Snake-Arm Tool Placement in Engines With Decoupled Servicing
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Solution Overview
Problem
Existing robotic servicing devices, such as rigid and flexible guide tubes, struggle with precision positioning and reusability when navigating complex paths within engines, limiting their ability to perform a range of tasks efficiently.
Innovation Solution
A snake-arm robot is mechanically coupled with a servicing device, allowing it to navigate complex paths and precisely position tools like borescopes or flexible guide tubes within engines, enabling the snake-arm robot to be decoupled once the desired location is reached, leaving the device in place for further operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If rigid guide tubes are used for positioning, then positioning precision is improved, but adaptability to complex paths deteriorates
Solution Approach 1:
The system transitions from static rigid guide tubes to a dynamic snake-arm robot that can actively adapt its configuration. The robot's segments can bend and flex to navigate complex engine passages while maintaining positioning precision through active control of each segment's degree of freedom.
Solution Approach 2:
The snake-arm robot employs flexible segmented structure that can bend and conform to complex paths within engine components. This flexibility allows the robot to access confined and irregularly shaped areas that rigid guide tubes cannot reach.
2Adaptability or versatility
If flexible guide tubes are used for navigation, then adaptability to complex paths is improved, but positioning precision deteriorates
Solution Approach 1:
The snake-arm robot combines flexibility with active dynamic control. Each segment can be independently actuated to achieve precise positioning at the distal end while navigating complex paths, overcoming the passive flexibility limitation of traditional guide tubes.
Solution Approach 2:
The robot is divided into multiple controllable segments with degrees of freedom at each joint. This segmentation allows independent control of each section, enabling the system to navigate complex paths while maintaining precise positioning capability at the endpoint.
3Adaptability or versatility
If snake-arm robot is used for navigation, then adaptability to complex paths and positioning precision are improved, but device complexity increases
Solution Approach 1:
The snake-arm robot serves multiple functions: it acts as both the navigation mechanism and the positioning system, eliminating the need for separate rigid guide tubes. The same robotic structure performs path navigation, positioning, and can carry various servicing tools, reducing overall system complexity.
Solution Approach 2:
The snake-arm robot can be inserted into and removed from the engine repeatedly, and the servicing device remains nested within the robot during insertion. This nesting approach allows the complex robot to be stored and deployed efficiently without requiring separate complex deployment mechanisms.
4Productivity
If servicing device is left in place for reuse, then productivity is improved, but device complexity increases
Solution Approach 1:
The system is segmented into the snake-arm robot and the servicing device, allowing independent removal of the robot while leaving the servicing device in place. This segmentation enables the servicing device to remain installed for repeated use across multiple engines or inspection cycles.
Solution Approach 2:
The snake-arm robot is extracted from the engine after positioning, leaving the servicing device behind. This extraction approach allows the complex robotic navigation system to be removed for reuse while the simpler servicing device remains installed for continued productivity.
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A snake-arm robot (102) and a servicing device (104) are mechanically coupled. The mechanical coupling is accomplished by a longitudinal insertion of the snake-arm robot (102) into the servicing device (104) or the servicing device (104) into the snake-arm robot (102). An actuator (106) moves the snake-arm robot (102) through a passage (113) within an engine (110) until the snake-arm robot (102) reaches a desired location. The movement of the snake-arm robot (102) concurrently moves the servicing device (104) through the passage (113). Subsequent to reaching the desired location and position, the snake-arm robot (102) is de-coupled from the servicing device (104) and the snake-arm robot (102) is removed from the engine (110) while leaving the servicing device (104) in place within the engine (110).