mechanism

Abstract

To provide a mechanism and method for inserting an elongate member into an area of interest through an aperture.SOLUTION: A mechanism (30) and method for inserting an elongate member (35) through an aperture of a body along a longitudinal axis (40) are provided, the mechanism comprising: a feed portion (42) comprising a feed actuator (43) configured to engage with and drive the elongate member along the longitudinal axis; and a twist portion (44) comprising a twist actuator (82) configured to engage with the feed portion and rotate the elongate member about the longitudinal axis.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a mechanism. In particular, the present disclosure relates to a mechanism and method for inserting an elongated member through an opening in a body into an area of interest.

Background Art

[0002] Elongated members are known for use in applications where it is necessary to position an elongated body through an opening into an area of interest. Such elongated members can be used to perform one or more specific tasks within the area of interest. Such tasks can include, for example, the delivery or removal of substances, or the placement and orientation of tools for subsequent on-site actions or inspections. Such elongated members can be of a single tubular structure or can include one or more joints that allow the elongated member to pivot or bend around a given point. Such joints are utilized in the construction of hyper-redundant manipulators such as continuum robots and snake arms.

[0003] A hyper-redundant manipulator is a robot with a large number of degrees of freedom of movement and can be used to perform on-site inspections and / or repair operations in areas that are difficult to access or dangerous. For example, a hyper-redundant manipulator can be utilized for the inspection or repair of components within a gas turbine engine. In such applications, access to the interior of the engine is typically obtained through openings such as inspection ports or borescope ports that provide access to the area of interest, or through fans. Therefore, the size of the manipulator is limited, and in order to conform to such functionality, a manipulator architecture that combines a long reach with a sufficiently small cross-section is required. In particular, continuum robots, unlike conventional rigid link designs, are characterized by a continuous shape of a multi-part structure. Due to their unique flexibility, continuum robots can reach locations that are normally inaccessible to rigid robots and are disadvantageous for humans. The wide range of applications of continuum robots has been demonstrated in various fields such as minimally invasive surgery and search and rescue.

[0004] Known feeding mechanisms for elongated members, such as ultra-redundant manipulators, continuum robots, and snake arms, involve the extension and contraction of the member's length and are either integrated into the member's own actuation system or exist as a separate system. However, not all current designs of elongated members have feeding mechanisms due to the profile of their backbone and their inherent dexterity. Examples of feeding mechanisms integrated into the actuation system of the elongated member itself include pressure-driven soft robots and concentric tube robots, which provide extension and retraction motion for limbs. Flexible tubes with different inherent curvatures rotate and displace from one another to achieve a desired shape and move within the environment. The movement is controlled by an actuation system that lies on a linear guide and is driven by a capstan drive transmission mechanism.

[0005] Examples of feeding mechanisms existing as independent systems are not yet well-established due to the complexity of combining an actuation system with a feeding mechanism capable of supporting its profile while maintaining an overall compact structure. Known approaches involve configuring an actuation pack or base for an elongated member so that it is connected to an external feeding or winding mechanism that allows the entire elongated member to translate along either a linear or rotary axis. Guide rails and a linear stage are typically included to provide a path for the feeding mechanism and maintain the stability of the elongated member in its trajectory. Thus, existing feeding mechanisms for elongated members rely on either moving the entire actuation pack in the insertion direction or on a stage that rotates the actuation pack to spool and unspool the elongated member. These methods, in turn, rely on controlling the overall shape of the elongated member and are unsuitable for elongated members that have a passive portion between the actuating tip and the actuator. Moving the actuation pack is particularly unsuitable for elongated members exceeding approximately 1 meter in length, as it makes it difficult to transmit axial thrust for feeding into the environment due to the body's tendency to bend or buckle.

[0006] Previous methods involved manually controlling the insertion and twisting of elongated components, continuum robots, instruments, borescopes, or endoscopes; that is, grasping the passive portion of the instrument and pushing or twisting it into an opening that provides access to the region of interest. Adjustments often required both hands, especially when working against gravity. To keep the instrument stationary, rubber plugs were often used to seal the gap between the instrument and the inspection port (in the case of an aircraft engine) to prevent slippage. However, it will be understood that manually manipulating long, elongated components is inconvenient for many reasons. These reasons may include the physical wear and tear and susceptibility to errors of manual manipulation, the potential lack of precision and repeatability, the need for an operator to be present and in close proximity to the environment under test, which can be impractical or dangerous, and the potential for contamination from repeated manual handling of the instrument. Furthermore, the act of sealing the gap between the instrument and the inspection port to prevent slippage can cause the instrument to shift, requiring corrective action.

[0007] Therefore, it is desirable to provide a mechanism and method for inserting an elongated member into a region of interest through an opening in the main body, which solves some or all of the aforementioned problems. [Overview of the project]

[0008] According to a first embodiment, a mechanism is provided for inserting an elongated member through an opening in a main body along a longitudinal axis, the mechanism comprising: a supply portion including a supply actuator configured to engage with the elongated member and drive it along a longitudinal axis; and a torsion portion including a torsion actuator configured to engage with the supply portion and rotate the elongated member about a longitudinal axis.

