Tool for gas turbine engine maintenance

Abstract

In some embodiments, the apparatus and methods provided herein are used to perform maintenance operations within a gas turbine engine. In some embodiments, a tool for performing maintenance operations within a gas turbine engine includes a link assembly, an elongated housing having a cavity and a housing wire guide, a wire assembly inserted through the housing wire guide and selectively coupled to a tip link of the link assembly, and an actuator device coupled to the link assembly and configured to move the link assembly through the cavity and out of a distal end of the elongated housing from a retracted state to an extended state.

Description

Technical Field

[0001] This disclosure generally relates to a tool for performing maintenance or other operations, including component inspection, within an environment. Background Technology

[0002] Many aircraft engines are arranged in a sequential flow pattern, including: a compressor section containing a low-pressure compressor and a high-pressure compressor for compressing the air flowing through the aircraft engine; a combustor for mixing fuel with compressed air to make the mixture ignite; and a turbine section containing a high-pressure turbine and a low-pressure turbine for powering the compressor section.

[0003] Within one or more sections, the aircraft engine defines annular openings. Tools are inserted through these openings to perform maintenance operations, including inspection and / or repair of internal engine components. These annular openings may vary in size and shape, therefore different specialized tools must be used for different openings. Attached Figure Description

[0004] This document discloses embodiments of a system, apparatus, and method for inspecting, repairing, or simultaneously inspecting and repairing components within a gas turbine engine. This description includes accompanying drawings, in which:

[0005] Figure 1 Exemplary tools according to some embodiments are shown;

[0006] Figure 2A Another exemplary tool according to some embodiments is shown;

[0007] Figure 2B The setting is shown Figure 2A Multiple connecting rods inside the slender shell;

[0008] Figure 2C A linkage-free assembly is shown according to some embodiments. Figure 2A A cross-sectional view of the tool;

[0009] Figure 3A A perspective view of one end of an exemplary link of a linkage assembly according to some embodiments is shown;

[0010] Figure 3B Illustrations are shown according to some embodiments Figure 3A A three-dimensional view of the other end of the connecting rod;

[0011] Figure 3C Illustrations are shown according to some embodiments Figure 3A A cross-sectional view of the connecting rod;

[0012] Figure 4AA perspective view of an exemplary tip link of a linkage assembly according to some embodiments is shown at a first end;

[0013] Figure 4B Illustrations are shown according to some embodiments Figure 4A A three-dimensional view of the second end of the tip connecting rod;

[0014] Figure 5A , Figure 5B and Figure 5C Exemplary actuator devices according to some embodiments are shown;

[0015] Figure 6 A block diagram of a tool accessory according to some embodiments is shown;

[0016] Figure 7 A connection to, according to some embodiments, is shown. Figure 1 and Figure 2A An exemplary end effector of tool 100;

[0017] Figure 8 A flowchart is shown for an exemplary method for performing maintenance operations on components within a gas turbine engine;

[0018] Figure 9 A cross-sectional view of the link is shown according to some embodiments when the link assembly is engaged with and / or in contact with the housing line guide in a first position;

[0019] Figure 10 A cross-sectional view of a link is shown according to some embodiments, wherein the housing wire guide pushes the wire guide cover of the link inward, making the link wire guide available for insertion of the wire assembly; and

[0020] Figure 11 A perspective view of the tip link is shown when the grooved end of the tip link contacts the annular end of the wire assembly.

[0021] The elements in the figures are shown for simplicity and clarity and are not necessarily drawn to scale. For example, the size and / or relative position of some elements may be exaggerated relative to other elements to aid in understanding the various embodiments. Furthermore, for easier observation of these various embodiments, well-known but easily understood elements that are useful or necessary in commercially viable embodiments are generally not depicted. Certain actions and / or steps may be described or depicted in a particular order of occurrence, and those skilled in the art will understand that such specificity regarding the order is not actually necessary. The terms and expressions used herein have the general technical meanings that would be given to those skilled in the art by way of the foregoing description, unless otherwise specified herein. Detailed Implementation

[0022] Generally, the methods described herein are used for precise control of the end effector of a tool when performing maintenance operations in aircraft engines (e.g., manually and / or as a robotic arm) and other confined spaces or environments. The tool described herein includes a linkage assembly having multiple links disposed within an elongated housing. Tension is applied only to the links in the linkage assembly located outside the elongated housing to shape them for inspection, repair, and / or maintenance. Links in the linkage assembly located inside the elongated housing are not tensioned and remain flexible. Decoupling between the two sections of the linkage assembly (e.g., links inside the elongated housing and links outside the elongated housing) is achieved through a tensioning mechanism within the elongated housing as described herein. In this mechanism, no wire assemblies are inserted into the link wire guides of the links inside the elongated housing (i.e., these links are tension-free). Instead, wire assemblies for tensioning and / or shaping the linkage assembly are routed through the housing wire guides of the elongated housing and loaded into each link at the exit of the elongated housing when additional links are inserted into the elongated housing.

