Wrinkled balloon clamping device and method for turbine vane inspection robot

Abstract

The present application belongs to the technical field of aero-engine and gas turbine maintenance and support, and relates to a pleated airbag clamping device and method for a turbine vane inspection robot. The airbag of the present application adopts a split design, and has low manufacturing difficulty and cost. The airbag of the present application adopts a split design, and decomposes a complex inner cavity into two simple semi-closed components, i.e. an airbag and a base. The airbag system in the present application has a compact structure and occupies a small space inside the inspection robot, so that the installation position has sufficient space allowance. The position of the airbag can be adjusted within a certain range according to actual needs, so that the airbag can be more accurately aligned with the target area when inflated. The airbag in the present application is provided with a pleated structure, and the unfolding process can produce a lifting in the axial direction of the part located above the airbag, so that the airbag mainly expands in the axial direction when inflated, which is more conducive to the extrusion process of the moving vane.

Description

Technical Field

[0001] This invention belongs to the field of maintenance and support technology for aero-engines and gas turbines, and relates to a pleated airbag clamping device and method for a turbine stator inspection robot. Background Technology

[0002] Endoscopic inspection is a crucial method in the maintenance and support of turbine engines. It involves inserting a video probe into the engine through a pre-designed endoscope port to inspect the surface condition of blade-like components. Because this method avoids extensive engine disassembly, it significantly improves routine inspection efficiency and avoids potential damage from disassembly, thus contributing to higher equipment availability and uptime. However, currently used video endoscopes are limited by their wired structure and circuitous inspection path, preventing comprehensive inspection of the stator blades and resulting in approximately 40% blind spots, posing a potential safety hazard to engine operation.

[0003] To address the aforementioned issues, patent CN117798946A discloses a turbine engine endoscopic inspection system based on a wireless robot. This system utilizes a serpentine arm to deliver a wireless stationary blade inspection robot into the moving blade cascade and assists in fixing it to the moving blade. The inspection robot then completes a comprehensive inspection of the stationary blade as it rotates with the moving blade, thereby eliminating existing blind spots in endoscopy. Regarding the clamping device for fixing the inspection robot to the moving blade, this patent provides several possible technical paths, including airbag type, gripper type, rope type, and bending type, among which the airbag type theoretically has higher reliability and feasibility. Following this technical direction, patent CN117817680A discloses a wireless airbag robot for turbine engine endoscopic inspection, such as... Figure 1 As shown. The semi-cylindrical airbag 13 is a key component in this patent for the semi-cylindrical airbag robot 1 to clamp with the turbine blade 22. It is fixed to the outer shell 11 by the airbag fixing frame 12. When the semi-cylindrical airbag robot 1 is fed into the blade passage of the turbine blade 22 in a turbine stage 2 by the matching serpentine arm and faces the turbine stator blade 21, the semi-cylindrical airbag 13 expands with the assistance of the serpentine arm and squeezes the blade, thereby fixing the semi-cylindrical airbag robot 1 to the turbine blade 22.

[0004] However, in the aforementioned gripping device for the semi-cylindrical airbag robot, the semi-cylindrical airbag suffers from excessive size. This not only increases the amount of air required for airbag inflation but also occupies installation space for electrical components and other equipment, thus restricting other functions and technical specifications of the endoscopic robot. Furthermore, the directional inflation effect of this design is poor. When the inflated airbag contacts the back of the blade, subsequent inflation tends to concentrate at both ends of the airbag, reducing gripping stability when clamping the blade and increasing the risk of the robot detaching if the airbag ruptures. Summary of the Invention

[0005] To address the issues of excessively large semi-cylindrical airbag volume and poor directional expansion effect in current semi-cylindrical airbag endoscope clamping devices, a pleated airbag clamping device for turbine vane inspection robots has been invented.

[0006] The specific technical solution of the present invention is as follows:

[0007] A pleated airbag gripping device for a turbine vane inspection robot, the overall structure of which is as follows: Figure 2 As shown, it mainly consists of an airbag system and a housing, which are fixed together by bolts and nuts. The airbag system is the actuating component of the pleated airbag clamping device. In its initial state, it is retracted within the housing's storage cavity, at which point the overall shape of the pleated airbag clamping device resembles a cylinder with a handle. When driven by an external air source, the airbag system inflates and extends from the storage cavity. The housing provides protection and a mounting base for other parts, and bears and transmits the compressive forces generated during clamping. High-friction anti-slip pads are bonded to both the front and rear of the housing to improve the contact characteristics between the housing and the surrounding environment during clamping, thereby enhancing clamping stability. Additionally, a handle is located at the bottom of the housing for connecting external auxiliary equipment to assist in the transportation and driving of the entire pleated airbag clamping device.

