Method for detecting or working on a turbomachine

Abstract

The present invention relates to a method for detecting and / or working on a turbomachine, in particular an aircraft engine, in which method a soft robot is introduced into a flow channel of the turbomachine, wherein the soft robot has at least one soft holding arm and at least one soft payload arm, wherein the at least one soft payload arm is equipped with a sensor system for detecting and / or an effector for working on a component in the flow channel, and wherein the soft robot moves and / or is supported in the flow channel by means of the at least one soft holding arm.

Description

[0001] METHOD FOR DETECTING OR PROCESSING A TURBOMACHINE

[0002] DESCRIPTION

[0003] Technical area

[0004] The present invention relates to a method for detecting and / or processing a turbomachine, in particular an aircraft engine.

[0005] State of the art

[0006] An examination or inspection of components of a turbomachine, particularly an aircraft engine, can be carried out during new production, for example, during a process or output inspection. It can also be performed on a component that has already been in use, for example, to examine the component for abnormalities that have arisen during operation, particularly damaged areas. These can result, for example, from particle impacts or wear during operation; they can be cracks or chipping, for example. Regardless of these details, component examination can be particularly important due to the possible consequences of failure of a component of a turbomachine or aircraft engine, regardless of whether it is a new production or a revision.

[0007] Description of the invention

[0008] The present invention is based on the technical problem of providing an advantageous method for detecting and / or processing a turbomachine.

[0009] This is achieved with the method according to claim 1, in which a soft robot is introduced into a flow channel of the turbomachine. The soft robot has at least one soft holding arm and at least one soft payload arm, the latter being equipped with a sensor for detecting (e.g., a camera) and / or an effector (e.g., a tool, such as a grinding tool) for machining a component arranged in the flow channel. With the at least one soft holding arm, the soft robot can support itself and / or move itself in the flow channel, e.g., pull itself forward or push itself forward. The soft payload arm can also be used for this movement; see below for details.

[0010] Compared to inspecting the flow channel with a borescope, which is inserted into the flow channel via a defined access point, for example, the present approach can increase flexibility. The soft robot is not necessarily tied to a specific access point, but can move freely within the flow channel to the location to be inspected, at least within certain limits. The use of a "soft robot," which, for example, has a soft outer shell (see below in detail), can be less prone to damage than a robot with a hard exoskeleton. On the one hand, this can affect possible damage to the robot itself, for example when moving over a sharp edge (e.g., the leading edge of a blade). On the other hand, the soft robot can also be less critical with regard to damage to the components arranged in the flow channel.

[0011] Preferred embodiments are found in the dependent claims and the entire disclosure, although the description does not always distinguish in detail between process, device, or use aspects; at least implicitly, the disclosure is directed to all claim categories.

[0012] With at least one soft support arm, the soft robot can support itself or move, meaning it can climb through the flow channel or hold on tight. For this purpose, the at least one soft support arm can, for example, attach itself to the side surfaces of blades or even at least partially wrap around the blades. This applies analogously to the soft payload arm, provided it is used for locomotion.

[0013] The sensor technology can, for example, be a camera, so that detection takes place in the form of an image. In addition or alternatively, the sensor technology can also include, for example, a tactile sensor or an eddy current sensor. The "effector" can be a processing tool, e.g., a grinding tool, for material removal (e.g., blending). The effector can also be a radiation or light source that supports sensor-based detection. Combinations are also possible; for example, a camera (sensor technology) can be arranged in conjunction with a light source (effector) on at least one payload arm.

[0014] The turbomachine can be functionally divided into a compressor, combustion chamber, and turbine. In the compressor, a compressor fluid, such as intake air, is compressed. In the downstream combustion chamber, fuel, such as kerosene, can be added, and this mixture is burned. The resulting hot gas is expanded in the downstream turbine, where energy can also be extracted to drive the compressor. Regardless of these details, the process can preferably be applied to the assembled turbomachine, particularly in an aircraft-mounted engine, e.g., at intervals during breaks between flight operations.

[0015] The "flow channel" into which the soft robot is inserted could be the fluid channel of the compressor or the hot gas channel of the turbine, but it could also be used for inspection or processing in the combustion chamber. The soft robot can, for example, move independently within the flow channel, for example, independently charting a path within the flow channel and determining the individual steps while climbing and holding.