[0009] Thus, the mechanism reduces the need for manual operator input and allows for the rapid and accurate deployment of elongated members into the region of interest. In some embodiments, the supply mechanism may also enable semi-automatic or fully automatic deployment into the region of interest. In particular, the mechanism may also enable the insertion, guidance, and orientation of elongated members within the region of interest where it is inaccessible or impossible, impractical, or dangerous for an operator to align and move the actuarial pack. The mechanism may also enable remote operation and deployment of elongated members. The mechanism may also allow for operation with greater precision than using manual methods. Therefore, in some embodiments, the mechanism may enable inspection and / or repair of hard-to-reach components of gas turbine engines and other high-value aerospace and nuclear assets where it is inaccessible or impossible, impractical, or dangerous for an operator to align and move the actuarial pack.

[0010] Furthermore, this mechanism can reduce the physical burden on the operator performing the inspection. Therefore, this mechanism can improve productivity by either or both reducing the time required to deploy and guide the elongated member into the region of interest, and reducing operator fatigue. Additionally, the lifespan of the equipment can be extended by reducing the force exerted by the operator on the equipment and minimizing manual handling. Thus, in this way, the operator can manipulate the elongated member within the region of interest using electronic control signals and precise actions, rather than manual hand and arm movements. Control signals can be transmitted locally or remotely to the region of interest from interface hardware such as a joystick.

[0011] A feed actuator may be configured to drive an elongated member along a passage extending along the longitudinal axis through the feed portion. A torsion actuator may be configured to rotate both the feed portion and the elongated member about the longitudinal axis.

[0012] Therefore, this mechanism may enable the insertion and control of elongated members, including, for example, one or more tubes, probes, highly redundant manipulators, continuum robots, snake arms, borescopes, or endoscopes, into a body or environment, such as an aircraft engine, a nuclear reactor, a human or animal body, or a geological feature. The elongated members may include one or more of the above examples. The main body may include one or more of the above examples.

[0013] A torsional actuator may be configured to rotate an elongated member approximately 360 degrees. A torsional actuator may be configured to rotate a feed portion approximately 360 degrees. A torsional actuator may be configured to rotate either or both of the feed portion and the elongated member approximately 360 degrees.

[0014] The supply actuator may include one or more supply parts. Each supply part may be configured around a passage to engage with and drive an elongated member along the passage. Each supply part may include one or more wheels.

[0015] Therefore, a feed unit or each feed unit can convert the rotational drive of the feed unit into a linear drive of an elongated member. A feed unit or each feed unit can provide either continuous drive or discontinuous drive, or both. Many such configurations exist, such as worm gears or rack and pinion systems, and it will be understood that these may be used instead or within each feed unit.

[0016] Each supply portion may be configured perpendicular to the passage such that the engagement point between the supply portion and the elongated member is parallel to the longitudinal axis but radially offset during use. During use, when an elongated member is inserted into the mechanism, the supply portion or each supply portion may be configured to engage with the elongated member and provide an interlocking fit. Thus, each supply portion may be configured to act simultaneously to accommodate the elongated member between them and to drive the elongated member along the passage.

[0017] During use, the tangents of the wheel or each wheel at the engagement point between each wheel and the elongated member are parallel to the longitudinal axis but can be offset radially. Therefore, the wheel, or each wheel, may be configured to rotate in a direction parallel to the longitudinal axis but radially offset. In this way, the radial offset of each wheel between the longitudinal axis and the engagement point between the wheel and the elongated member may be less than or equal to half the diameter of the elongated member.

[0018] The supply portion and / or the twisted portion may include a sensor. Therefore, the sensor may include, for example, one or more of the following: a break beam presence sensor, an encoder, an optical tracking circuit, and a temperature sensor.

[0019] The elongated component may include an ultra-redundant manipulator. The elongated component may include a continuum robot. The elongated component may include a snake arm. The elongated component may include one or more of the following: pipes, cables, cable bundles, optical fibers, or optical fiber bundles. Furthermore, or alternatively, the elongated component may include one or more of the following: endoscopes, borescopes, lasers, and optical motion sensors.

[0020] The mechanism may include mounting means for attaching the mechanism to the main body during use. The mounting means may be configured to align the longitudinal axis coaxially with the opening in the main body. It will be understood that the mounting means may include one or more of several known methods for temporarily or semi-permanently attaching the mechanism to the body during use. Therefore, according to some non-limiting examples, the mounting means may include the body or a part such as a flange to which the mechanism can be directly or indirectly coupled, attached, fixed, or bonded. Alternatively, according to some non-limiting examples, the mounting means may include the body or a part such as a flange to which the mechanism can be directly or indirectly coupled, attached, fixed, or bonded.

[0021] The mounting means may be integrated with the mechanism. The mounting means may not be integrated with the mechanism. The mounting means may include one or more of, for example, adhesives, magnets, or suction bodies, configured to engage with the mechanism and secure it to the body. The mounting means may include, for example, mechanical fasteners such as bolts, nuts, or screws, which are operable to engage and secure the mechanism to the body, or a body configured to receive mechanical fasteners such as bolts, nuts, or screws. The mounting means may include, for example, a mechanical link mechanism or body that is operable to engage with the mechanism and secure it to the body. The mounting means may be configured to communicate with further mounting means included as part of the body. Further mounting means included as part of the body may include one or more of the above examples.

