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WO2019210997A1 - Outil de réparation au boroscope in situ - Google Patents

Outil de réparation au boroscope in situ Download PDF

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Publication number
WO2019210997A1
WO2019210997A1 PCT/EP2019/000135 EP2019000135W WO2019210997A1 WO 2019210997 A1 WO2019210997 A1 WO 2019210997A1 EP 2019000135 W EP2019000135 W EP 2019000135W WO 2019210997 A1 WO2019210997 A1 WO 2019210997A1
Authority
WO
WIPO (PCT)
Prior art keywords
airfoil
tool
boroblending
head unit
gripping elements
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/000135
Other languages
English (en)
Inventor
Stephen MATTIA
Jude TOSCANO
Matthew PLAKUNOV
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MTU Aero Engines AG
Original Assignee
MTU Aero Engines AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MTU Aero Engines AG filed Critical MTU Aero Engines AG
Publication of WO2019210997A1 publication Critical patent/WO2019210997A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
    • F01D5/005—Repairing methods or devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2230/00—Manufacture
    • F05D2230/80—Repairing, retrofitting or upgrading methods
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2260/00—Function
    • F05D2260/80—Diagnostics

Definitions

  • the present invention relates to an in-situ boroblending tool for the blending of an airfoil that is a part of a turbomachine and in particular, a gas turbine engine of an aircraft.
  • Conventional gas turbine engines are enclosed in an engine case and include a compressor, combustor, and a turbine. Air flows axially through the sections of the engine. Air, compressed in the compressor, is mixed with fuel which is burned in the combustor and expanded in the turbine, thereby rotating the turbine and driving the compressor.
  • Most compressors include a fan, a low pressure compressor, and a high pressure compressor disposed about a longitudinal axis of the engine.
  • the low pressure compressor, the high pressure compressor and the turbine comprise alternating stages of rotating airfoils, or blades, and stationary airfoils, or vanes.
  • the detection process involves a visual inspection of each blade through a borescope.
  • the borescope a fiber optic cable connected to a light source, is inserted through borescope openings within the engine case and into the engine.
  • the small borescope openings are disposed throughout the engine case at most stages of the high pressure compressor for such borescope inspections.
  • the currently used methods for repairing (boroblending) damaged airfoils are manual, time-consuming operations requiring highly skilled personnel on-site at the location of repair. The process (in terms of inspecting/measuring airfoil damage, and subsequently repairing to serviceable limits) is prone to human error and inconsistency.
  • the present invention provides an in-situ boroblending tool for the computer-assisted (automated) blend repair of an airfoil of a turbomachine.
  • the tool comprises a flexible borescope line which is connected to a robotic head unit that is capable of inspecting and boroblending the airfoil.
  • the head unit comprises (i) a stereoscopic camera suite for monitoring movement and positioning of the head unit toward and on the airfoil, (ii) at least two gripping elements which are configured to be capable of being positioned on opposite main surfaces of the airfoil, of gripping the airfoil and of moving along the airfoil, and (iii) a grinding element for executing the blend repair.
  • the borescope may further be connected to an actuation system, preferably an actuation system controlled by a computer.
  • the actuation system is preferably configured to be located outside the part of the engine that comprises the airfoil to be repaired (blended).
  • the borescope line may be connected to the robotic head unit by a rotating and/or pivoting joint to facilitate the positioning of the head unit for attachment to the target airfoil.
  • the stereoscopic camera suite may comprise one or more (and preferably all of) a radial span distance camera or camera set for focusing perpendicular to the airfoil, a navigation edge distance camera or camera set for focusing in forward direction toward the airfoil, and a repair operation camera or camera set for focusing on a repair area of the airfoil.
  • the robotic head unit may comprise two gripping elements.
  • the robotic head may also comprise more than two gripping elements, for example, four or six gripping elements (two or three sets of two gripping elements).
  • Each of the gripping elements may comprise two or more moveable parts which preferably are connected by flexible joints.
  • some or all of the gripping elements present may comprise three, four, five, six, seven or eight moveable parts which are connected to each other b flexible joints, similar to multi-jointed legs of an insect. This allows the gripping elements to better follow the contour of the airfoil.
  • the appearance of the head unit with the gripping elements may be similar to that of the head of insects with mandibles.
  • At least two gripping elements for positioning on opposite sides of the airfoil may comprise at least one roller wheel on a side thereof which is to contact the airfoil.
  • a gripping element comprises two or more moveable parts, at least one of these parts comprises at least one roller wheel, although it is preferred for each part of a gripping element to comprise at least one roller wheel.
  • the axis of rotation of the at least one roller wheel is substantially perpendicular to the longitudinal extension of the gripping element or the moveable part. In this way, the head unit of the tool can be transversed along a radial span of the airfoil.
  • the grinding element may be capable of being moved to and away from a part of the airfoil that is gripped by the at least two gripping elements.
  • the grinding element may be a grind wheel and preferably, a grind wheel having a convex shape.
  • the grind wheel may, for example, use air turbines to spin (similar to a dental drill).
  • air could be supplied from an external source and could additionally be used as a means of powering either cooling, suction, or other locomotive parts of the design(s).