[0016] During or for the locomotion of the soft robot, at least two soft arms are preferably used. In a preferred embodiment, the soft robot has at least two soft support arms, i.e., together with the at least one soft payload arm, a total of at least three soft arms. The at least two soft support arms can then be used for locomotion either individually or in combination with the at least one payload arm.

[0017] In general, reference to a "holding arm" does not preclude the possibility that it could also be equipped with sensors / an effector; the decisive factor for a "holding arm" is its use for climbing and / or holding. In other words, the soft robot should have at least two, preferably at least three, soft arms. At least one, preferably at least two, of these arms is used for climbing and holding during locomotion ("holding arms"), and at least one should be equipped with sensors and / or an effector ("payload arm"). Accordingly, the at least one payload arm can also be used as a holding arm.

[0018] In a preferred embodiment, the at least one soft payload arm is used at least temporarily to move and / or support the soft robot as it moves forward in the flow channel. The payload arm can, for example, be used to provide support in passages that are difficult to move or climb (this means "temporarily"), but it can also be integrated into the movement sequence as an arm equivalent to the other support arm(s).

[0019] Regardless of the specific implementation, at least one soft payload arm is then temporarily released to grasp the component with the sensor system and / or process it with the effector. The other holding arm(s) can support the soft robot. A respective holding arm can also support the grasping / processing of the component by the at least one soft payload arm beyond purely mechanical positioning, for example, by being equipped with a light source for illumination during image capture.

[0020] In a preferred embodiment, the soft robot moves forward in the flow channel by alternately supporting itself with at least three soft arms and pulling and / or pushing itself forward. During this climbing and holding, the movements of the individual soft arms can merge seamlessly into one another, so that, for example, one arm can be successively released as soon as the other arm has a hold and initiates the forward movement (by pulling or pushing). By using at least three arms, stability can be increased, for example, and the risk of slipping can be reduced. Furthermore, the soft robot can be moved more flexibly through the flow channel overall, which, given the limited space, can prevent damage.

[0021] According to a preferred embodiment, the soft robot moves forward in a radially outer region of the flow channel, wherein the component can be arranged in a radially inner region of the flow channel. To grasp and / or process the component, the payload arm can then be moved into this radially inner region, with, for example, a center of mass of the soft robot remaining in the radially outer region.

[0022] According to a preferred embodiment, the soft robot has a central body on which the at least two, preferably at least three, soft arms are arranged. Each arm is thus suspended from the central body at its end proximal to the central body, e.g., in the manner of a cylindrical or ball joint. Towards its opposite, distal end, the respective arm can additionally be deflectable or rotatable, which allows, for example, the aforementioned grasping of components during climbing and holding.

[0023] The central body can house, for example, a power supply and / or control system for the robot. The power supply can be provided, for example, in the form of an electrical storage device in the form of a battery or accumulator. The control unit can include logic for the movement of the soft robot or interfaces / drivers for actuators of the arms. The central body can also house, for example, a radio unit, for example, for external control and / or for reading data, such as measurement data.

[0024] According to a preferred embodiment, an outer surface of the soft robot, in particular of the soft arms, and preferably also of the soft central body, has a Shore hardness (A) of at most 70 Shore, with further possible upper limits of at most 60 Shore or 50 Shore. Possible lower limits can be, for example, 10 Shore, 20 Shore, or 30 Shore. Preferably, an elastomer material can form the outer surface of the soft robot, e.g., a rubber or silicone material (e.g., EPDM, TPE, or a silicone elastomer).

[0025] According to a preferred embodiment, at least one soft arm of the soft robot has an endoskeleton that is electromechanically actuated. The endoskeleton can be constructed from struts and joints in a manner known per se in robotics, with the skeleton being arranged in a soft shell (e.g., made of an elastomer material, see above) to create the soft arm. The endoskeleton can also be realized, for example, in the form of disc segments placed one after the other along the arm, with adjacent segments each being tiltably positioned against one another. Using one or more cables extending through the segments, it is then possible to tilt the segments and thus deflect the arm in a specific direction.

[0026] According to a preferred embodiment, at least one of the soft arms is pneumatically actuated. For this purpose, the arm can be segmented longitudinally, with each segment containing at least two, preferably three, chambers arranged parallel to one another. By applying different pressures to the chambers in each segment, the respective segment, and thus the arm, can be deflected in a specific direction. Due to the division into multiple segments, the arm itself can also be twisted.

