Reciprocating Insertion Tool for End Effector Alignment

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Solution Overview

Problem

Existing insertion tools face challenges in maintaining precise control over end effectors due to tangential friction forces, leading to significant motion and difficulty in servicing complex engine components like turbines, especially during grinding operations.

Innovation Solution

The use of a reciprocating motion insertion tool with a flexible section that can be rigidized and driven by an end effector actuator, which oscillates at a select reciprocation rate to minimize tangential friction, utilizing a motion conversion mechanism and vibration control to stabilize the tool.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional insertion tools are used with continuous rotation, then the end effector can maintain contact with the workpiece, but tangential friction forces cause significant motion and misalignment of the end effector

Engineering Contradiction:

Improveend effector alignmentVSAvoidtangential friction forces

Core Design Contradiction:

ReliabilityVSObject-generated harmful factors

Solution Approach 1:

The patent applies periodic reciprocating motion to the end effector instead of continuous rotation. The end effector oscillates back and forth along the workpiece surface, periodically breaking contact and re-establishing contact. This periodic action reduces cumulative tangential friction forces that cause misalignment in continuously rotating tools, while maintaining effective grinding through repeated contact cycles.

Inventive Principle:

Principle #19Periodic action

Solution Approach 2:

The patent utilizes mechanical vibration by oscillating the end effector at high frequency during reciprocating motion. This vibration reduces the effective contact time and minimizes the buildup of tangential friction forces, allowing the end effector to maintain precise alignment with the workpiece while effectively performing grinding operations.

Inventive Principle:

Principle #18Mechanical vibration

2Adaptability or versatility

If the insertion tool is made flexible to reach confined spaces, then access to difficult areas is improved, but tool vibration increases during operation

Engineering Contradiction:

Improveaccess to confined spacesVSAvoidtool vibration

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The reciprocating motion creates periodic engagement and disengagement of the end effector with the workpiece. This periodic action allows the flexible section to flex during retraction phases while maintaining stability during contact phases, reducing cumulative vibration effects compared to continuous rotation of a flexible tool.

Inventive Principle:

Principle #19Periodic action

Solution Approach 2:

The patent changes the operational parameters by using reciprocating motion with controlled oscillation amplitude and frequency. This parameter change allows the flexible section to accommodate bending and flexing while maintaining sufficient rigidity during the contact phase to minimize vibration, effectively balancing adaptability and stability.

Inventive Principle:

Principle #35Parameter changes

3Manufacturing precision

If the reciprocation rate is increased to reduce misalignment, then end effector precision improves, but excessive vibration is generated

Engineering Contradiction:

Improveend effector precisionVSAvoidtool vibration

Core Design Contradiction:

Manufacturing precisionVSStability of the object's composition

Solution Approach 1:

The patent employs periodic reciprocating motion where the end effector oscillates at controlled rates. By optimizing the reciprocation rate and duty cycle (ratio of contact time to total cycle time), the system achieves precise alignment through repeated controlled contact while allowing vibration dissipation during the retraction phase, preventing excessive vibration buildup.

Inventive Principle:

Principle #19Periodic action

Solution Approach 2:

The system dynamically adjusts the reciprocation parameters including oscillation amplitude, frequency, and duty cycle based on operational conditions. This dynamic control allows the end effector to maintain precision at higher reciprocation rates while managing vibration levels through real-time parameter optimization, adapting to different workpiece materials and geometries.

Inventive Principle:

Principle #15Dynamics

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This approach reduces end effector misalignment and excessive vibration, enhancing the precision and effectiveness of servicing operations in confined engine spaces.

Implementation Method 1

utilizing a motion conversion mechanism

Methodology Applied

Scientific EffectMotion conversion:

Implementation Method 2

vibration control to stabilize the tool

Methodology Applied

Scientific EffectVibration control: Damping

Data Source

PatentUS20250326134A1Reciprocating motion insertion tool

Publication Date: 2025.10.23 GENERAL ELECTRIC CO

AI summary

A reciprocating motion insertion tool include a flexible section, an end effector actuator, a connector within the flexible section and coupled to the end effector actuator, and an end effector coupled to a distal end of the flexible section, wherein the end effector is configured to move in a reciprocating motion at a select reciprocation rate when driven by the end effector actuator.