[0022] Therefore, the mounting means can be used to attach the mechanism to the main body, aligning the longitudinal axis with an opening in the main body so that an elongated member can be inserted into the main body. The elongated member can be inserted into the main body through an opening in the main body. The main body may be a gas turbine engine. In particular, the opening may be an inspection port or borescope port of the gas turbine engine. The opening to the main body may be a gap between components or through a fan of the gas turbine engine. Alternatively, the main body may be, for example, a nuclear reactor. Therefore, the opening may be an inspection port or borescope port of the nuclear reactor. The opening to the main body may be a gap between components of the nuclear reactor or through components of the nuclear reactor.

[0023] The main body may be, for example, a satellite or an orbiting laboratory. The main body may also be a pipe or a passageway, and as a result, the mechanism may allow for the insertion, guidance, and orientation of elongated members through underground pipes or passageways.

[0024] The body may be, for example, a human body or an animal body. The body may be an opening, passage, incision, or aperture in or on the human body or animal body, such that the mechanism may enable the insertion, guidance, and orientation of an elongate member through the human body or animal body. Thus, this mechanism may enable the insertion, guidance, and orientation of a medical device within the human body or animal body in a reproducible and accurate manner.

[0025] The body may be, for example, a geological formation, strata, or item on or adjacent to the seabed such as a crevice or debris gap. Thus, this mechanism may enable the insertion, guidance, and orientation of an elongate member for guiding a camera into a crevice or debris gap through a subterranean passage or in a search and rescue operation. Further, this mechanism may be used in underwater exploration by assisting in the deployment of an elongate member, such as an underwater instrumentation, mining equipment, or continuum robot, to an area of interest.

[0026] In a further example, the body may be, for example, an aircraft, the fuselage of an aircraft, or a fueling component of an aircraft. Thus, this mechanism may enable the guidance, orientation, and insertion of an elongate member through a fueling component for manipulating a fuel line for air-to-air or ship-to-ship refueling.

[0027] Thus, in the case of an inspection port of a gas turbine engine, the mechanism may be coupled, attached, fixed, or adhered to a cover hole of a borescope port. In the case of a nuclear facility, the mechanism may be coupled, attached, fixed, or adhered to an inspection port, valve, or flange.

[0028] According to a second aspect, a method of inserting an elongate member through an opening of a body along a longitudinal axis using the mechanism according to the first aspect, the method comprising aligning the longitudinal axis coaxially with the opening of the body; feeding the elongate member through the opening along the longitudinal axis; and rotating the elongate member about the longitudinal axis.

[0029] The step of rotating the elongated member around the longitudinal axis can be performed independently of the step of supplying the elongated member along the longitudinal axis. The step of rotating the elongated member around the longitudinal axis can be performed simultaneously while supplying the elongated member along the longitudinal axis.

[0030] Those skilled in the art will understand that, except where mutually exclusive, features described in relation to any one of the above embodiments can be applied mutatis mutandis to any other embodiment. Furthermore, except where mutually exclusive, any feature described herein can be applied to any embodiment and / or combined with any other feature described herein.

[0031] Here, embodiments will be described only as examples, with reference to the attached diagrams. [Brief explanation of the drawing]

[0032] [Figure 1] This is a cross-sectional side view of a gas turbine engine. [Figure 2] This is a side perspective view of a mechanism that positions an elongated component into a region of interest through an opening in the main body. [Figure 3] This is a side perspective view of the mechanism. [Figure 4] Figure 3 is a front perspective view of the mechanism shown. [Figure 5] This is a front perspective view of the actuator portion of the mechanism. [Figure 6] This is a rear perspective view of the supply section of the mechanism. [Figure 7] This is a front cross-sectional view of the supply section of the mechanism. [Figure 8] This is a rear perspective view of the twisted section of the mechanism. [Figure 9] This is a rear perspective cross-sectional view of the twisted portion of the mechanism. [Figure 10] This diagram shows how to use the mechanism. [Modes for carrying out the invention]

[0033] Referring to Figure 1, a gas turbine engine having a main shaft and a rotating shaft 11 is generally shown as 10. The engine 10, in an axial flow series, comprises an intake port 12, a propulsion fan 13, an intermediate pressure compressor 14, a high pressure compressor 15, a combustion unit 16, a high pressure turbine 17, an intermediate pressure turbine 18, a low pressure turbine 19, and an exhaust nozzle 20. A nacelle 21 generally surrounds the engine 10 and defines both the intake port 12 and the exhaust nozzle 20.

[0034] The gas turbine engine 10 operates in a conventional manner, with the air entering the intake port 12 being accelerated by the fan 13 to generate two airflows: a first airflow to the intermediate-pressure compressor 14 and a second airflow that passes through the bypass duct 22 to provide thrust. The intermediate-pressure compressor 14 compresses the airflow directed towards it and then sends that air to the high-pressure compressor 15, where it is further compressed.