[0023] The embodiments of the tool disclosed herein offer numerous advantages. For example, since only the links outside the elongated housing are tensioned, the required total tension can be minimized, for example, by calculations using free-body diagrams or shear moment diagrams, taking into account the number of links outside the elongated housing to compensate for frictional forces between the line assembly and the links, and the arm's posture to compensate for static loads (weight) from the links outside the elongated housing. This improves the repeatability of the arm (link assembly outside the elongated housing) shape. Another advantage is that the small form factor of the elongated housing makes the tool more usable and reduces the burden of maintenance operations (e.g., inspection and / or repair). In some embodiments, another advantage is that the tension-free links within the elongated housing allow the link assembly to be compatible with three-dimensional elongated housing designs that can be used to deploy the link assembly for out-of-plane maintenance operations. Thus, the decoupling between the two sections of the link assembly (the links inside the elongated housing and the links outside the elongated housing) allows for precisely controlled tensioning of the link assembly during maintenance operations.

[0024] According to various embodiments, this document provides systems, apparatus, and methods for performing maintenance operations within a gas turbine engine. In some embodiments, a tool for performing maintenance operations within a gas turbine engine includes: a linkage assembly comprising a plurality of links sequentially connected together and having a tip link at one end, wherein each of the plurality of links forms a link wire guide configured to receive a wire assembly; an elongated housing having a cavity and a housing wire guide, the linkage assembly disposed within the cavity, the housing wire guide including a distal section having a distal opening and a proximal section having a proximal opening; and a wire assembly that passes through the housing wire guide and is inserted into and selectively coupled to the tip link of the linkage assembly, wherein the wire assembly, when coupled to the tip link... Operated to cause tension in the link of the plurality of links that extends beyond the distal end of the elongated housing, thereby stiffening the link assembly; and an actuator device coupled to the link assembly and configured to move the link assembly through the cavity and out of the distal end of the elongated housing, moving it from a retracted state to an extended state, wherein in the retracted state, the wire assembly is disposed outside the link wire guide of at least one of the plurality of links, and wherein in the extended state, the at least one of the plurality of links is disposed outside the elongated housing and the wire assembly is inserted into the link wire guide of the at least one of the links.

[0025] In some embodiments, a method for performing maintenance operations on components within a gas turbine engine includes: positioning a connecting rod assembly in a cavity of an elongated housing, the connecting rod assembly being a plurality of sequentially connected links and having a pointed link at one end, wherein each of the plurality of links forms a connecting rod wire guide configured to receive a wire assembly; connecting the annular end of the wire assembly to the pointed link of the connecting rod assembly, the wire assembly being disposed partially through the housing wire guide of the elongated housing; and moving the connecting rod assembly by means of an actuator device coupled to the connecting rod assembly. The cavity is moved out from the distal end of the elongated housing; and the wire assembly is tensioned by the actuator device to compress the plurality of links deployed outside the distal end of the elongated housing from a retracted state to an extended state, thereby stiffening the links, wherein in the retracted state, the wire assembly is disposed outside the link wire guide of at least one of the plurality of links, and wherein in the extended state, at least one of the plurality of links is disposed outside the elongated housing and the wire assembly is inserted into the link wire guide of the at least one link.

[0026] The following description should not be construed as limiting, but is only used to describe the general principles of exemplary embodiments. References throughout this specification to "an embodiment," "an embodiment," "some embodiments," "an implementation," "some implementations," "some applications," or similar language mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of this disclosure. Therefore, the phrases "in one embodiment," "in an embodiment," "in some embodiments," "in some implementations," and similar language appearing throughout this specification may, but do not necessarily, refer to the same embodiment.

[0027] Figure 1 An exemplary tool 100 according to some embodiments is shown. In an illustrative, non-limiting example, tool 100 is mounted on a support 174. Tool 100 includes an elongated housing 102, a linkage assembly 104, and / or a wire assembly 106. The linkage assembly (also referred to as a snake-arm robot if used as a robotic arm) is inserted, for example, into the elongated housing (such as a tube). The elongated housing 102 is used to guide the positioning of the linkage assembly 104 within the engine after it is inserted into the engine. In one embodiment, the elongated housing 102 may be made of two halves of any fundamentally rigid material (e.g., but not limited to metal alloys, composite materials, polymers, etc.), fastened together with screws to form the elongated housing 102. Each half forms a notch on one side, which, when combined, forms a cavity in the elongated housing 102 to receive the linkage assembly 104. In other embodiments, the elongated housing 102 may be made of a single piece. In other embodiments, the elongated housing 102 may be made of two or more pieces. In other embodiments, the elongated housing 102 may be manufactured in a mold by hydroforming a metal tube, or by 3D additive manufacturing, machining, injection molding, or any other method capable of forming the essential features described herein.