[0008] airbag systems such as Figure 3 As shown, it consists of four parts: a pleated airbag, a base, an adapter block, and an air nozzle. It expands under the drive of an external air source and is the key component of the pleated airbag clamping device that generates compressive force against the external environment. For ease of explanation, its structure is shown in a semi-sectional view in the figure.

[0009] For ease of manufacturing, the main flexible components are divided into two parts: a pleated air chamber for expansion and a base for sealing, both processed separately using cast polyurethane. The pleated air chamber is a bulge-like structure with a saddle surface, pleats, a skirt, and air tubes, and features multiple annular protrusions on the air tubes for sealing. The base is a thin structure with bolt holes and grooves; both are semi-enclosed designs. During assembly, the skirt of the pleated air chamber is inserted into the groove of the base. Adhesive is pre-applied to the contact area, and the parts are fixed together, achieving assembly and sealing. After assembly, surrounding components constrain the base and clamp its upper and lower surfaces to further improve the seal between the pleated air chamber and the base. The pleats on the pleated air chamber ensure that the expansion process after inflation occurs primarily axially, at the top (as shown in the diagram), which is more conducive to compression against the external environment. The saddle surface at the top of the pleated air chamber enhances its adaptability and stability when compressed against complex surfaces. The four base bolt holes around the base are used for fixing to other components with bolts. All four holes are located on the outside of the groove contour, so the bolts will not damage the groove and the skirt of the pleated air bag, thus ensuring a good seal.

[0010] An adapter block and a nozzle are used to connect the airbag system to an external air source. The adapter block is made of photosensitive resin, and the nozzle is made of elastic rubber. The internal nozzle channel remains closed due to its own elasticity when no external force is applied. The adapter block has a labyrinthine cavity composed of multiple channels with non-coincident axes. Its front and rear ends are the air tube interface and the nozzle interface, respectively, for connecting the air tube and nozzle of the pleated airbag. Additionally, a pressure plate and a raised edge are provided on the adapter block for subsequent assembly with other parts. The air tube interface of the adapter block is fixed to the air tube of the pleated airbag by insertion and bonding, and the nozzle interface at the other end is fixed to the nozzle in the same way, thus completing the assembly of the airbag system. During inflation and deflation, inserting the needle into the nozzle opens the airflow channel inside the nozzle, allowing the external air source to inflate or deflate the pleated airbag. When the needle is removed, the airflow channel closes, sealing the cavity formed by the pleated air bag and the base. At this time, the pleated air bag can maintain its expansion state. During needle insertion, the labyrinth cavity can limit its insertion depth, thereby avoiding damage to the trachea.

[0011] The housing consists of three parts: a front shell, a support plate, and a rear shell, as shown in Figures 4(a)-(c). The front shell has a support platform that engages with the support ridges of the support plate to withstand the forces transmitted by the support plate. Its internal semi-cylindrical space is the circuit compartment for the electronic control system, while the top has a camera mounting window for the camera. The rear shell has a cylindrical storage cavity to house and constrain the pleated airbags in the airbag system. It also has an airbag compression groove to constrain and compress the base of the airbag system. Furthermore, the lower end of the rear shell has an adapter block fixing groove for securing the adapter block. Finally, the handle at the bottom has an air needle channel for inserting the air needle to inflate and deflate the airbag system. Each of the three parts of the housing has six bolt holes for the front shell, six bolt holes for the support plate, and six bolt holes for the rear shell, allowing for subsequent fixing to the three parts and to other components such as the base using bolts and nuts.

[0012] The assembly process of the pleated airbag clamping device and the relative positions of the parts after assembly are as follows: Figure 5 As shown in the diagram, firstly, two anti-slip pads are glued to the anti-slip pad mounting grooves at the front and rear of the front shell to increase the friction when in contact with the blades, and to disperse the compressive force to protect the blades and the device itself. The assembled airbag system is then aligned and fastened with the front shell, support plate, and rear shell as shown in the diagram, with the pleated airbag placed in the receiving cavity, and the protruding edge of the adapter block embedded in the adapter block fixing groove of the rear shell. Next, the six bolts are passed through the bolt holes in the front shell, support plate, base, and rear shell in sequence, as shown in the diagram, and tightened with nuts, thus fixing the various parts of the pleated airbag clamping device. At this point, the support edge of the support plate abuts against the support platform of the front shell, with the circuit compartment located between them; the other side of the support plate is in contact with the base of the airbag system, ensuring the stability of the bottom of the pleated airbag during expansion. Under the combined action of the support plate, airbag compression groove, and pressure plate, the pleated airbag and base are further compressed and sealed, thus completing the assembly of the pleated airbag clamping device.