[0035] The compressed air discharged from the high-pressure compressor 15 is sent to the combustion unit 16, where it is mixed with fuel and the mixture is burned. The resulting high-temperature combustion products then expand, thereby driving the high-pressure, intermediate-pressure, and low-pressure turbines 17, 18, and 19, which are then discharged through the nozzle 20 to provide additional propulsion thrust. The high-pressure turbine 17, intermediate-pressure turbine 18, and low-pressure turbine 19 drive the high-pressure compressor 15, intermediate-pressure compressor 14, and fan 13, respectively, by appropriate interconnecting shafts.

[0036] Other gas turbine engines to which this disclosure may apply may have alternative configurations. For example, such an engine may have an alternative number of interconnecting shafts (e.g., two) and / or an alternative number of compressors and / or turbines. Furthermore, the engine may include a gearbox in the drive train from the turbine to the compressor and / or fan.

[0037] During one or more of the manufacturing, inspection, maintenance, or repair of a body, it may be necessary to inspect, operate, or repair one or more internal surfaces or components within the body in areas of interest that are difficult or obscured from normal visibility. In such situations, it may be beneficial in terms of time and / or cost to perform such inspection, operation, or repair without removing components or parts from the body to expose such areas of interest.

[0038] In the case of a gas turbine engine, inspection ports or openings are often incorporated into the structure or walls of the engine 10, and as a result, inspection, operation, or repair equipment can be deployed to the area of ​​interest through openings in the body. In some cases, equipment for inspection, operation, or repair can be deployed to the area of ​​interest through openings in the body. The openings may be gaps formed between adjacent blades at the front end of the engine 10, such as between one or more adjacent blades of the propulsion fan 13, the intermediate pressure compressor 14, and the high pressure compressor 15. Alternatively, the openings may be gaps formed between adjacent blades at the rear end of the engine 10, such as between adjacent blades of one or more high pressure, intermediate pressure, and low pressure turbines 17, 18, 19.

[0039] As shown in the arrangement in Figure 1, the first inspection port 24 is formed in the wall of the intermediate-pressure compressor 14, the second inspection port 25 is formed in the wall of the high-pressure compressor 15, the third inspection port 26 is formed in the wall of the high-pressure turbine 17, and the fourth inspection port 27 is formed in the wall of the low-pressure turbine 19. It will be understood that the engine 10 may include additional inspection ports in alternative areas or walls of the engine 10. It will also be understood that, if necessary, two or more inspection ports may be arranged in a ring around the wall of the engine 10 at one or more axial positions.

[0040] Referring to Figure 2, a first inspection port 24 is shown formed within the outer wall of the nozzle guide vane section of the intermediate pressure compressor 14. The mechanism 30 is shown to be attached to the inspection port 24 via mounting means AT during use. In the illustrated example, the mounting means includes an integrated flange 32 including a threaded portion that is supplied to the corresponding female receiving portion of the inspection port 24.

[0041] The illustrated example illustrates one of many possible solutions for mounting the mechanism 30 to the body B, many of which may be considered viable alternatives for forming the mounting means AT. For example, the mechanism 30 may be mounted to the inspection port 24 during use via an integrated flange 32 through which a male fastener is supplied to the female receiving portion of the inspection port 24. The mounting means AT may include one or more of several known methods for temporarily or semi-permanently mounting the mechanism to the body B during use. For example, the integrated flange 32 may be directly or indirectly mounted, fixed, or glued to the body B. The mounting means AT may include one or more of the body B, for example, adhesive, magnet, or attraction, configured to engage with and fix the mechanism 30 to the body B. The mounting means AT may include, for example, mechanical fasteners such as bolts, nuts, or screws, or the body B configured to receive mechanical fasteners such as bolts, nuts, or screws that are operable to engage with and fix the mechanism to the body B. The mounting means AT may comprise, for example, a mechanical link mechanism or the body B that is operable to engage with the mechanism 30 and secure it to the body B. The mounting means AT may be configured to communicate with further mounting means AT included as part of the body B. Further mounting means AT included as part of the body B may include, or one or more of the above examples. Thus, the mounting means AT may enable the mechanism 30 to be mounted to the body B during use. In the shown example, the mounting means AT enables the mechanism 30 to be mounted to the inspection port 24 during use, which in the shown example provides an example of the opening A of the body B. Thus, the body B may be, for example, a gas turbine engine. The body B may be, for example, an inspection port of a gas turbine engine.

[0042] Referring again to Figure 2, the passage 38 is shown to extend through the mechanism 30 along the longitudinal axis 40 in the illustrated direction. Furthermore, the longitudinal axis 40 of the passage 38 is aligned coaxially with the inspection port 24. Thus, during use, the longitudinal axis 40 of the passage 38 is aligned coaxially with the opening A of the main body B. Therefore, the mounting means AT is configured to align the longitudinal axis 40 coaxially with the opening A of the main body B.