[0028] In an illustrative, non-limiting example, tool 100 can be inserted into a confined space within the engine. Tool 100 may include a linkage assembly (e.g., Figure 2B The linkage assembly 104 is shown. The linkage assembly can be fed into the proximal end of the tool 100 (e.g., Figure 2C The elongated housing 102 shown has a proximal end 134) and is located from the distal end of the tool 100 (e.g., Figure 2C The distal end 148 of the elongated housing 102 shown is extended from a retracted state to an extended state. In some embodiments, the extension tool 100 can be used to push out the linkage assembly from its linkage guide (e.g., Figure 3A The linkage guide 128 shown contains a wire assembly (e.g., Figure 2BTension is applied to the links of the line assembly 106 shown. In some embodiments, the applied tension can bring those links into a stiffened state or shape. In some embodiments, those links in the link assembly that remain within the tool 100, without line assemblies within their link wire guides, remain flexible and are not in a stiffened state or shape. Since only the links outside the elongated housing are tensioned, the required total tension can be minimized. This improves the repeatability of the shape of the link assembly portion outside the tool 100. Another advantage is that the small form factor of the tool 100 improves usability and reduces the burden of maintenance operations. In some embodiments, another advantage is that the tension-free links within the tool 100 allow the link assembly to be compatible with three-dimensional elongated housing designs that can be used to deploy the link assembly for out-of-plane maintenance operations. Thus, the decoupling between the two sections of the link assembly (the links inside the tool 100 and the links outside the tool 100) allows for precisely controlled tensioning of the link assembly during maintenance operations.

[0029] Figure 2A An exemplary tool 100 according to some embodiments is shown. Figure 2B The settings according to some embodiments are shown. Figure 2A Multiple connecting rods inside the slender housing 102. Figure 2A In this embodiment, the elongated housing 102 is a bent tube shape having a cavity 108 to receive the connecting rod assembly 104. In some embodiments, the elongated housing 102 may have a predetermined curvature to navigate specific confined spaces within the gas turbine engine. In various aspects, the elongated housing 102 may be made of any fundamentally rigid material, such as, but not limited to, metal alloys, composite materials, polymers, etc. In some embodiments, the wire assembly 106 may be pre-positioned during the formation of the elongated housing 102. In some embodiments, the wire assembly 106 may be routed through the housing wire guide 114 of the elongated housing 102 during formation. Figure 2B As shown, the wire assembly 106 may include an annular end 112. For example, the wire assembly 106 may be a cable and / or rope shaped into a U-shape, wherein the U-shaped end portion of the wire assembly 106 (i.e., the annular end 112) is an annular portion, allowing a single cable to perform the function of two cables, having a length on each side of the elongated housing without additional termination features. In some embodiments, each open end of the wire assembly 106 may be coupled to a spool wheel including cable and / or rope bobbins, the spool wheel being configured to provide the length of the wire assembly 106 required to perform maintenance operations. Maintenance operations may include any combination of inspection, repair, handling, preventative maintenance, and restorative maintenance of engine components.

[0030] Figure 2C The following is illustrated according to some embodiments: without the link assembly 104 Figure 2AA cross-sectional view of tool 100. An elongated housing 102 forms a housing line guide 114. In some embodiments, the housing line guide 114 may be formed along the axial length of each opposite side of the inner sidewall of the elongated housing 102. The housing line guide 114 includes a distal segment 116 having a distal opening 120 and a proximal segment 118 having a proximal opening 136. Figure 2C As shown, the wire assembly 106 is disposed within the housing wire guide 114 of the elongated housing 102. In some embodiments, the housing wire guide 114 of the elongated housing 102 forms a ridge protruding into the cavity 108 of the elongated housing 102. At a first position 122 of the housing wire guide 114, the ridge is sized and shaped to open at least one wire guide cover 126 of each link of the link assembly 104 (e.g., ...) when the link moves out of the elongated housing 102. Figure 2B and Figures 3A-3B As shown), to allow the insertion of the line assembly 106 into each link line guide 128 of the link (as shown). Figure 2B and Figures 3A-3C (As shown). At the second position 124 of the housing wire guide 114, the ridge is sized and shaped to open at least one wire guide cover 126 of each link of the link assembly 104 when the link is pulled into the elongated housing 102, allowing the wire assembly 106 to be withdrawn from the link wire guide 128. In other embodiments, the guide cover 126 is not provided, and the shapes of the corresponding wire guides 114 and 128 are designed for transmitting cables between them as the link assembly passes through the elongated housing.

[0031] Operation of removing or extending the linkage assembly from the slender housing