[0027] According to a preferred embodiment, the fluid machine is examined and / or processed simultaneously using several soft robots, meaning that several robots are active in the flow channel simultaneously. These robots can preferably communicate with each other, for example, to support each other in the detection and / or processing of components.

[0028] The application also relates to the use of a soft robot with at least two soft arms in a method disclosed herein, i.e., in the examination and / or processing of components in the flow channel of a turbomachine, in particular an aircraft engine. The latter is therefore preferably mounted on the aircraft.

[0029] Short description of the drawings

[0030] In the following, the invention is explained in more detail using exemplary embodiments, whereby the individual features may also be relevant in other combinations.

[0031] In detail,

[0032] Figure 1 shows a turbomachine, namely an aircraft engine, in a schematic longitudinal section;

[0033] Figure 2 shows a soft robot with payload arm and holding arms in a schematic representation;

[0034] Figure 3a shows a section of a soft arm to illustrate a first possible implementation;

[0035] Figure 3b shows a section of a soft arm to illustrate a second possible implementation;

[0036] Figure 4 shows some process steps in a flow chart.

[0037] Preferred embodiment of the invention

[0038] Fig. 1 shows a turbomachine 1 in a section along the longitudinal axis 2, in the present example an aircraft engine 3 constructed as a turbofan engine. The turbomachine 1 is functionally divided into a compressor 1a, a combustion chamber 1b, and a turbine 1c. Air drawn into the compressor 1a is compressed. Fuel is added in the combustion chamber 1b, and this mixture is combusted. The resulting hot gas is expanded in the turbine 1c.

[0039] The present subject matter is directed to the detection and / or processing of components 6 arranged in the flow channel 5 of the turbomachine 1. In the present case, the flow channel 5 in the compressor 1a is referenced as an example, but components in the flow channel of the turbine 1c can also be examined / processed. By way of example, some blade rings or blades are referenced as components 6, so according to the method, for example, guide vanes and rotor blades can be examined or processed. However, the subject matter is not limited to this; for example, flow channel plates, shrouds, seals, etc. that delimit the annular space can also be examined or processed. For this purpose, a soft robot is introduced into the flow channel 5 (see below in detail), in the case of the compressor 1a, for example, from the axial front, and in the case of the turbine 1c, from the axial rear.

[0040] Fig. 2 illustrates such a soft robot 20. It has at least one soft support arm 21, in the present example a first soft support arm 21.1 and a second soft support arm 21.2. Furthermore, the soft robot 20 has at least one soft payload arm 22, on which, in the present example, a sensor 23 in the form of a camera 24 is arranged. Furthermore, the payload arm 22 in this example is equipped with an effector 25 in the form of a light source 26. This allows an area to be examined in the flow channel 5 to be illuminated, and images can be taken of it.

[0041] The support arms 21.1, 21.2 and the payload arm 22 are arranged on a central body 30, which houses a power supply unit 31 and a control unit 32. The support arms 21.1, 21.2 and the payload arm 22 are each bendable or rotatable, so that the soft robot 20 can, for example, grasp blades or support itself on channel plates, etc., to move within the flow channel 5. The soft arms 21.1, 21.2, 22 are thus used for climbing and holding in the flow channel 5, with the payload arm 22 being temporarily released to take photographs.

[0042] An outer surface 20.1 of the soft robot 20 is comparatively soft, having a Shore hardness (A) of only around 40 Shore (see the introduction to the description regarding possible intervals). This prevents damage to the components 6 arranged there when the soft robot 20 moves in the flow channel 5. Fig. 3a shows a section of a soft arm 20, 21 and illustrates its inherent rotatability. For this purpose, the soft arm 20, 21 is subdivided into segments 40.1-40.3 with respect to its longitudinal extent, with each segment 40.1-40.3 containing three parallel fluid chambers 41. These are referenced here only for the first segment 40.1; moreover, one fluid chamber is located behind the plane of the drawing. By applying different pressure to the fluid chambers, a respective curvature can be set in the respective segment 40.1-40.3, due to the three fluid chambers 41 each freely in space.This allows the soft arm 20, 21 to be moved in a similar way to an octopus arm and used for climbing and holding.

[0043] Fig. 3b shows a section of an alternatively constructed soft arm 20, 21. This arm has an endoskeleton 45 arranged in a soft sheath 46. The endoskeleton 45 comprises rigid struts 45.1, which are connected to one another via electromechanically actuated joints 45.2.