[0043] The elongated member 35 is shown to extend along the longitudinal axis 40 of the passage 38. Thus, the elongated member 35 extends along the longitudinal axis 40 of the passage 38 through both the mechanism 30 and the inspection port 24. Thus, when the elongated member 35 is inserted into the mechanism 30 during use, the elongated member 35 is aligned coaxially with the longitudinal axis 40 of the passage 38 and the opening A of the main body B. The distal end of the elongated member 35 is shown to be deployed into the region of interest 36 through both the mechanism 30 and the inspection port 24 during use. The distal end of the elongated member 35 may be actuated relative to the rest of the elongated member 35, or may be able to actuate independently or with controlled operation, or both. In some examples, the elongated member 35 may include one or more of the following: a highly redundant manipulator, a continuum robot, a snake arm, a borescope, or an endoscope.

[0044] In this embodiment configured for inspecting the intermediate-pressure compressor 14 of engine 10, the elongated member 35 includes a tool configured to monitor the operating state of the gas turbine engine 10. In further examples, the elongated member 35 may include, for example, one or more sensors and tools configured to monitor or restore the operating state of the gas turbine engine 10. Alternatively, in a further example configured for medical applications, the elongated member 35 may include, for example, one or more sensors and tools configured to monitor or restore the health of a human or animal body. The illustrated example shows one of many possible application-specific configurations of the elongated member 35, and it will be understood that many of them can be considered viable alternatives to be included within the elongated member 35. Thus, the elongated member 35 may include, for example, one or more tools such as cameras or lasers. The elongated member 35 may include sensors.

[0045] In the example shown, the region of interest 36 is an area within the medium-pressure compressor 14. Therefore, the mounting means AT allows the mechanism 30 to be attached to the main body B during use, and the longitudinal axis 40 of the passage 38 to be aligned with the opening A of the main body B, allowing the elongated member 35 to be inserted into the main body B.

[0046] Referring to Figure 3, the mechanism 30 is shown separated from the main body B to which the mechanism 30 is mounted during use. Furthermore, the mechanism 30 is shown separated from the elongated member 35 that is supplied to and supplied through the mechanism 30 during use. In the illustrated example, the mechanism 30 includes a supply portion 42 and a twisted portion 44. Furthermore, the mechanism 30 comprises an actuator portion 46. Furthermore, the illustrated example includes a sensor portion 48 and an integrated flange 32 including a threaded portion 34 that forms a mounting means AT.

[0047] The sensor section 48 includes any sensors 39 required for the operating requirements of the mechanism 30, such as one or more break beam presence sensors, encoders, optical tracking circuits, temperature sensors, or additional sensors required for the specific application of the mechanism 30. Thus, the sensor section 48 may include one or more of the break beam presence sensors, encoders, optical tracking circuits, temperature sensors, or any additional sensors required for the specific application of the mechanism 30. For example, in this shown example configured for inspecting the intermediate pressure compressor 14 of the engine 10, the sensor section 48 may include, for example, an optical tracking circuit, and one or more sensors and tools configured to monitor or restore the operating state of the gas turbine engine. Alternatively, in a further example configured for medical applications, the sensor section 48 may include, for example, an optical tracking circuit, and one or more sensors and tools configured to monitor or restore the health of the human or animal body. The illustrated example shows one of many possible application-specific sensor configurations, many of which may be considered viable alternatives to be included within the sensor section 48.

[0048] The supply section 42 includes a supply actuator 43 configured to engage with and drive an elongated member 35 along the longitudinal axis 40 during use. The torsion section includes a torsion actuator configured to engage with the supply section 42 during use and rotate the elongated member 35 around the longitudinal axis 40. In the example shown, the actuator section 46 includes at least two actuators and drive hardware necessary to independently transmit torque to the supply section 42 and the torsion section 44.

[0049] Referring to Figure 4, Figure 4 shows the mechanism 30 shown in Figure 3 in an alternative front perspective view to more clearly show a passage 38 extending through the mechanism 30 along the longitudinal axis 40, a threaded portion 34 forming a mounting means AT, and a sensor portion 48 including one or more sensors 39. In some examples, the sensor portion 48 may include a mounting means AT.

[0050] Referring to Figure 5, an example of the actuator section 46 is shown separated from the mechanism 30. In particular, Figure 5 shows a front perspective view of the actuator section 46. The shown actuator section 46 includes two motors and two gearboxes 54. In the shown example, the actuator section 46 includes two AC brushless servo motors 52. Furthermore, the actuator section 46 includes two rotary incremental encoders 56, two servo drivers 58, and two connectors 60. The enclosure for the actuator section may include one or more holes 62 for a ventilation fan to draw air through the servo driver heat exchanger. According to further examples, it will be understood that the actuator section 46 may include two or more motors 52. The actuator section 46 may include two or more gearboxes 54. Furthermore, the actuator section 46 may include one or more incremental encoders 56, one or more servo drivers 58, and one or more connectors 60, and these particular configurations may vary depending on the application. It will be understood that alternative configurations may be envisioned in which the components forming the actuator portion 46 may, if possible, be fused within the supply portion 42 and the torsion portion 44.