[0013] A method for using a pleated airbag clamping device for a turbine vane inspection robot, comprising the following steps:

[0014] Step 1: On the outside of the aircraft engine, connect the auxiliary equipment to the handle of the pleated airbag clamping device, and insert the air needle into the air nozzle of the airbag system to deflate the pleated airbag, ensuring that the pleated airbag is curled up in the storage cavity of the shell.

[0015] Step 2: Using auxiliary equipment, the pleated airbag clamping device is inserted into the blade passage of the turbine blade, and then its position is adjusted so that the two anti-slip pads are respectively attached to the leading edge and trailing edge of the blade.

[0016] Step 3: The auxiliary equipment inflates the airbag system through the air needle, causing the pleated airbag to expand and squeeze the back of the moving blade. The reaction force is transmitted through the shell and causes the anti-slip pad to simultaneously squeeze the leading edge and trailing edge of the moving blade. Under the action of the friction force generated by the compression, the pleated airbag clamping device and the turbine moving blade are fixed.

[0017] Step 4: The auxiliary equipment pulls out the air needle, disconnects from the pleated airbag clamping device, and moves to a safe position. At this time, the pleated airbag clamping device can rotate with the turbine blades.

[0018] Step 5: When the pleated airbag clamping device needs to be detached from the turbine blade, the auxiliary equipment reconnects to it and inserts an air needle to deflate the airbag system, causing the pleated airbag to retract into the storage cavity, and then it is removed from the engine.

[0019] Compared with the prior art, the technical solution adopted in this invention has the following technical effects:

[0020] 1. The airbag adopts a split design, which reduces manufacturing difficulty and cost.

[0021] Based on the working characteristics of the clamping device, the airbag is suitable for use with elastic materials such as polyurethane, and is manufactured through processes such as casting and curing. This requires the addition of supporting materials or the use of molds during processing. However, when the airbag adopts a one-piece design, its internal cavity is connected to the outside only by an extremely narrow channel. This not only makes the supporting material or mold vulnerable, easily deformed or broken, leading to processing failure of the airbag itself or the airbag, but also, after the airbag material has cured, it is difficult to completely remove the internal supporting material or mold from the airbag through the narrow and tortuous geometric channel, regardless of whether chemical dissolution or physical flushing is used, thus affecting the normal operation of the airbag. The airbag of this invention adopts a split design, decomposing the complex internal cavity into two simple semi-enclosed components: the air bag and the base. This not only simplifies the structure of the supporting material or mold, but also makes the removal path short, straight, and unobstructed, greatly reducing manufacturing difficulty and cost.

[0022] 2. The airbag system is compact and highly efficient.

[0023] The airbag system of this invention has a compact structure and occupies little space inside the inspection robot. Therefore, its installation location has ample space margin, and its position can be adjusted within a certain range according to actual needs, allowing the airbag to be more accurately aligned with the target area when inflated. At the same time, due to the small size of the airbag, the inflation volume is small, which reduces the workload of the external air source, making the operation more flexible and efficient.

[0024] 3. The airbag has excellent inflation characteristics and mechanical properties.

[0025] The airbag in this invention features a pleated structure, which, during its unfolding process, provides axial support to the portion above it. This ensures that the airbag primarily expands axially during inflation, which is more conducive to the compression of the moving blades. Furthermore, due to the presence of the pleats, the airbag in this invention exhibits a lower stress level compared to a non-pleated semi-cylindrical airbag, while achieving the same amount of axial expansion, thus reducing the risk of rupture during operation.

[0026] 4. The airbag system has good sealing performance.

[0027] The airbag system employs a combination of plug-in and adhesive bonding to connect and seal various components, ensuring a secure connection and reliable seal. Furthermore, additional clamping force is applied to the critical base and airbag via the rear shell and support plate, further enhancing the airbag system's sealing performance and effectively preventing gas leakage.

[0028] 5. The clamping device has strong adaptability.