[0032] In some embodiments, when the link assembly 104 is located within the elongated housing 102 and moves toward the distal end 148 of the elongated housing 102, the tip link 130 of the link assembly 104 (such as...) Figure 2B (As shown) Connected to and / or contacting the housing wire guide at the first position 122 (e.g.) Figure 9 As shown), here the ridge pushes at least one wire guide cover 126 of the tip link 130 inward, forcing the link wire guide 128 open and / or allowing the link wire guide 128 to be used for insertion of the wire assembly 106 (as shown). Figure 10(As shown). Each wire guide cap 126 of a subsequent link in a plurality of links of the linkage assembly 104 is similarly pushed inward by a ridge to keep the corresponding link wire guide 128 open as the link passes through the distal end 148 of the elongated housing 102. At the distal section 116 of the housing wire guide 114 is a distal opening 120 from which the annular end 112 of the wire assembly 106 extends from the housing wire guide 114. The recessed end 132 of the tip link is formed such that when the recessed end 132 of the tip link 130 engages and / or contacts the annular end 112 of the wire assembly 106, the wire assembly 106 is pushed downward, causing the wire assembly 106 to fall or insert into the exposed link wire guide 128 of the tip link 130 (as shown). Figure 11 (as shown) and in the subsequent link held open by the ridge. In some embodiments, when the tip link 130 reaches the second position 124 of the housing wire guide 114, the ridge tapers so that the ridge is no longer connected to or in contact with the wire guide cover 126 of the tip link 130, the wire guide cover 126 springs back outward, closes the opening to the link wire guide 128 of the tip link 130, and secures the wire assembly 106 within the link wire guide 128 of the tip link 130 as the tip link 130 is pushed out of the elongated housing 102. Similarly, when the subsequent link reaches the second position 124 of the housing wire guide, the ridge tapers so that it no longer connects to or contacts the wire guide cover 126 of the subsequent link. The wire guide cover 126 springs back outward, closing the opening to the link wire guide 128 of the subsequent link, and securing the wire assembly 106 within the link wire guide 128 of the subsequent link as the subsequent link is pushed out of the elongated housing. However, those skilled in the art will understand that when the link assembly is deployed as... Figure 1 When the shape shown is used, the guide cap 126 typically does not function for the cable. The function of the cable guide cap is to hold the links together by retaining the cable within the link line guide in the event of any failure, such as loss of cable tension. Thus, in other embodiments, during normal operation, the cable tension is used to continuously hold the links and adjacent links in a compressed state, and the curvature of the link assembly curves the link line guide to support and shape the cable along the path defined by the link line guide in the deployment section of the link assembly.

[0033] Operation of moving or being pulled into the slender housing of the linkage assembly

[0034] In some embodiments, when a link of the linkage assembly 104 is pulled through the elongated housing 102 (i.e., the linkage assembly 104 moves back into the distal end 148), the link engages and / or contacts a second position 124 of the housing line guide 114, where a ridge pushes at least one line guide cover 126 of the link inward, exposing the link line guide 128 open. Each line guide cover 126 of a subsequent link is similarly pushed inward by the ridge to keep the corresponding link line guide 128 open as the link moves through the distal end 148 of the elongated housing 102 toward the proximal section 118 of the housing line guide 114. In some embodiments, the second position 124 of the housing line guide 114 may correspond to a position where the ridge tapers toward the distal end 148 of the elongated housing 102, so that the line guide cover 126 of the link through the distal end 148 is opened when the linkage assembly 104 retracts to decouple the linkage assembly 104 from the link.

[0035] At the distal opening 120 of the distal section 116 of the housing wire guide 114, the wire assembly 106 is withdrawn or lifted from the link wire guide 128 of each link passing through the distal opening 120 of the distal section 116 of the housing wire guide 114. In some embodiments, as each link reaches a first position 122 of the housing wire guide 114, the ridge tapers such that the ridge no longer engages with or contacts the corresponding wire guide cover 126 of each link, and the wire guide cover 126 springs back outward, closing the opening to the link wire guide 128 as each link is further pulled past the elongated housing 102 toward the proximal end 134 of the elongated housing 102.

[0036] Similarly, as the tip link 130 is pulled into the elongated housing 102, the tip link 130 engages and / or contacts a second position 124 of the housing wire guide 114, where a ridge pushes at least one wire guide cover 126 of the tip link inward, exposing the link wire guide 128. The ridge keeps the link wire guide 128 open as the tip link 130 moves through the distal end 148 of the elongated housing 102 toward the proximal section 118 of the housing wire guide 114. At the distal opening 120 of the distal section 116 of the housing wire guide 114, the wire assembly 106 is withdrawn or lifted from the link wire guide 128 of the tip link 130, causing the annular end 112 of the wire assembly 106 to be released by the recessed end 132 of the tip link 130, thereby completely disengaging the wire assembly 106 from the link assembly 104. In some embodiments, when the tip link 130 reaches a first position 122 of the housing wire guide 114, the ridge tapers so that the ridge no longer connects to or contacts the wire guide cover 126 of the tip link 130, and the wire guide cover 126 springs back outward, closing the opening to the link wire guide 128 as the tip link 130 is further pulled past the elongated housing 102 toward the proximal end 134 of the elongated housing 102.

[0037] Example of a link

[0038] Figures 3A-3B An exemplary link of the link assembly is shown. Figure 3A A perspective view of one end of an exemplary link of a linkage assembly according to some embodiments is shown. Figure 3B Illustrations are shown according to some embodiments Figure 3A A perspective view of the opposite ends of the links. Link assembly 104 includes a plurality of links 138. Each link 138 in link assembly 104 includes at least one link line guide 128 and at least one line guide cover 126. In some embodiments, such as Figures 3A-3C As shown, the link 138 includes a link wire guide 128 and two wire guide covers 126 on each side of the link. For example, the link wire guide 128 may be an open channel extending along the axial length of the link 138. One or more portions of the link wire guide 128 may be covered by a corresponding wire guide cover 126. The shape and / or size of the wire guide cover 126 may be configured to cover a portion of the link wire guide 128. In some embodiments, the link 138 is formed with at least one wire guide cover 126. For example, the wire guide cover 126 may include a movable feature of the link 138 configured to cover a portion of the link wire guide 128. In some embodiments, the wire guide cover 126 is spring-loaded such that when pressed inward toward the service cavity 164 (e.g., by the aforementioned ridge), the portion of the link wire guide 128 covered by the guide cover 126 now opens or is exposed, allowing the wire assembly 106 to be inserted into the link wire guide 128. In some embodiments, when the wire guide cover 126 is no longer connected to or in contact with the ridge, the wire guide cover 126 springs back outward (i.e. away from the service cavity 164) to cover a portion of the linkage wire guide 128, thereby securing the wire assembly 106 within the linkage wire guide 128.

