in three different locations. The rear-side thin-film pressure sensor 1224 is located on the back side of the circuit mounting plate 1210, and its wiring passes through the wiring hole 1208 on the circuit mounting plate and connects to a designated pin on the main control circuit board 1211. The mounting positions of the front-side thin-film pressure sensor 1225 and the rear-side thin-film pressure sensor 1226 are as described above. Figure 5 As shown.

[0061] Airbag structure 13 Figure 7As shown, the system includes a valve 1301, a valve tube 1302, a clamp 1303, and an airbag 1304. Its function is to inflate the airbag 1304 by externally inputting gas when the airbag robot 1 reaches the blade cascade, thus compressing the blade surface and using friction to fix the airbag robot 1 between two adjacent blades. The valve 1301 is a conical structure made of elastic film, divided into three pieces from the top to the middle, with gaps between them. This allows the valve 1301 to be opened by the auxiliary device 4, thereby opening the inflation air passage. However, after the auxiliary device 4 is removed, the valve 1301 closes again under the pressure of the air pressure inside the airbag 1304, allowing it to reassemble into a single unit, forming a sealed air passage and preventing leakage of high-pressure gas. The valve 1301 and the valve tube 1302 are connected and sealed between the elastic and rigid components by adhesive bonding. The top of the valve tube 1302 is a pagoda-shaped round tube connector, which is inserted into the flexible tube at the bottom of the airbag 1304 during installation. It is then fixed and sealed by the tube clamp 1303, ensuring complete airflow between the auxiliary device 4 and the airbag 1304. After the auxiliary device 4 opens the valve 1301, the airbag 1304 can be inflated or deflated. The valve structure has a one-way conduction function, so when the auxiliary device 4 stops supplying air and is removed, the gas inside the airbag 1304 cannot leak to the atmosphere through the valve 1301, allowing the airbag 1304 to maintain its inflated state. When the airbag robot 1 is not in operation, the airbag 1304 no longer inflates but retracts inside the main body shell 11, facilitating storage and access to the engine.

[0062] Now combined Figure 8 Explain the assembly relationships between the various systems of the airbag robot 1. According to... Figure 5 After assembling the external parts of the main body shell 11 in the described manner, the side of the circuit system 12 with the circuit board mounted faces the outer frame 1103 and is inserted into it. Then, the valve tube 1302 of the airbag structure 13 is inserted into the valve tube mounting hole 1116 at the bottom of the outer frame 1103, and the flat side of the airbag 1304 is aligned with the side of the circuit mounting plate 1210 without the circuit board mounted. The airbag fixing bracket 1122 is then fastened onto the airbag structure 13, so that the rectangular frame at the center of the airbag fixing bracket 1122 surrounds the airbag 1304. Lateral screws 1123 are passed sequentially through the edge through holes of the airbag fixing bracket 1122, the airbag 1304, and the circuit mounting plate 1210, and screwed into the internal threaded holes of the mounting platform 1110 on the outer frame 1103. Along the robot axis, top screws 1102 and bottom screws 1121 are passed through the top and bottom of the outer frame 1103 respectively, and screwed into the threaded holes at both ends of the airbag fixing bracket 1122. After screwing in the top screw 1102, attach the front window protective cover 1101 to the front window 1124. The airbag robot 1 is now assembled.

[0063] A cross-sectional view of the assembled airbag robot 1 is shown below. Figure 9 As shown, a back-side thin-film pressure sensor 1224 is attached to the contact surface between the circuit mounting plate 1210 and the airbag 1304 to sense the pressure generated at that location when the airbag robot 1 contacts the blade. When the airbag 1304 expands and compresses the blade, the reaction force of the blade on the airbag 1304 is transmitted to the circuit mounting plate 1210, and then to the main body shell 11 through the mounting platform 1110. Ultimately, this causes the front elastic strain shell 1119 and the rear elastic strain shell 1120 of the main body shell 11 to compress the blade on the other side, thereby fixing the airbag robot 1 between two adjacent blades.

[0064] Example 2:

[0065] A wireless airbag robot for endoscopic examination of turbine engines, such as Figure 3 As shown, it consists of three parts: the main shell 11, the circuit system 12, and the airbag structure 13. The airbag robot 1 can fix itself between two adjacent moving blades by expanding the airbag 1304, and acquire images of the front, rear, and sides as it rotates with the rotor.

[0066] Figure 10 illustrates a typical application process of using an airbag robot 1 to perform an endoscopic inspection of an engine. As shown in Figure 10(a), the auxiliary device 4 carries the airbag robot 1 into the engine and approaches the inner casing endoscopic port 34. While moving forward, it bends in both the longitudinal and horizontal directions, allowing the airbag robot 1 to pass through the inner casing 35 and the upper edge plate of the endoscopic port stationary vane 36, extend out of the endoscopic port stationary vane 36 blade grid, and reach the moving vane 37 blade grid.