[0029] First, the airbag system uses a flexible airbag to compress the rigid moving blade. During the compression process, the airbag can change its shape to adapt to the contact surface, thus requiring lower positioning accuracy at the compression point and improving the robot's fault tolerance when reaching the working position. Furthermore, the top of the airbag is designed with a saddle-shaped structure, which better conforms to the curved surface of the moving blade's back, improving the stability of the clamping process.

[0030] 6. The clamping device has high reliability.

[0031] This invention ensures the reliability of the clamping device through multiple design features: First, the clamping device is highly integrated, with a simple structure and few parts, thus reducing the potential failure rate from the source; second, a rigid shell divides the internal space and bears and transmits the forces during the clamping process, effectively protecting the internal parts; third, a labyrinth cavity is set inside the adapter block to limit the insertion depth of the air needle, preventing damage to the flexible components of the airbag system; finally, according to the functional requirements of different parts, a variety of fastening schemes such as plugging, bonding, snap-fitting, and bolt fixing are comprehensively adopted to ensure the overall stability of the device. Attached Figure Description

[0032] Figure 1 A semi-cylindrical airbag endoscopy robot solution already exists;

[0033] Figure 2 Overall structural diagram of the pleated airbag clamping device;

[0034] Figure 3 Diagram of a pleated airbag system;

[0035] Figure 4(a) shows the front shell structure;

[0036] Figure 4(b) shows the structure of the support plate;

[0037] Figure 4(c) shows the rear shell structure.

[0038] Figure 5 Assembly diagram of the pleated airbag clamping device;

[0039] Figure 6 Schematic diagram of the working process of the pleated airbag clamping device;

[0040] Figure 7 Cross-sectional view of a pleated air bag simulation model;

[0041] Figure 8 Displacement contour map of the expansion of the pleated air bag;

[0042] Figure 9 Diagram of a multi-pleated air-filled structure;

[0043] Figure 10 Diagram of the movable storage cavity.

[0044] In the diagram, 1. Semi-cylindrical airbag robot; 11. Shell; 12. Airbag fixing frame; 13. Semi-cylindrical airbag; 2. Turbine stage; 21. Turbine stationary blade; 22. Turbine moving blade; 221. Moving blade leading edge; 222. Moving blade trailing edge; 223. Moving blade back; 3. Pleated airbag clamping device; 31. Airbag system; 311. Pleated airbag; 3111. Saddle surface; 3112. Pleat; 3113. Skirt; 3114. Air tube. 3115. Annular protrusion; 312. Base; 3121. Base bolt hole; 3122. Groove; 313. Adapter block; 3131. Air pipe interface; 3132. Pressure plate; 3133. Labyrinth cavity; 3134. Air nozzle interface; 3135. Raised edge; 314. Air nozzle; 3141. Air nozzle channel; 315. Multi-pleated air bag; 316. Movable storage cavity; 3161. Storage cavity groove; 3162. Storage cavity bolt hole; 3 2. Housing; 321. Front Housing; 3211. Anti-slip Pad Mounting Groove; 3212. Anti-slip Pad; 3213. Front Housing Bolt Holes; 3214. Support Platform; 3215. Circuit Compartment; 3216. Camera Mounting Window; 322. Support Plate; 3221. Support Plate Bolt Holes; 3222. Support Rib; 323. Rear Housing; 32301. Rear Housing Bolt Holes; 32302. Storage Cavity; 32303. Airbag Pressing Groove; 32304. Rotary... 32305. Connecting block fixing groove; 32306. Handle; 32307. Air needle channel; 32308. Front baffle; 32309. Slide key; 323000. Bolt slide groove; 32310. Storage cavity window; 32311. Rear baffle; 32312. Waist-shaped countersunk hole; 324. Bolt; 325. Nut; 326. Positioning bolt; 4. Air needle; 5. Endoscopic robot with pleated airbag clamping device; 51. Camera; 52. Electrical control system. Detailed Implementation

[0045] 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.

[0046] Example 1:

[0047] This embodiment provides a working scenario for the pleated airbag clamping device 3. For example... Figure 6 As shown, a camera 51 and an electronic control system 52 are installed inside the pleated airbag clamping device 3, forming an endoscopic robot 5 using the pleated airbag clamping device. Using specialized auxiliary equipment, the air pressure inside the pleated airbag 311 is adjusted to be balanced with the surrounding environment by inserting an air needle 4 into the airbag system 31, thus placing the airbag system 31 in a retracted state. At this time, the endoscopic robot 5 using the pleated airbag clamping device is inserted into the blade passage of the turbine blade 22, and its position is adjusted so that the front and rear anti-slip pads 3212 contact the leading edge 221 and trailing edge 222 of the blade, respectively. Then, the airbag system 31 is inflated, causing the pleated airbag 311 to expand and compress the back 223 of the blade. The reaction force generated by the back of the moving blade 223 on the pleated air bag 311 is transmitted through the housing 32 to the other side of the pleated airbag clamping device 3, causing the anti-slip pad 3212 to simultaneously compress the leading edge 221 and trailing edge 222 of the moving blade. Under the action of the frictional force generated by the compression, the endoscopic robot 5 using the pleated airbag clamping device is fixed to the turbine moving blade 22. Thus, after the air needle is pulled out and the connection with the auxiliary equipment is disconnected, it can perform an endoscopic inspection of the environment in front through the camera 51 as the moving blade 22 rotates. After the inspection is completed, the auxiliary equipment reconnects to the pleated airbag clamping device 3 and inserts the air needle 4 to deflate the airbag system 31, loosening it from the turbine moving blade 22, and then removing it from the engine.

[0048] Example 2:

[0049] The expansion characteristics of the pleated air bag 311 in this invention were studied using finite element simulation. Figure 7 The figure shows a cross-sectional view of the air bag model used in the simulation, where the height H = 8.5 mm, the wall thickness t = 1 mm, and the diameter Φ = 12 mm.

[0050] Simulation results are as follows Figure 8As shown, the airbag gradually expands as the inflation pressure increases within the range of 0-1.2 bar. The overall displacement and axial displacement of the airbag are essentially the same in both value and distribution, indicating that the expansion of the airbag mainly occurs along the axial direction. Radial displacement is mainly concentrated in the folded portion, and its unfolding process provides height support to the top of the airbag, thus promoting the directional axial expansion of the airbag.

[0051] Example 3:

[0052] The airbag system 31 may have multiple folds 3112. Figure 9 The multi-pleated air bag 315 is a specific implementation when the number of pleats is 2.

[0053] Example 4:

[0054] In this embodiment, the fixed storage cavity 32302 in Figure 4 is designed as a movable storage cavity 316, such as... Figure 10As shown. After the pleated airbag 311 and base 312 of the airbag system 31 are assembled, the movable storage cavity 316 is fastened onto both, thus the three are combined into a whole and move together. The movable storage cavity 316 is placed on the surface of the support plate 322 and protrudes from the storage cavity window 32310 on the rear shell 323. The storage cavity window 32310 is oblong, allowing the movable storage cavity 316 to slide back and forth along the axial direction of the pleated airbag clamping device 3. To cooperate with the storage cavity sliding grooves 3161 on both sides of the movable storage cavity 316, raised sliding keys 32308 are provided on both sides of the inner surface of the rear shell 323 to guide the sliding process of the movable storage cavity 316. Since the air tube 3114 is made of flexible material and has a certain length margin, the connection between the movable storage cavity 316 and the adapter block 313 will not be damaged during the back-and-forth sliding process. The rear shell 323 has a front baffle 32307 and a rear baffle 32311 at the front and rear, respectively. While retaining the functions of cooperating with the support plate 322 and inserting bolts 324, it can limit the extreme positions of the sliding cavity 316. Each of the two sliding keys 32308 has a through bolt groove 32309, and a waist-shaped countersunk hole 32312 is provided at the corresponding position on the outer surface of the rear shell 323. Two external positioning bolts 326 can pass through this structure and be screwed into the cavity bolt holes 3162 on both sides of the sliding cavity 316. When the positioning bolts 326 are not tightened, even if the pleated airbag clamping device 3 has been assembled, the position of the sliding cavity 316 can be adjusted from the outside, and the positioning bolts 326 will slide accordingly; when the positioning bolts 326 are tightened, the position of the sliding cavity 316 is fixed. In use, the movable receiving cavity 316 can be adjusted accordingly before the pleated airbag clamping device 3 enters the blade cascade, based on the different shapes of the turbine blade 22, i.e., the different positions of the blade back 223. This ensures that the position of the pleated airbag 311 matches the blade back 223. This solution ensures the original sealing function of the airbag system 31 while enabling the pleated airbag clamping device 3 to adapt to various turbine structures, thus expanding its application scenarios.