  • the air power could serve to drive the grind wheel, avoiding the need for a mechanical linkage between the head and some external electric motor (or the need to embed an electric motor in the head itself, with complex gearing).
  • the distance between the grind wheel assembly from the working surface on the airfoil may be adjusted by, for example, an electric motor such as, e.g., a stepper motor driving a screw.
  • the present invention also provides a method of inspecting and blending a damaged airfoil of a turbomachine.
  • the method comprises contacting the airfoil with the head unit (or a part thereof respectively) of the boroblending tool of the present invention as set forth above (including the various aspects and configurations thereof).
  • the airfoil may be that of a rotor blade. In another aspect, it may be the airfoil of a guide vane.
  • the tool of the present invention provides a number of benefits. For example, due to the flexibility of the horoscope line which is connected to the robotic head unit the tool allows the blending of static airfoils outside the range of a borescope port.
  • the tool also provides consistency/accuracy in orientation and measurement of the tool by gripping the airfoil to afford a reproducible orientation and basis of measurement. Further, through automation of the process a consistency/accuracy of the blend repair operation is achieved (pre-programmed profiles allow for real-time damage assessment and prognosis and can be created to tolerances based on limits in maintenance manuals).
  • the tool of the present invention also eliminates the high skill set required for executing the repair and thus, the risk of human error.
  • the tool of the present invention is adaptable to conduct in- situ inspections and repairs of various components of gas turbine engines, as well as other types of machinery.
  • the tool can also be used in non-in-situ scenarios as well where high precision is required.
  • the tool may further be provided together with engine specific kits with adapters tailored to unique components and requirements.
  • FIG. 1 shows of a first embodiment of the boroblending tool of the present invention
  • FIG. 2 shows the boroblending tool of FIG. 1 attached to an airfoil
  • FIG. 3 shows a second embodiment of the boroblending tool of the present invention
  • FIG. 4 shows of a third embodiment of the boroblending tool of the present invention
  • FIG. 5 shows the boroblending tool of FIG. 4 during its operation
  • FIG. 6 is a schematic representation of the positioning of the tool of the present invention during the repair of an airfoil inside an engine.
  • DFT ATT , FT
  • FIG. 1 shows a first embodiment of the boroblending tool of the present invention.
  • the tool (1) comprises a flexible borescope line (2) for moving the robotic head unit into position for the inspection and blending of a target airfoil.
  • the borescope line (2) is connected to the robotic head unit through a rotating and pivoting joint (3) which allows the tool to position itself for the target airfoil.
  • Attached to the joint (3) is a unit comprising the stereoscopic camera suite for monitoring the movement and positioning of the robotic head unit on the target airfoil.
  • the stereoscopic camera suite comprises a radial span distance camera (4) for focusing perpendicular to the target airfoil, a navigation and edge distance camera (5) for focusing in forward direction toward the target airfoil, and a repair operation camera (6) for focusing on a repair area of the air foil.
  • Attached to the unit comprising the stereoscopic camera suite is a concave grind wheel on an adjustable platform (7) which can be moved toward and away from the (edge of the) target airfoil.
  • an elongated gripping element (8, 8’) Arranged next to both sides of the grind wheel (7).
  • Each of the two gripping elements (8, 8’) consists of four moveable parts (9, 9’) of different size which are connected to each other by joints to enable the gripping elements to follow the contour of the target airfoil.
  • the gripping elements (8, 8’) can be moved toward and away from each other, as indicated by the arrows, to grip and release the airfoil as needed.
  • Each of the parts (9, 9’) comprises a roller wheel (10, 10’) on the side of the part which is to contact the airfoil to allow the head unit to transverse along a radial span of the airfoil.
  • the axis of rotation of the roller wheel (10, 10’) is substantially perpendicular to the longitudinal extension of the part (or the gripping element).
  • FIG. 2 shows the tool of FIG. 1 in operation. Both gripping elements (8, 8’) are in contact with the airfoil and the tool can traverse along a radial span along the airfoil, as indicated by the arrows.
  • FIG. 3 shows of a second embodiment of the boroblending tool of the present invention.
  • the robotic head unit comprises two sets of gripping elements (108, 108’, 108”, 108”’) arranged on both sides of the grind wheel (107), with gripping elements of each set being opposite to each other.
  • the two sets of gripping elements can be moved toward and away from each other, as indicated by the horizontal double arrow.
  • the platform of the grind wheel (107) is moveable in horizontal direction between the two sets of gripping elements. They gripping elements (108, 108’, 108”, 108”’) can also be pivoted toward the main axis of the head unit to make it easier for the head unit to pass through small borescope ports.
  • FIG. 4 shows of a third embodiment of the boroblending tool of the present invention with the gripping elements (208, 208’) in closed position (for being inserted through a borescope port).
  • the gripping elements (208, 208’) are wedge-shaped but otherwise the third embodiment is the same as the embodiment of the tool shown in FIGs. 1 and 2.
  • FIG. 5 shows the boroblending tool of FIG. 4 during its operation.
  • FIG. 6 is a schematic representation of the positioning of the tool of the present invention during the repair of an airfoil inside an engine. As can be seen, the tool is attached to one of the airfoils inside the engine and can transverse the airfoil along its radial span to inspect and blend multiple damaged areas of the airfoil.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