[0067] As shown in Figure 10(b), after the airbag robot 1 reaches the blade cascade of the moving blade 37, the airbag 1304 is inflated by the auxiliary device 4, causing the airbag 1304 to expand. After the airbag 1304 expands to a certain extent, its surface contacts the suction surface of the moving blade 37, and the front elastic strain shell 1119 and the rear elastic strain shell 1120 of the airbag robot 1 contact the leading edge and trailing edge of the adjacent moving blade, respectively. As the airbag 1304 continues to expand, the airbag robot 1 and the two adjacent blades are compressed, and the force between the airbag robot 1 and the blades gradually increases. During this process, the anti-slip particles on the surfaces of the front elastic strain shell 1119 and the rear elastic strain shell 1120 prevent the airbag robot 1 from sliding. Inflation stops when the pressure values ​​detected by the rear-side membrane pressure sensor 1224, front-side membrane pressure sensor 1225, and rear-side membrane pressure sensor 1226 all exceed a predetermined value. At this point, it is assumed that the airbag robot 1 is securely fixed between the two adjacent moving blades and will not detach. Then, the physical connection between the auxiliary device 4 and the airbag robot 1 is disconnected, and the auxiliary device 4 is moved to a safe position. The operator or the motor drives the rotor to slowly rotate outside the engine. As the rotor rotates, the airbag robot 1 acquires images from the front, rear, and sides, and transmits the acquired image data externally via the Wi-Fi module 1207.

[0068] During image acquisition, the typical field of view of the airbag robot 1 is as follows: Figure 11 As shown, the observed areas mainly include the suction surface and trailing edge of the front stator 38, the pressure surface and leading edge of the stator 36 with an endoscope, and the lateral outer ring 39.

[0069] After the rotor rotates once, the airbag robot 1 completes image acquisition. The auxiliary device 4 then advances to a position where it can grip the gripping handle 1118, and after gripping the handle 1118, deflates the airbag 1304 of the airbag robot 1 to prevent it from compressing the blades. Then, the auxiliary device 4 is operated to reverse the path the airbag robot 1 took when entering the engine and exit outside the engine. The airbag robot 1 is removed, and the acquired images are analyzed to determine the location and type of engine malfunction. Typical images are shown below. Figure 11 As shown, during the image acquisition process of the airbag robot 1, a notch was observed on the front stator 38, and ablation marks were found on the surface of the outer ring 39 and the stator 36 with the endoscopic port. After uploading the data to the database, a fault handling decision was made, and the endoscopic work was completed.

[0070] Example 3:

[0071] like Figure 12As shown, the Wi-Fi module 1207 of the circuit system 12 in the airbag robot 1 is replaced with a storage module 1227. Following the method described in Embodiment 1, the airbag robot 1 is fixed between two adjacent moving blades. The rotor is slowly rotated outside the engine by an operator or a motor. The airbag robot 1 acquires images as it rotates with the rotor, as shown in Figures 10(a) and 10(b). The image data acquired by the airbag robot 1 during operation is no longer transmitted wirelessly to the outside of the engine in real time. A small amount of data generated by the thin-film pressure sensor is transmitted externally through a wireless transmission module integrated on the main control circuit board 1211. After the airbag robot 1 is removed from the engine, the image data is exported for analysis through the charging and data transmission port 1219. The location and type of engine fault are determined, the data is uploaded to the database, and a fault handling decision is made. This endoscopic work is then completed.

Claims

1. A wireless airbag robot for endoscopic examination of turbine engines, characterized in that, The airbag robot includes a main shell (11), a circuit system (12), and an airbag structure (13). When the airbag structure (13) is not inflated, the airbag robot is a cylinder with a gripping handle (1118) at the bottom. The circuit system (12) has image acquisition, pressure detection, and data transmission functions. The circuit system (12) is located inside the main shell (11) of the airbag robot (1). Part of the airbag structure (13) is inside the main shell (11) and close to the circuit system (12), while the other part is exposed outside the main shell (11) and can expand outward under the condition of being inflated by an external auxiliary device (4). The airbag structure (13) includes a valve (1301), a valve tube (1302), a tube clamp (1303), and an airbag (1304). The valve (1301) is a conical structure made of an elastic film, which is divided into three pieces within the height range from the top to the middle, with gaps between them. The valve (1301) and the valve tube (1302) are connected and sealed between the elastic and rigid parts by bonding. The top of the valve tube (1302) is a pagoda-shaped round tube connector, which is inserted into the hose at the bottom of the airbag (1304) during installation and fixed and sealed by the tube clamp (1303) so that all air passages between the auxiliary device (4) and the airbag (1304) are connected. The outer frame (1103) of the main shell (11) is a cylindrical hollow body. Several windows are opened on the outer frame (1103), including the front window (1124), the side window (1106), the rear window (1125) and the Wi-Fi window (1108), all of which have stepped mounting edges. A clamping handle (1118) is provided at the bottom of the outer frame (1103). The upper part of the clamping handle (1118) is a regular square prism with rounded corners, and the lower part is cylindrical. This structure enables the auxiliary device (4) to clamp and position the airbag robot (1). The airbag robot (1) can fix itself between two adjacent moving blades by the expansion of the airbag (1304). The airbag robot (1) collects images in front, behind and to the side as it rotates with the rotor. The clamping handle (1118) has a hollow structure inside. The hollow structure is a channel composed of a frustum-shaped sealing surface (1117) and a cylindrical valve tube mounting hole (1116). The auxiliary device (4) can perform inflation and deflation operations on the airbag structure (13) through this channel.