[0039] In some embodiments, Figure 3B The second end 140 of the connecting rod 138 shown includes at least one circular protrusion 144, while Figure 3AThe first end 142 of the illustrated link 138 includes at least one notched member 146. A circular protrusion 144 is configured to engage with the notched member 146 of an adjacent link to align the link 138 with the adjacent link and limit relative movement of the link 138 with the adjacent link when the link is stiffened by the wire assembly 106. In some embodiments, the second end 140 is the end of each corresponding link 138 that generally faces the distal end 148 of the elongated housing 102. In such embodiments, the first end 142 is the end of each corresponding link 138 that generally faces the proximal end 134 (i.e., away from the distal end 148) of the elongated housing 102. In some embodiments, the link 138 may include a protruding portion 150 of a pivot feature and a socket portion 152 of a pivot feature of the link 138. In some embodiments, the protruding portion 150 is at the second end 140, while the socket portion 152 is at the first end 142 of the link 138. In some embodiments, link 138 may be formed with a service cavity 164 to receive a load. In some embodiments, a protrusion 150 is configured to engage with a recessed portion 152 of an adjacent link to align link 138 with the adjacent link. In some embodiments, the protrusion 150 and the recessed portion 152 allow link 138 to pivot vertically while maintaining alignment with the adjacent link.

[0040] Figure 3C Illustrations are shown according to some embodiments Figure 3A A cross-sectional view of the link assembly 104. In some embodiments, each link 138 may include a backbone channel 154 configured to receive a backbone (not shown). In some embodiments, the backbone may correspond to a plastic or metal sheet sized to pass through the backbone channel 154 and having the same length as the link assembly 104. In some embodiments, the backbone continuously secures each link in the link assembly 104 into place. In some embodiments, the link 138 may include one or more first openings 210 located on a first surface of the link 138. The one or more first openings 210 may allow maintenance of the backbone.

[0041] Example of a tip link

[0042] Figures 4A-4B An exemplary tip link of the link assembly is shown. Figure 4A A perspective view of a first end of an exemplary tip link of a linkage assembly according to some embodiments is shown. As previously described, the tip link is located at the front end of the linkage assembly as the linkage assembly moves through the housing. Figure 4B Illustrations are shown according to some embodiments Figure 4AA perspective view of the second end of the tip link 130. Some elements of link 138 are also present in tip link 130. For example, features provided on the first end 142 of link 138 are also provided on the first end 162 of tip link 130 (e.g., link line guide 128, service cavity 164, recess portion 152, notch member 146). In some embodiments, general features of link 138 are also present in tip link 130. For example, line guide cover 126. In some embodiments, Figure 3C The features shown may also include Figure 4A and Figure 4B The tip of the connecting rod 130.

[0043] In some embodiments, the second end 160 of the tip link 130 does not have a connection with... Figure 3B Instead of a similar circular protrusion 144 in the second end 140 of the shown link 138, it includes a recessed end 132. In some embodiments, the recessed end 132 includes a notch member 166, a first boss member 168, and / or a second boss member 170. The recessed end 132 of the tip link 130 is formed when the recessed end 132 of the tip link 130 is engaged with and / or contacts the annular end 112 of the wire assembly 106, causing the wire assembly 106 to fall or insert into the exposed link wire guide 128 of the tip link 130 (e.g., Figure 11 (as shown) and in the subsequent links that are kept open by the spine.

[0044] Example of an actuator device

[0045] Figures 5A-5C An exemplary actuator device 500 according to some embodiments is shown. Figure 1 or Figure 2A The tool 100 may include an actuator device 500. The purpose of the actuator device 500 is to move the link assembly 104 through the elongated housing 102. In some embodiments, the actuator device 500 may include any commercially available actuator device capable of engaging with the wire assembly 106 and configured to move the link assembly 104 through the cavity 108 of the elongated housing 102 and out of the distal end 148 of the elongated housing 102, moving it from a retracted state to an extended state. Alternatively or additionally, the actuator device 500 may include a tensioning device that holds the wire assembly 106 under tension when the plurality of links 138 are in the extended state. In some embodiments, the tensioning device may apply a tensioning force to the link assembly 104 to hold the wire assembly 106 under tension when the link assembly 104 is in the extended state. For example, a tensioning device can apply tension and / or pulling force to the wire assembly 106 to tightly pull the connecting rod and adjacent connecting rods together, so that the connecting rod assembly 104 can be shaped to be maneuverable within the engine during maintenance operations of engine components.

[0046] It should be understood that Figures 5A-5C Certain portions of the actuator device 500 are not shown, as those skilled in the art will understand the actuator device in question, the corresponding portions associated with such actuator devices, and how the actuator device 500 is connected to the wire assembly 106 to allow the actuator device to move the link assembly 104 and apply tension to the link assembly 104.