[0055] Example 5:

[0056] A pleated airbag gripping device for a turbine vane inspection robot, the overall structure of which is as follows: Figure 2As shown, it mainly consists of an airbag system 31 and a housing 32, which are fixed together by bolts 324 and nuts 325. The airbag system 31 is the actuating component of the pleated airbag clamping device 3. In its initial state, it is retracted in the storage cavity 32302 of the housing 32, at which point the overall shape of the pleated airbag clamping device 3 is a cylinder with a handle. When driven by an external air source, the airbag system 31 can inflate and extend out of the storage cavity 32302. The housing 32 is responsible for providing protection and a mounting base for other parts, and for bearing and transmitting the compressive force generated during clamping. High-friction anti-slip pads 3212 are bonded to its front and rear ends to improve the contact characteristics between the housing 32 and the surrounding environment during clamping, thereby improving the stability of clamping. In addition, a handle 32305 is provided at the bottom of the housing 32 for connecting external auxiliary equipment to assist in the transportation and driving of the entire pleated airbag clamping device 3.

[0057] Airbag system 31 Figure 3 As shown, it consists of four parts: a pleated airbag 311, a base 312, an adapter block 313, and an air nozzle 314. It can expand under the drive of an external air source and is the key component of the pleated airbag clamping device 3 to generate compressive force on the outside. For ease of explanation, its structure is shown in a half-section view in the figure.

[0058] For ease of manufacturing, the main flexible components are divided into two parts: a pleated air chamber 311 for expansion and a base 312 for sealing, which are processed separately. Cast polyurethane is selected as the material. The pleated air chamber 311 is a bulging structure with a saddle surface 3111, pleats 3112, a skirt 3113, and an air tube 3114. The air tube 3114 has multiple annular protrusions 3115 for sealing. The base 312 is a thin structure with base bolt holes 3121 and grooves 3122. Both are semi-enclosed designs. During assembly, the skirt 3113 of the pleated air chamber 311 is inserted into the groove 3122 of the base 312. Adhesive is pre-applied to the contact area between the two, and they are fixed by adhesion, thus achieving assembly and sealing. After assembly, the surrounding parts constrain the base 312 and clamp its upper and lower surfaces to further improve the sealing between the pleated air bag 311 and the base 312. The pleats 3112 on the pleated air bag 311 ensure that the expansion process after inflation mainly occurs axially, in the upper part of the diagram, which is more conducive to its compression process with the external environment. The saddle surface 3111 on the top of the pleated air bag 311 improves its adaptability and stability when compressed against complex surfaces. The four base bolt holes 3121 around the base 312 are used for fixing with other components by bolts. All four holes are located outside the contour of the groove 3122, so the bolts will not damage the groove 3122 or the skirt 3113 of the pleated air bag 311, ensuring a good seal.

[0059] An adapter block 313 and an air nozzle 314 are used to connect the airbag system 31 to an external air source. The adapter block 313 is made of photosensitive resin, and the air nozzle 314 is made of elastic rubber. The air nozzle channel 3141 inside the adapter block is closed due to its own elasticity when no external force is applied. The adapter block 313 has a labyrinth cavity 3133 inside, composed of multiple channels with non-coincident axes. Its front and rear ends are the air tube interface 3131 and the air nozzle interface 3134, respectively, used to connect the air tube 3114 and the air nozzle 314 of the pleated airbag 311. In addition, a pressure plate 3132 and a protruding edge 3135 are provided on the adapter block 313 for subsequent assembly with other parts. The air tube interface 3131 of the adapter block 313 is fixed to the air tube 3114 of the pleated air bag 311 by a plug-in and adhesive method. The air nozzle interface 3134 at the other end is fixed to the air nozzle 314 in the same way, thus completing the assembly of the airbag system 31. During inflation and deflation, after the air needle 4 is inserted into the air nozzle 314, the airflow channel 3141 inside the air nozzle 314 is opened, and an external air source can inflate or deflate the pleated air bag 311. When the air needle 4 is pulled out, the airflow channel 3141 closes, sealing the cavity formed by the pleated air bag 311 and the base 312, at which time the pleated air bag 311 can maintain its own inflated state. During the insertion of the air needle 4, the labyrinth cavity 3133 can limit its insertion depth, thereby avoiding damage to the air tube 3114.