2. The wireless airbag robot for endoscopic examination of turbine engines as described in claim 1, characterized in that, The plug of the data and power transmission line (5) enters the airbag robot (1) through the charging and data transmission window (1113) and is plugged into the charging and data transmission port (1219) of the circuit system (12).

3. A wireless airbag robot for endoscopic examination of turbine engines as described in claim 1 or 2, characterized in that, The circuit system (12) includes three sets of cameras. The front lighting circuit board (1202) and the front camera (1204) are mounted on the top of the irregular mounting bracket (1223). The Wi-Fi module (1207), the side camera (1209), and the side lighting circuit board (1222) are fixed on the side of the irregular mounting bracket (1223). The rear lighting circuit board (1214) and the rear camera (1215) are fixed on the bottom of the battery box (1218). The main control circuit board (1211) and the charging circuit board (1212) are fixed on the top of the battery box (1218). The main control circuit board (1211) and the charging circuit board (1212) are connected in the circuit by pins and pin sockets to realize communication between the chips. After the battery (1217) is put into the battery box (1218), it is fixed by the battery buckle (1216) to power the entire circuit system (12) of the airbag robot (1).

4. The wireless airbag robot for endoscopic examination of turbine engines as described in claim 3, characterized in that, The charging circuit board (1212) is provided with a charging and data transmission port (1219). After inserting the data and power transmission line (5), it can charge the battery (1217) and program or export data to the main control circuit board (1211). The charging circuit board (1212) is provided with an indicator light (1220). The irregular mounting bracket (1223) and the battery box (1218) are fixed on the side of the circuit mounting plate (1210) with the cylindrical protrusion.

5. A wireless airbag robot for endoscopic examination of turbine engines as described in claim 1, 2, or 4, characterized in that, The circuit system (12) also includes a back-side thin-film pressure sensor (1224), a front-side thin-film pressure sensor (1225), and a rear-side thin-film pressure sensor (1226) distributed in three different positions. The back-side thin-film pressure sensor (1224) is located on the back side of the circuit mounting plate (1210). The front-side thin-film pressure sensor (1225) and the rear-side thin-film pressure sensor (1226) are rectangular thin sheets, which are respectively bonded to the surface of the front strain housing mounting groove (1105) and the rear strain housing mounting groove (1114). The lines of the front-side thin-film pressure sensor (1225) and the rear-side thin-film pressure sensor (1226) pass through the front wire hole (1104) and the rear wire hole (1115) to reach the interior of the main body shell (11) and are connected to the designated pins on the main control circuit board (1211) of the circuit system (12).

6. A wireless airbag robot for endoscopic examination of a turbine engine as described in claim 1, 2, or 4, characterized in that, The circuit system (12) with the circuit board mounted on one side faces the outer frame (1103) and is inserted into it; the valve tube (1302) is inserted into the valve tube mounting hole (1116) at the bottom of the outer frame (1103); the flat side of the airbag (1304) is attached to the side of the circuit mounting plate (1210) without the circuit board mounted; and the front window protective cover (1101) is attached to the front window (1124).

7. A wireless airbag robot for endoscopic examination of a turbine engine as described in claim 1, 2, or 4, characterized in that, The rear window protective cover (1111) and the side window protective cover (1107) on the main shell (11) are made of transparent material and are respectively attached to the rear window (1125) and the side window (1106) in the shape of the steps. They protect the lens without affecting the operation of the camera. The Wi-Fi window protective cover (1109) is made of non-metallic material and is attached to the Wi-Fi window (1108) so that the Wi-Fi module (1207) inside the airbag robot (1) can avoid the shielding effect of the metal material and send and receive data to and from the outside of the airbag robot (1).

Images