[0047] In an illustrative, non-limiting example, actuator device 500 may include, for example: Figure 5A The screw / guide screw type tensioner is shown. In some embodiments, the screw / guide screw type tensioner may include a simple guide screw type linear sliding mechanism 502 coupled to the wire assembly 106. For example, the wire assembly 106 may be attached, connected, or coupled to the slider 504 of the screw / guide screw type tensioner. In some embodiments, when the nut 508 of the screw / guide screw type tensioner is rotated, the guide screw 506 of the screw / guide screw type tensioner is pulled back.

[0048] In another illustrative, non-limiting example, actuator device 500 may include, for example: Figure 5B The worm gear tensioner is shown. In some embodiments, the worm gear tensioner may include a gear 510 and a worm 512. For example, the wire assembly 106 may be attached to the gear, and the tension may be set by rotating the worm.

[0049] In another illustrative, non-limiting example, actuator device 500 may include, for example: Figure 5C The diagram illustrates a motor-driven active tensioning mechanism. In some embodiments, the motor-driven active tensioning mechanism may include a motor (e.g., a geared motor), an inline load cell, a ball bearing with a mounting base, a drive pulley, a load cell guide, and / or a connection adapter / receiver. In an illustrative, non-limiting example, the motor-driven active tensioning mechanism includes a motor pulley assembly (e.g., a combination of a drive pulley and a motor), with the wire assembly 106 attached to the drive pulley. For example, the wire assembly 106 may be tensioned / stretched as the motor rotates to wind the wire assembly 106 onto the drive pulley. In some embodiments, tension can be actively controlled or adjusted by controlling the motor (using position control of a geared motor (e.g., indirect tension control) or torque control (direct tension control)). In some embodiments, an inline tension measurement device, such as an inline load cell, may be added to achieve closed-loop tension control.

[0050] Example of tool attachments

[0051] Figure 6A block diagram of a tool accessory 600 according to some embodiments is shown. In some embodiments, one or more tool accessories 600 may be used with the tool 100 described herein. In some embodiments, a controller 602 may be coupled to an actuator device 500 ( Figures 5A-5C In some embodiments, controller 602 may include one or more processors and / or control circuitry capable of processing instructions to drive one or more electronic devices. For example, controller 602 may cause operation of actuator device 500 to place tool 100 in a retracted or extended state. In an illustrative, non-limiting example, controller 602 may signal actuator device 500 to move link assembly 104 through cavity 108 of elongated housing 102 and out of distal end 148 of elongated housing 102, moving it from a retracted state to an extended state. In another illustrative, non-limiting example, controller 602 may signal actuator device 500 to apply tension to wire assembly 106, causing one or more links of link assembly 104 to bend during maintenance operations.

[0052] In some embodiments, one or more sensors 604 may be used with tool 100. For example, sensor 604 may include at least one of camera 618, a light detection and ranging (LIDAR) sensor 610, an inertial measurement unit (IMU) sensor 616, a structured light measurement sensor 614, a three-dimensional (3D) stereo camera 608, or a laser distance sensor 612. For example, a user may use at least one of camera 618, structured light measurement sensor 614, or 3D stereo camera 608 to capture images of a component being inspected and / or repaired. In another example, IMU sensor 616 may be used to measure the acceleration, rotation, and / or velocity of tool 100. In another example, a user may use tool 100 with LIDAR 610 and / or laser distance sensor 612 to determine the depth and / or spatial measurements of cavities, cracks, gaps, and / or spaces within the engine and / or the component being maintained. In some embodiments, controller 602 communicates with at least one sensor 604 via communication network 606. In some embodiments, communication network 606 may include the Internet and / or a wired network and / or a wireless network. In some embodiments, sensors can be inserted through the service cavity 164 of the linkage assembly 104 to aid in the inspection and / or repair of components within the gas turbine engine. In some embodiments, a payload can be received within the service cavity 164 of the linkage 138. For example, the payload may include at least one sensor 604, which may correspond to a payload received within the service cavity 164.

[0053] Example of an end effector

[0054] Figure 7 A connection to, according to some embodiments, is shown. Figure 1 and Figure 2A An exemplary end effector of tool 100. In some embodiments, tool 100 may be coupled to end effector 172. In some embodiments, end effector 172 may include at least one of cameras 158 with illumination from LED 156. In some embodiments, end effector 172 may include at least one of a spraying tool, laser, camera, brush, drilling tool, grinding tool, light source, welding tool, cutting tool, gel dispensing head, or liquid dispensing head. In some embodiments, end effector 172 may be one or more fixed and / or removable attachments that facilitate in-engine maintenance (e.g., inspection and / or repair). In some embodiments, end effector 172 may be as follows: Figure 7 The end effector 172 is attached or coupled to the tip link 130 and held outside the elongated housing 102. For example, the end effector 172 may be fastened to, glued to, or otherwise attached to the tip link 130 by some fastening mechanism using screws.