[0060] The housing 32 consists of three parts: a front housing 321, a support plate 322, and a rear housing 323, as shown in Figures 4(a)-(c). The front housing 321 has a support platform 3214 that cooperates with the support ridge 3222 of the support plate 322 to bear the force transmitted by the support plate 322. Its internal semi-cylindrical space is a circuit compartment 3215 for installing the electronic control system, and the top has a camera mounting window 3216 for placing the camera. The rear housing 323 has a cylindrical storage cavity 32302 for storing and restraining the pleated airbag 311 in the airbag system 31. It also has an airbag compression groove 32303 to restrain and compress the base 312 of the airbag system 31. Furthermore, the lower end of the rear housing 323 has an adapter block fixing groove 32304 for fixing the adapter block 313. Finally, an air needle channel 32306 is provided in the handle 32305 at the bottom, and the air needle 4 is inserted to inflate and deflate the airbag system 31. The three parts of the housing 32 are respectively provided with 6 front shell bolt holes 3213, 6 support plate bolt holes 3221 and 6 rear shell bolt holes 32301, and can be fixed to each other and to other parts such as the base 312 by bolts 324 and nuts 325.

[0061] The assembly process of the pleated airbag clamping device 3 and the relative positions of the parts after assembly are as follows: Figure 5As shown in the figure. First, two anti-slip pads 3212 are glued to the anti-slip pad mounting grooves 3211 at the front and rear of the front shell 321 to increase the friction when in contact with the blade, and at the same time to disperse the extrusion pressure to protect the blade and the device itself. The assembled airbag system 31 is then aligned and fastened with the front shell 321, support plate 322, and rear shell 323 as shown in the figure, with the pleated airbag 311 placed in the receiving cavity 32302, and the protruding edge 3135 of the adapter block 313 embedded in the adapter block fixing groove 32304 of the rear shell 323. Next, the six bolts 324 are passed through the bolt holes 3213 of the front shell, the bolt holes 3221 of the support plate, the bolt holes 3121 of the base, and the bolt holes 32301 of the rear shell in the direction shown in the figure, and tightened with nuts 325, thereby fixing the various parts of the pleated airbag clamping device 3. At this time, the support ridge 3222 of the support plate 322 abuts against the support platform 3214 of the front shell 321, and the circuit compartment 3215 is located between the two; the other side of the support plate 322 is in contact with the base 312 of the airbag system 31, ensuring the bottom of the pleated airbag 311 is stable during expansion. Under the combined action of the support plate 322, the airbag compression groove 32303 and the pressure plate 3132, the pleated airbag 311 and the base 312 are further compressed and sealed, thereby completing the assembly of the pleated airbag clamping device 3.

[0062] Example 6:

[0063] A method for using a pleated airbag clamping device for a turbine vane inspection robot, comprising the following steps:

[0064] Step 1: On the outside of the aircraft engine, connect the auxiliary equipment to the handle 32305 of the pleated airbag clamping device 3, and insert the air needle 4 into the air nozzle 314 of the airbag system 31 to release air from the pleated airbag 311, ensuring that the pleated airbag 311 is curled up in the storage cavity 32302 of the shell 32.

[0065] Step 2: The pleated airbag clamping device 3 is sent into the blade passage of the turbine blade 22 by auxiliary equipment, and then its position is adjusted so that the two anti-slip pads 3212 are respectively attached to the leading edge 221 and trailing edge 222 of the blade.

[0066] Step 3: The auxiliary equipment inflates the airbag system 31 through the air needle 4, causing the pleated air bag 311 to expand and squeeze the back of the moving blade 223. The reaction force is transmitted through the housing 32 and causes the anti-slip pad 3212 to simultaneously squeeze the leading edge 221 and trailing edge 222 of the moving blade. Under the action of the friction generated by the compression, the pleated airbag clamping device 3 and the turbine moving blade 22 are fixed.

[0067] Step 4: The auxiliary equipment pulls out the air needle 4, disconnects from the pleated airbag clamping device 3, and moves to a safe position. At this time, the pleated airbag clamping device 3 can rotate with the turbine blade 22.

[0068] Step 5: When the pleated airbag clamping device 3 needs to be detached from the turbine blade 22, the auxiliary equipment is reconnected to it and the air needle 4 is inserted to deflate the airbag system 31, so that the pleated airbag 311 is once again curled up in the storage cavity 32302, and then it is removed from the engine.