[0044] Fig. 4 summarizes some of the process steps in a flowchart. First, the soft robot is introduced into the flow channel 50. It can then move independently to a location to be examined by climbing and holding itself with its soft arms 51. The soft arms are also used for support 52, whereby the payload arm can be temporarily released 53 to detect a component with the sensors 54 and / or process it with the effector 55.

[0045] LIST OF REFERENCE SYMBOLS

[0046] Turbomachine 1

[0047] Compressor la

[0048] Combustion chamber 1b

[0049] Turbine 1c

[0050] Longitudinal axis 2

[0051] Aircraft engine 3

[0052] Flow channel 5

[0053] Components 6 soft robot 20 outer surface 20.1 soft holding arms 21, 21.1,

[0054] 21.2 soft payload arm 22

[0055] Sensor technology 23

[0056] Camera 24

[0057] Effector 25

[0058] Light source 26

[0059] Central body 30

[0060] Power supply unit 31

[0061] Control unit 32

[0062] Segments 40.1-40.3

[0063] Fluid chamber 41

[0064] Endoskeleton 45 soft shell 46 rigid struts 45.1 electromechanically actuated joints 45.2

[0065] Insert 50

[0066] Move 51

[0067] From support 52

[0068] Solve 53 Capture 54

[0069] Edit 55

Claims

CLAIMS 1. Method for detecting and / or processing a turbomachine (1), in particular an aircraft engine (3), in which method a soft robot (20) is introduced into a flow channel (5) of the turbomachine (1), wherein the soft robot (20) has at least one soft holding arm (21) and at least one soft payload arm (22), and wherein the at least one soft payload arm (22) is equipped with a sensor system (23) for detecting (54) and / or an effector (25) for processing (55) a component (6) in the flow channel (5), and wherein the soft robot (20) moves (51) and / or is supported (52) in the flow channel (5) with the aid of the at least one soft holding arm (21).

2. Method according to claim 1, wherein the soft robot (20) has at least two soft holding arms (21) with which it moves (51) and / or supports (52) in the flow channel (5).

3. Method according to claim 1 or 2, wherein, when the soft robot (20) moves (51) in the flow channel (5), at least temporarily the at least one soft payload arm (22) is also used to move (51) and / or support (52) the soft robot (20).

4. Method according to claim 3, wherein the at least one soft payload arm (22) is temporarily released (53) for detecting (54) the component (6) with the sensor system (23) and / or processing (55) the component (6) with the effector (25).

5. Method according to one of the preceding claims, in which the soft robot (20), when it moves (51) in the flow channel (5), with at least three soft arms (21.1, 21.2, 22) alternately supports (52) and pulls and / or pushes forward.

6. Method according to one of the preceding claims, in which the soft robot (20) moves axially forward at least temporarily in a radially outer region of the flow channel (5) and at least temporarily moves the at least one soft payload arm (22) for detecting (54) the component (6) with the sensor system (23) and / or processing (55) the component (6) with the effector (25) into a radially inner region of the flow channel (5).

7. Method according to one of the preceding claims, wherein the soft robot (20) has a central body (30) on which the at least one soft holding arm (21) and the at least one soft payload arm (22) are arranged.

8. The method according to claim 7, wherein the soft robot (20) has a total of at least three soft arms (21.1, 21.2, 22), each arranged on the central body (30).

9. Method according to claim 7 or 8, wherein a power supply and / or control unit (31, 32) of the soft robot (20) is accommodated in the central body (30).

10. Method according to one of the preceding claims, wherein an outer surface (20.1) of the soft robot (20) has a Shore hardness (A) of at most 70 Shore.

11. Method according to one of the preceding claims, wherein at least one soft arm (21, 22) of the soft robot (20) has an electromechanically actuated endoskeleton (45).

12. Method according to one of the preceding claims, in which at least one soft arm (21, 22) of the soft robot (20) is pneumatically actuated.

13. Method according to one of the preceding claims, in which the turbomachine (1), in particular the aircraft engine (3), is simultaneously grasped and / or processed with another soft robot, wherein the soft robots communicate with one another.

14. Use of a soft robot (20), wherein the soft robot (20) has at least one soft holding arm (21) and at least one soft payload arm (22), and wherein the at least one soft payload arm (22) is equipped with a sensor system (23) for grasping (54) and / or an effector (25) for processing (55) a component (6), in a method according to one of the preceding claims.

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