[0051] Referring to Figure 6, an example of a feed section 42 is shown separated from the mechanism 30. In particular, Figure 6 shows a rear perspective view of the feed section 42. The feed section 42 includes a feed actuator 43 configured to engage with and drive an elongated member 35 along the longitudinal axis 40 during use. Thus, the feed actuator 43 is configured to drive the elongated member 35 along a passage 38, the passage 38 extending along the longitudinal axis 40 through the feed section 42. In the illustrated example, the feed actuator 43 includes one or more feed sections. Each feed section is configured around the passage 38 to engage with the passage 38 and drive the elongated member 35 along the passage 38. It will be understood that many alternative configurations may be provided for engaging with and driving the elongated member 35 along the passage 38, such as by using helical gears or worm gears, or by using rack and pinion or spur gear configurations.

[0052] In the specific example shown, the feed actuator 43 includes three axial feed shafts 70. Each feed shaft 70 is configured around a passage 38, and such shafts 70 extend along an axis parallel to the longitudinal axis 40 but radially offset from the longitudinal axis 40. Thus, each feed unit is shown to include an axial feed shaft 70. In the exemplary arrangement shown, each feed shaft 70 is connected to one another via pulleys and belts 72. Each shaft 70 includes two worm gears 76, configured within roller bearings 74 on either side of each shaft 70. Each of the six worm gears 76 drives each worm wheel 78, configured perpendicular to each feed shaft 70, via a worm wheel shaft 79, to which a wheel 80 is coupled and supported by two roller bearings 81. Thus, each worm wheel 78 drives a wheel 80. Thus, each feed unit may include one or more wheels. Each wheel 80 includes a brass hub and a rubber tire and is supported by two roller bearings 81. As shown in Figure 6, each wheel 80 is configured perpendicular to the passage 38 such that, during use, the engagement point between the wheel 80 and the elongated member 35 is parallel to the longitudinal axis 40 but radially offset. Thus, the wheel 80 or the tangent to each wheel 80 at the engagement point between each wheel 80 and the elongated member 35 is parallel to the longitudinal axis 40 but radially offset. Therefore, during use, the wheel 80 can grip and rotate the elongated member 35 in order to drive the elongated member 35 along the longitudinal axis 40. It will also be understood that the wheel 80 is configured to apply sufficient pressure to the elongated member 35 to prevent the wheel 80 from slipping in any given direction relative to the elongated member 35.

[0053] As a further example, it will be understood that the supply actuator 43 may include three or more shafts 70. Each shaft 70 may include one or more worm gears 76 capable of driving one or more wheels 80. It will be understood that the specific configuration and size of each wheel may vary. For example, internal gears may be in the form of ring gears and spur gears, or equivalents. Thus, it will be understood that the specific configuration of the supply part 42, in particular the specific configuration of the supply actuator 43, may vary depending on one or more applications or the properties of the body B, the elongated members, and the specific size, thickness, or mechanical properties of the elongated members 35 required for use.

[0054] Referring to Figure 7, the supply section 42 of Figure 6 is shown separated from the mechanism 30. In particular, Figure 7 shows a front cross-sectional view of the supply section 42. As shown, an exemplary configuration of an axial supply shaft 70, a worm gear 76, a worm wheel 78, and a wheel 80 is provided for the longitudinal axis 40.

[0055] Referring to Figure 8, an example of the torsion section 44 is shown separated from the mechanism 30. In particular, Figure 8 shows a rear perspective view of the torsion section 44. The torsion section 44 includes a torsion actuator 82 configured to engage with the feed section 42 during use and rotate the elongated member 35 around the longitudinal axis 40. Thus, the torsion actuator 82 is configured to rotate both the feed section 42 and the elongated member 35 around the longitudinal axis 40. In the illustrated example, the torsion actuator 82 includes a first coaxial section 84 configured to rotate relative to a second coaxial section 86. In the illustrated example, the second coaxial section 86 is configured to remain stationary relative to the body B and mounting means AT during use. Each of the coaxial sections 84 and 86 is supported, for example, by roller bearings. In the illustrated example, the first coaxial portion 84 and the second coaxial portion 86 are engaged via a relatively large internal ring gear contained within and fixedly mounted to the second coaxial portion 86, and a relatively small internal spur gear contained within the first coaxial portion 84. According to the second coaxial portion 86, the ring gear is configured to remain stationary relative to the body B and mounting means AT during use. The spur gear is fixedly mounted to a shaft 88 supported by roller bearings. The shaft 88 is coupled to the first coaxial portion 84, the feed portion 42, and the actuator portion 46. In the illustrated example, the shaft 88 is configured to extend at least partially through the first coaxial portion 84, the feed portion 42, and at least partially through the actuator portion 46. Thus, during use, the rotation of the shaft 88 and the spur gear causes the spur gear to interact with the internal ring gear, rotating the shaft 88, the first coaxial portion 84, the feed portion 42, and the actuator portion 46 around the longitudinal axis 40. Therefore, the twisted portion 44 is configured to rotate the supply portion 42 and the actuator portion 46 around the longitudinal axis 40 with respect to the main body B and the mounting means AT during use. Thus, during use, the twisted portion 44 engages with the supply portion 42 and is configured to rotate the elongated member 35 around the longitudinal axis 40.