[0055] Figure 8 A flowchart of an exemplary method 800 for performing maintenance operations on components within a gas turbine engine, according to some embodiments, is shown. In some embodiments, one or more steps of method 800 may be performed by one or more components of the tool 100 described above. For example, method 800 includes, in step 802, positioning a connecting rod assembly in a cavity of an elongated housing. In some embodiments, the connecting rod assembly is a plurality of links sequentially connected together and having a tip link at one end. Each of the plurality of links may be formed with a connecting rod line guide configured to receive a line assembly. Alternatively or additionally, method 800 may include, in step 804, engaging an end of the line assembly with the tip link of the connecting rod assembly. The line assembly may be disposed partially through a housing line guide of the elongated housing. Alternatively or additionally, method 800 may include, in step 806, moving the connecting rod assembly through the cavity and removing it from the distal end of the elongated housing. Alternatively or additionally, method 800 may include, in step 808, tensioning a link of the plurality of links that extends beyond the elongated housing from a retracted state to an extended state to stiffen the link. In the retracted state, the wire assembly may be disposed outside the link wire guide of at least one of the plurality of links. In the extended state, at least one of the plurality of links may be disposed outside the elongated housing and the wire assembly is inserted into the link wire guide of the at least one link.

[0056] Further aspects of this disclosure are provided by the subject matter of the following clauses:

[0057] A tool for performing maintenance operations within a gas turbine engine, the tool comprising: a linkage assembly including a plurality of links sequentially connected together and having a tip link at one end, wherein each of the plurality of links forms a linkage line guide configured to receive a line assembly; an elongated housing having a cavity and a housing line guide, the linkage assembly disposed within the cavity, the housing line guide including a distal section having a distal opening and a proximal section having a proximal opening; a line assembly passing through the housing line guide and inserted into and selectively coupled to the tip link of the linkage assembly, wherein the line assembly is coupled to the tip link. The linkage assembly is operated to cause tension in the link that extends beyond the distal end of the elongated housing, thereby stiffening the linkage assembly; and an actuator device coupled to the linkage assembly and configured to move the linkage assembly through the cavity and out of the distal end of the elongated housing, moving it from a retracted state to an extended state, wherein in the retracted state, the wire assembly is disposed outside the link wire guide of at least one of the links, and wherein in the extended state, at least one of the links is disposed outside the elongated housing and the wire assembly is inserted into the link wire guide of at least one of the links.

[0058] The tool according to any of the foregoing clauses further includes an end effector coupled to the tip link, the end effector including at least one of a spraying tool, a laser, a camera, a brush, a drilling tool, a grinding tool, a light source, a welding tool, a cutting tool, a gel dispensing head, or a liquid dispensing head.

[0059] According to any of the preceding clauses, the actuator device includes a tensioning device configured to keep the line assembly under tension when the plurality of links are in the extended state.

[0060] According to any of the preceding clauses, the at least one link includes at least one line guide cover configured to open to allow the line assembly to be inserted into the link line guide, and to close when the at least one link is outside the elongated housing to retain the line assembly in the link line guide.

[0061] According to any of the foregoing clauses, the at least one line guide cover is spring-loaded.

[0062] According to any of the preceding clauses, the elongated housing is formed with a ridge on at least the inner sidewall of the elongated housing and protrudes into the cavity, the size and shape of the ridge being configured to open the at least one line guide cover when the at least one link is removed from the elongated housing, allowing the line assembly to be inserted into the link line guide.

[0063] According to any of the preceding clauses, the first position of the housing line guide corresponds to a position where the ridge tapers toward the proximal section of the housing line guide, so as to open the at least one line guide cover when the at least one link is removed from the elongated housing, allowing the line assembly to be inserted into the link line guide.

[0064] According to any of the preceding clauses, the elongated housing is formed with a ridge on at least the inner sidewall of the elongated housing and protrudes into the cavity, the size and shape of the ridge being configured to open the at least one line guide cover when the at least one link is pulled into the elongated housing, allowing the line assembly to be withdrawn from the link line guide.

[0065] According to any of the preceding clauses, the second position of the housing line guide corresponds to the position where the ridge tapers toward the distal end of the elongated housing, to open the at least one line guide cover when the link assembly is retracted, thereby decoupling the line assembly from the at least one link.

[0066] According to any of the preceding clauses, the at least one link forms a service cavity configured to receive a payload.

[0067] According to any of the foregoing clauses, the elongated housing is a curved tube.

[0068] According to any of the preceding clauses, the first end of the at least one link includes at least one circular protrusion and the second end of the at least one link includes at least one notch member, wherein the at least one circular protrusion of the at least one link is configured to engage with at least one notch member of an adjacent link to align the at least one link with the adjacent link and restrict relative movement of the at least one link with the adjacent link when the plurality of links are stiffened by the line assembly.

[0069] A method for performing maintenance operations on components within a gas turbine engine, the method comprising: positioning a connecting rod assembly in a cavity of an elongated housing, the connecting rod assembly being a plurality of sequentially connected links and having a pointed link at one end, wherein each of the plurality of links forms a connecting rod wire guide configured to receive a wire assembly; connecting the annular end of the wire assembly to the pointed link of the connecting rod assembly, the wire assembly being disposed partially through a housing wire guide of the elongated housing; and moving the connecting rod assembly through the cavity by means of an actuator device coupled to the connecting rod assembly. The cavity is moved out from the distal end of the elongated housing; and the wire assembly is tensioned by the actuator device to change the state of the link that crosses the distal end of the elongated housing from a retracted state to an extended state, thereby stiffening the link, wherein in the retracted state, the wire assembly is disposed outside the link wire guide of at least one of the links, and wherein in the extended state, at least one of the links is disposed outside the elongated housing and the wire assembly is inserted into the link wire guide of at least one link.

