Method and apparatus for servicing engines
A snake-arm robot and a servicing device are mechanically coupled. The mechanical coupling is accomplished by a longitudinal insertion of the snake-arm robot into the servicing device or the servicing device into the snake-arm robot. An actuator moves the snake-arm robot through a passage within an engine until the snake-arm robot reaches a desired location. The movement of the snake-arm robot concurrently moves the servicing device through the passage. Subsequently, the snake-arm robot is de-coupled from the servicing device and the snake-arm robot is removed from the engine while leaving the servicing device in place within the engine.
1 . A system, the system comprising:
a snake-arm robot, the snake-arm robot having a distal end and a proximal end, the proximal end being coupled to an actuator;
a servicing device, the servicing device being mechanically coupled to the snake-arm robot via a mechanical coupling, the mechanical coupling being accomplished by a longitudinal insertion of the snake-arm robot into the servicing device; and
a controller configured to execute electronic instructions to:
operate the actuator to produce a movement of the snake-arm robot through a passage of an engine until the distal end of the snake-arm robot reaches a desired location, the movement of the snake-arm robot being effective to concurrently move the servicing device through the passage to a desired position at the desired location;
operate the actuator to decouple the snake-arm robot from the servicing device; and
operate the actuator to remove the snake-arm robot from the engine while leaving the servicing device in place within the engine.
2 . The system of claim 1 , wherein the servicing device comprises a rigidizable guide tube (RGT) that assumes a single predetermined shape, a RGT that assumes any of a plurality of arbitrary shapes, a borescope, or a flexible guide tube.
3 . The system of claim 1 , further comprising an engine servicing apparatus that is configured to be released at the desired location.
4 . The system of claim 3 , wherein the engine servicing apparatus is configured to be attached to a blade of the engine so as to be transported within the engine upon rotation of an engine rotor, the engine servicing apparatus including components that provide inspection operations, servicing operations, or maintenance operations in the engine.
5 . The system of claim 3 , wherein the engine servicing apparatus is configured to provide a drilling operation, a sawing operation, an ablation operation, a sanding operation, a sensing operation, or a grinding operation.
6 . The system of claim 1 , further comprising sensors and wherein the distal end of the snake-arm robot is configured to be adjusted based upon feedback received from the sensors.
7 . The system of claim 1 , wherein the snake-arm robot and the servicing device are configured to be inserted through an inspection port in the engine.
8 . The system of claim 1 , further comprising a controller that is configured to automatically guide the snake-arm robot and the servicing device to the desired location.
9 . The system of claim 1 , wherein the actuator comprises a motor.
10 . The system of claim 1 , wherein the snake-arm robot is configured to be operated to provide a wave-like motion.
11 . The system of claim 1 , further comprising a user interface that is configured to control movement of the snake-arm robot.
12 . The system of claim 11 , wherein the user interface comprises a joy stick.
13 . The system of claim 1 , wherein the engine is a gas turbine engine.
14 . The system of claim 1 , wherein the actuator is configured to receive a command, the command including the desired location.
15 . The system of claim 11 , wherein the user interface is configured to accept commands from an operator.
16 . The system of claim 12 , wherein the joy stick is configured to be utilized by a user to steer the snake-arm robot during an exploratory operation.