[0056] Referring to Figure 9, the torsion portion 44 of Figure 8 is shown separated from the mechanism 30. In particular, Figure 9 shows a rear cross-sectional perspective view of the torsion portion 44, and the torsion actuator 82 is configured to engage with the supply portion 42 during use and rotate the elongated member 35 around the longitudinal axis 40. Exemplary configurations of coaxial portions 84, 86 and shaft 88 are provided relative to the longitudinal axis 40 as shown. In addition to the configuration examples shown in Figure 8, Figure 9 also shows configuration examples of a roller bearing 90, a relatively large internal ring gear 92 contained within the second coaxial portion 86, and a relatively small internal spur gear 94 contained within the first coaxial portion 84, as described in relation to Figure 8.

[0057] Further examples will be understood to include the helical portion 44 and the helical actuator 82, which may include one or more shafts 88. Each shaft 88 may include a relatively small internal spur gear 94 capable of driving one or more additional internal spur gears. Furthermore, or alternatively, the second coaxial portion 86 may include one or more relatively large internal ring gears 92. It will be understood that the specific configuration and size of the internal gears may vary. For example, the internal gears may be in the form of worm gears. Thus, it will be understood that the specific configuration of the helical portion 44, and in particular the specific configuration of the helical actuator 82, may vary depending on one or more applications or the properties of the body B, the elongated members, and the specific size, thickness, or mechanical properties of the elongated members 35 required for use. It will also be understood that the helical portion 44 may be configured to allow 360-degree rotation around the longitudinal axis 40. Thus, the helical portion 44 allows for 360-degree rotation of the feed portion 42 and the actuator portion 46 around the longitudinal axis 40.

[0058] Referring to Figure 10, a flowchart is shown of a method for supplying the elongated member 35 through the opening A of the main body B. As shown, this method includes step 100 of aligning the longitudinal axis 40 of the mechanism 30 with the opening A of the main body B. This method may include an additional step of coupling or mounting the mechanism 30 to the main body B.

[0059] This method includes step 102 of supplying the elongated member 35 into the passage 38 of the mechanism 30 and along the longitudinal axis 40. This method may include step 102 of supplying the elongated member 35 into the passage 38 of the mechanism 30 and along the longitudinal axis 40 until the elongated member 35 contacts the supply actuator 43. Thus, the supply actuator 43 or each supply actuator 43 is configured to engage with and drive the elongated member 35 along the longitudinal axis 40.

[0060] This method includes step 104 of supplying an elongated member 35 along the longitudinal axis 40 through an opening A in the main body B. The insertion of the elongated member 35 along the longitudinal axis 40 through the opening A in the main body B can be detected or observed by a sensor contained within the sensor portion 48 or by an in-vehicle camera contained within the elongated member 35.

[0061] This method includes step 106 of rotating the elongated member 35 around the longitudinal axis 40. The step of rotating the elongated member 35 around the longitudinal axis 40 may be performed while simultaneously feeding the elongated member 35 along the longitudinal axis 35. Alternatively, the step of rotating the elongated member 35 around the longitudinal axis 40 may be performed independently of the step of feeding the elongated member 35 along the longitudinal axis 35.

[0062] This method includes either or both of the steps 108 of supplying the elongated member 35 along the longitudinal axis 40 and rotating the elongated member 35 about the longitudinal axis 40 to drive the elongated member 35 into or toward a region of interest 36. Thus, the supply portion 42 and the twisting portion 44 may be configured to insert, guide, and orient the elongated member 35 into the region of interest 36, in conjunction with, but independently of, the steering of the elongated member 35.

[0063] The operator can control the mechanism 30 in several different ways while supplying the elongated member 35 along the longitudinal axis 40. For example, one or two joysticks operated manually or with the thumb may be used. In this configuration, the left-right or left-right joystick of a two-axis joystick can operate the twisting portion 44, and the forward-backward or forward-backward joystick of a two-axis joystick can operate the supply portion 42, and vice versa. In some examples, the joysticks may be analog and may be used to control the speed of motion of each degree of freedom in proportion to the magnitude of thumb or hand input. In some examples, the joysticks may be digital and may be used to control the speed of motion of each degree of freedom in a binary on or off mode with a predefined acceleration. In some examples, this can also be achieved using two instantaneous push buttons per actuator.

[0064] In some examples, variations of the joystick interface can be utilized in which the joystick is mounted on an attachment that can be fixed to a controller that operates the distal end of the elongated member 35. For example, a two-axis analog joystick can be mounted on a handle and attached to the handpiece of a video-enabled borescope (Mentor Visual iQ VideoProbe®) so that it can be operated together (with the same hand, or the other hand, or with another thumb) with a joystick that drives the distal end of the elongated member 35. Alternatively, the interface can use a haptic device, such as a six-axis haptic device, to control the mechanism 30 using haptic feedback in an intuitive manner. The torsion part 44 may be operated by torsional motion, and the supply part 42 may be operated by supply action. In this case, haptic feedback may be provided by a sensor that can detect the torque of the actuator or the force passing through the mounting hardware of the mechanism 30.