[0070] The method according to any of the foregoing clauses further includes opening at least one wire guide cover of the at least one link by a wire insertion feature formed on at least the inner sidewall of the elongated housing and protruding into the cavity to allow the wire assembly to be inserted into the link wire guide; and closing the at least one wire guide cover of the at least one link when the at least one link is removed from the elongated housing.

[0071] According to any of the foregoing descriptions, the line insertion feature corresponds to a position where the ridge tapers towards the proximal segment of the housing line guide.

[0072] The method according to any of the foregoing clauses further includes opening at least one wire guide cover of the at least one link by a wire extraction feature formed on at least the inner sidewall of the elongated housing and protruding into the cavity to decouple the wire assembly from the at least one link when the link assembly is retracted from the elongated housing; and closing the at least one wire guide cover of the at least one link when the at least one link is removed from the elongated housing.

[0073] According to any of the foregoing clauses, the wire extraction feature corresponds to a position where the ridge tapers towards the distal end of the elongated housing to open the at least one wire guide cover when the link assembly is retracted, thereby decoupling the wire assembly from the at least one link when the at least one link is pulled into the elongated housing.

[0074] The method according to any of the foregoing clauses further includes coupling an end effector to the tip link, the end effector including at least one of a spraying tool, a laser, a camera, a brush, a drilling tool, a grinding tool, a light source, a welding tool, a cutting tool, a gel dispensing head, or a liquid dispensing head.

[0075] According to any of the preceding clauses of the method, the at least one link forms a service cavity configured to receive a payload.

[0076] According to any of the methods described in the foregoing clauses, the elongated shell is a curved tube.

[0077] Those skilled in the art will recognize that various other modifications, alterations, and combinations can be made to the above embodiments without departing from the scope of this disclosure, and such modifications, alterations, and combinations should be considered within the scope of the concept of this invention.

Claims

1. A tool for performing maintenance operations within a gas turbine engine, characterized in that, The tools include: A linkage assembly comprising a plurality of links sequentially connected together and having a tip link at one end, wherein each of the plurality of links forms a link line guide configured as a receiving line assembly; An elongated housing having a cavity and a housing line guide, the linkage assembly being disposed within the cavity, the housing line guide including a distal section having a distal opening and a proximal section having a proximal opening; The wire assembly is inserted through the housing wire guide and selectively coupled to the tip link of the linkage assembly, and wherein the wire assembly, when coupled to the tip link, is operated to cause tension in the link that extends beyond the distal end of the elongated housing, thereby stiffening the linkage assembly; and An actuator device, coupled to the linkage assembly and configured to move the linkage assembly through the cavity and out of the distal end of the elongated housing, moving it from a retracted state to an extended state. In the retracted state, the line assembly is disposed outside the line guide of at least one of the plurality of links, and In the extended state, at least one of the plurality of links is disposed outside the elongated housing and the line assembly is inserted into the link line guide of the at least one link.

2. The tool according to claim 1, characterized in that, The device further includes an end effector coupled to the tip link, the end effector comprising at least one of a spraying tool, a laser, a camera, a brush, a drilling tool, a grinding tool, a light source, a welding tool, a cutting tool, a gel dispensing head, or a liquid dispensing head.

3. The tool according to claim 1, characterized in that, The actuator device includes a tensioning device configured to keep the wire assembly under tension when the plurality of links are in the extended state.

4. The tool according to claim 1, characterized in that, The at least one link includes at least one line guide cover configured to open to allow the line assembly to be inserted into the link line guide, and to close when the at least one link is outside the elongated housing to retain the line assembly in the link line guide.

5. The tool according to claim 4, characterized in that, The at least one line guide cover is spring-loaded.

6. The tool according to claim 4, characterized in that, The elongated housing is formed with a ridge on at least the inner sidewall of the elongated housing and protrudes into the cavity. The size and shape of the ridge are configured to open the at least one line guide cover when the at least one link is removed from the elongated housing, allowing the line assembly to be inserted into the link line guide.

7. The tool according to claim 6, characterized in that, The first position of the housing line guide corresponds to the position where the ridge tapers towards the proximal section of the housing line guide, so as to open the at least one line guide cover when the at least one link is removed from the elongated housing, allowing the line assembly to be inserted into the link line guide.

8. The tool according to claim 4, characterized in that, The elongated housing is formed with a ridge on at least the inner sidewall of the elongated housing and protrudes into the cavity. The size and shape of the ridge are configured to open the at least one line guide cover when the at least one link is pulled into the elongated housing, allowing the line assembly to be withdrawn from the link line guide.

9. The tool according to claim 8, characterized in that, The second position of the housing line guide corresponds to the position where the ridge tapers towards the distal end of the elongated housing, so as to open the at least one line guide cover when the link assembly is retracted, thereby decoupling the line assembly from the at least one link.

10. The tool according to claim 1, characterized in that, The at least one of the links forms a service cavity configured to receive a payload.

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