Claims

1. A pleated airbag clamping device for a turbine vane inspection robot, characterized in that, Includes an airbag system (31) and a housing (32). The airbag system (31) is the actuating component in the pleated airbag clamping device (3), which is initially retracted in the storage cavity (32302) of the housing (32). The airbag system (31) includes a pleated airbag (311), a base (312), an adapter block (313), and an air nozzle (314); the pleated airbag (311) is a bulging structure with a saddle surface (3111), pleats (3112), a skirt (3113), and an air tube (3114), and has multiple annular protrusions (3115) on the air tube (3114) to facilitate sealing; the base (312) is a thin structure with base bolt holes (3121) and grooves (3122); The pleated air bag (311) has pleats (3112), the top of the pleated air bag (311) has a saddle surface (3111), and the base bolt holes (3121) around the base (312) are used to fix other parts and components by bolts; The adapter block (313) and the nozzle (314) enable the airbag system (31) to cooperate with the external air source. The nozzle channel (3141) inside the nozzle (314) will be closed due to its own elasticity when there is no external force. The front and rear ends of the adapter block (313) are the air tube interface (3131) and the nozzle interface (3134), which are used to connect the air tube (3114) and the nozzle (314) of the pleated airbag (311). The adapter block (313) is provided with a pressure plate (3132) and a protruding edge (3135). The air tube interface (3131) of the adapter block (313) and the air tube (3114) of the pleated air bag (311) are fixed by plugging and bonding. The air nozzle interface (3134) at the other end is fixed to the air nozzle (314) in the same way, thereby completing the assembly of the airbag system (31).

2. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 1, characterized in that, The housing (32) includes a front housing (321), a support plate (322) and a rear housing (323). The front housing (321) is provided with a support platform (3214), which cooperates with the support ridge (3222) of the support plate (322) to bear the force transmitted by the support plate (322). The top is a camera mounting window (3216) for placing the camera. The rear housing (323) has a cylindrical storage cavity (32302) inside, which is used to store and restrain the pleated air bag (311) in the airbag system (31).

3. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 2, characterized in that, The rear shell (323) is provided with an airbag compression groove (32303) to constrain and compress the base (312) of the airbag system (31); the lower end of the rear shell (323) has a transfer block fixing groove (32304) for fixing the transfer block (313); the handle (32305) at the bottom of the rear shell (323) is provided with an air needle channel (32306) for inserting an air needle (4) to inflate and deflate the airbag system (31).

4. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 1, characterized in that, The adapter block (313) has a labyrinth cavity (3133) inside, which is composed of multiple channels with non-overlapping axes.

5. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 1, characterized in that, The housing (32) has anti-slip pads (3212) with a high coefficient of friction bonded to the front and back, which is used to improve the contact characteristics between the housing (32) and the surrounding environment during the clamping process and improve the stability of the clamping.

6. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 1, characterized in that, The base bolt holes (3121) are all located outside the contour of the groove (3122), and the bolts will not damage the skirt (3113) of the groove (3122) and the pleated air bag (311) to ensure the sealing effect.

7. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 1, characterized in that, The two parts, the pleated air bag (311) and the base (312), are processed separately, and the material selected is cast polyurethane.

8. The pleated airbag clamping device for a turbine vane inspection robot as described in claim 1, characterized in that, The adapter block (313) is made of photosensitive resin, and the air nozzle (314) is made of elastic rubber.

9. The method of using the pleated airbag clamping device for a turbine vane inspection robot according to any one of claims 1 to 8, characterized in that, The steps are as follows: Step 1: On the outside of the aircraft engine, connect the auxiliary equipment to the handle (32305) of the pleated airbag clamping device (3), and insert the air needle (4) into the air nozzle (314) of the airbag system (31) to deflate the pleated airbag (311) to ensure that the pleated airbag (311) is curled up in the storage cavity (32302) of the shell (32); Step 2: The pleated airbag clamping device (3) is sent into the blade passage of the turbine blade (22) by auxiliary equipment, and then its position is adjusted so that the two anti-slip pads (3212) are respectively attached to the leading edge (221) and trailing edge (222) of the blade. Step 3: The auxiliary equipment inflates the airbag system (31) through the air needle (4), causing the pleated airbag (311) to expand and squeeze the back of the moving blade (223). The reaction force is transmitted through the shell (32) and causes the anti-slip pad (3212) to simultaneously squeeze the leading edge (221) and trailing edge (222) of the moving blade. Under the action of the friction force generated by the compression, the pleated airbag clamping device (3) and the turbine moving blade (22) are fixed. Step 4: The auxiliary equipment pulls out the air needle (4), disconnects from the pleated airbag clamping device (3) and moves to a safe position. At this time, the pleated airbag clamping device (3) can rotate with the turbine blade (22). Step 5: When the pleated airbag clamping device (3) needs to be detached from the turbine blade (22), the auxiliary equipment is reconnected to it and the air needle (4) is inserted to deflate the airbag system (31), so that the pleated airbag (311) is curled up in the storage cavity (32302) again, and then it is taken out of the engine.

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