La présente invention concerne un outil (1) de réparation au boroscope in situ pour la réparation assistée par ordinateur (automatisée) d'une surface portante d'une turbomachine. L'outil (1) comprend une ligne boroscopique flexible (2) qui est raccordée à un ensemble tête robotisée qui est capable d'inspecter et de réparer au boroscope la surface portante. L'ensemble tête comprend (i) une suite de caméras stéréoscopiques (4) pour surveiller le mouvement et le positionnement de l'ensemble tête vers et sur la surface portante, (ii) au moins deux éléments de préhension (8, 8') qui sont conçus pour pouvoir être positionnés sur des surfaces principales opposées de la surface portante, saisir la surface portante et se déplacer le long de la surface portante, et (iii) un élément de meulage (7) pour exécuter la réparation.
PCT/EP2019/000135 2018-04-30 2019-04-30 Outil de réparation au boroscope in situ Ceased WO2019210997A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862664355P 2018-04-30 2018-04-30
US62/664,355 2018-04-30

Publications (1)

Publication Number Publication Date
WO2019210997A1 true WO2019210997A1 (fr) 2019-11-07

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ID=67107364

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/000135 Ceased WO2019210997A1 (fr) 2018-04-30 2019-04-30 Outil de réparation au boroscope in situ

Country Status (1)

Country Link
WO (1) WO2019210997A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113803123A (zh) * 2020-06-15 2021-12-17 通用电气公司 检查和维修工具
EP4008495A1 (fr) * 2020-12-04 2022-06-08 General Electric Company Outil d'insertion
EP4141220A1 (fr) * 2021-08-27 2023-03-01 Rolls-Royce plc Système de mesure de l'angle variable de compresseur
EP4321305A1 (fr) * 2022-08-12 2024-02-14 Rolls-Royce plc Détection dans des robots continuum
FR3152832A1 (fr) * 2023-09-08 2025-03-14 Safran Aircraft Engines Dispositif de retrait d’un clinquant dans une turbomachine d’aeronef et procede associe
US12447625B2 (en) 2022-06-03 2025-10-21 Oliver Crispin Robotics Limited Systems and methods for aligning and localizing a tool
US12485559B2 (en) 2022-08-12 2025-12-02 Rolls-Royce Plc Sensing in continuum robots

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996012873A1 (fr) * 1994-10-19 1996-05-02 United Technologies Corporation Systeme pour reparer des profils d'aile endommages dans des moteurs a turbines a gaz
WO2002016995A2 (fr) * 2000-08-18 2002-02-28 Oliver Crispin Robotics Limited Systeme ameliore de positionnement robotique d'un outil ou d'un detecteur
EP3203020A1 (fr) * 2016-02-03 2017-08-09 General Electric Company Procédé pour arrêter une fissure dans un composant d'un moteur de turbine à gaz et interface de réparation intégré associé

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996012873A1 (fr) * 1994-10-19 1996-05-02 United Technologies Corporation Systeme pour reparer des profils d'aile endommages dans des moteurs a turbines a gaz
WO2002016995A2 (fr) * 2000-08-18 2002-02-28 Oliver Crispin Robotics Limited Systeme ameliore de positionnement robotique d'un outil ou d'un detecteur
EP3203020A1 (fr) * 2016-02-03 2017-08-09 General Electric Company Procédé pour arrêter une fissure dans un composant d'un moteur de turbine à gaz et interface de réparation intégré associé

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113803123A (zh) * 2020-06-15 2021-12-17 通用电气公司 检查和维修工具
EP3926149A1 (fr) * 2020-06-15 2021-12-22 General Electric Company Outil d'inspection et de réparation
US11679898B2 (en) 2020-06-15 2023-06-20 General Electric Company Inspection and repair tool
US12420953B2 (en) 2020-06-15 2025-09-23 General Electric Company Inspection and repair tool
EP4008495A1 (fr) * 2020-12-04 2022-06-08 General Electric Company Outil d'insertion
US11977217B2 (en) 2020-12-04 2024-05-07 General Electric Company Insertion tool
EP4141220A1 (fr) * 2021-08-27 2023-03-01 Rolls-Royce plc Système de mesure de l'angle variable de compresseur
US11933634B2 (en) 2021-08-27 2024-03-19 Rolls-Royce Plc Compressor variable angle measurement system
US12447625B2 (en) 2022-06-03 2025-10-21 Oliver Crispin Robotics Limited Systems and methods for aligning and localizing a tool
EP4321305A1 (fr) * 2022-08-12 2024-02-14 Rolls-Royce plc Détection dans des robots continuum
US12485559B2 (en) 2022-08-12 2025-12-02 Rolls-Royce Plc Sensing in continuum robots
FR3152832A1 (fr) * 2023-09-08 2025-03-14 Safran Aircraft Engines Dispositif de retrait d’un clinquant dans une turbomachine d’aeronef et procede associe

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