[0065] In addition to the above interface, the operator can control the mechanism 30 from a location away from the main body B. In some examples, one or more of wired, wireless, or internet communication can be used to send commands from the mechanism 30 and receive sensor data. Thus, the operator can drive the elongated member 35 to the region of interest 36 from a location away from the body B that has access to a global communication link. Thus, a professional technician can monitor and control the elongated member 35 within the region of interest 36 without having to move to a location near the main body B.

[0066] While particularly well-suited for use in gas turbine engines 10, it will be understood that the mechanism 30 can also be used in the medical field. Thus, the mechanism 30 can be used to operate an endoscope inside the human body in a reproducible and precise manner. Thus, the body B may be a human body or an animal body. Alternatively, the mechanism 30 can be used in search and rescue operations to guide a camera into a crevasse or gap in debris. Alternatively, the mechanism 30 can be used in underwater exploration by assisting in the deployment of long, slender instruments or continuous robots. Alternatively, the mechanism 30 can be used to operate space robots for the maintenance of satellites or orbiting laboratories. Alternatively, the mechanism 30 can be used in the telecommunications industry to operate or guide cables, or cable bundles, or optical fibers, or optical fiber bundles through underground pipes or passages. Alternatively, the mechanism 30 can be used to operate fuel lines for air-to-air or ship-to-ship refueling.

[0067] The present invention is not limited to the embodiments described above, and it will be understood that various modifications and improvements can be made without departing from the concepts described herein. Any of the functions can be used individually or in combination with other functions, except where they are mutually exclusive, and this disclosure extends to and includes all combinations and subcombinations of one or more functions described herein. [Explanation of symbols]

[0068] 10 Engines 11 Rotation axis 12 Intake ports 13 Promotion Fan 14. Medium-pressure compressor 15. High-pressure compressor 16 Combustion device 17 High-pressure turbine 18. Intermediate Pressure Turbine 19 Low-pressure turbine 20 Exhaust nozzles 21 Nacer 22 Bypass duct 24 First inspection port 30 mechanism 32 Integrated flange 34 Threaded portion 35. Long and slender member 36 Areas of Interest 38 aisles 39 Sensors 42 Supply part 43 Supply actuator 40 Longitudinal axis 43 Supply actuator 44 Twisted section 46 Actuator part 48 Sensor part 52 AC brushless servo motor 54 Gearbox 56 Rotary Incremental Encoder 58 Servo Driver 60 connectors 70, 88 shaft 72 belts 74, 81 Roller bearings 76 Worm Gear 78 Worm Wheel 79 Worm wheel shaft 80 wheels 82 Torsion Actuator 84 First coaxial section 86 Second coaxial section 90 roller bearings 92 Inner ring gear 94 Internal spur gear A opening B Main Unit AT mounting method

Claims

1. A mechanism (30) for inserting an elongated member (35) through an opening in the main body along the longitudinal axis (40), wherein the mechanism is A supply section (42) includes a supply actuator (43) configured to engage with the elongated member and drive the elongated member along the longitudinal axis, A twisted portion (44) including a torsional actuator (82) that engages with the supply portion and is configured to rotate the elongated member about the longitudinal axis, wherein the torsional actuator (82) is configured to rotate both the supply portion and the elongated member about the longitudinal axis, A mechanism (30) comprising:

2. The mechanism according to claim 1, wherein the supply actuator is configured to drive the elongated member along a passage (38), the passage extending along the longitudinal axis through the supply portion.

3. The mechanism according to claim 2, wherein the supply actuator includes one or more supply parts.

4. A mechanism according to claim 3, wherein each supply portion is configured around the passage and engages with the elongated member and drives the elongated member along the passage.

5. The mechanism according to claim 3, wherein each supply portion includes one or more wheels (80).

6. The mechanism according to claim 3, wherein each supply portion is configured perpendicular to the passage such that the engagement point between the supply portion and the elongated member is parallel to the longitudinal axis but radially offset from the longitudinal axis during use.

7. A mechanism according to claim 6, as dependent on claim 5, wherein the tangents of the wheel or each wheel at the engagement point between each wheel and the elongated member are parallel to the longitudinal axis but radially offset from the longitudinal axis during use.

8. A mechanism according to any one of claims 1 to 7, wherein either or both of the supply portion and the twisting portion include a sensor (39).

9. A method for supplying an elongated member (35) through an opening (A) of a main body (B) along a longitudinal axis (40) using the mechanism (30) described in claim 1, The steps include aligning the opening of the main body coaxially with the longitudinal axis, The steps include supplying the elongated member along the longitudinal axis through the opening, A step of rotating the elongated member about the longitudinal axis, Methods that include...

10. A method according to claim 9, wherein the step of rotating the elongated member about the longitudinal axis is performed while simultaneously supplying the elongated member along the longitudinal axis.

11. The mechanism according to claim 1, further comprising mounting means (AT) for attaching the mechanism to the main body during use, wherein the mounting means (AT) is configured to align the longitudinal axis coaxially with the opening of the main body.

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