POSITIONING DEVICE

Abstract

A positioning device for positioning and using a tool within a cavity having a cavity wall. The device comprises a flexible deployment device/arm carrying the tool. The deployment device/arm further comprises a soft robotics fixturing element adjustable between a contracted deployment configuration during positioning of the tool to an expanded bracing configuration for abutment with the cavity wall during use of the tool.

Claims

1. A positioning device for positioning and using a tool within a cavity having a cavity wall, the device comprising a flexible deployment device carrying the tool wherein the deployment device further comprises a soft robotics fixturing element adjustable between a contracted deployment configuration during positioning of the tool and an expanded bracing configuration for abutment with the cavity wall during use of the tool.

2. The device according to claim 1, wherein the deployment device comprises a segmented/articulated deployment arm or an articulated guide tube and insertion element.

3. The device according to claim 2, wherein the deployment arm is a soft robotic arm comprising a plurality of deployment actuators.

4. The device according to claim 1, wherein the fixturing element comprises one of more fixturing actuators.

5. The device according to claim 3, wherein at least one or each deployment actuator and/or fixturing actuator comprises an inflatable bladder.

6. The device according to claim 3, wherein at least one or each deployment actuator and/or fixturing actuator comprises a dielectric elastomeric actuator.

7. The device according to claim 3, wherein at least one or each deployment actuator and/or fixturing actuator comprises a shape memory alloy.

8. The device according to claim 4, wherein the fixturing element comprises a plurality of fixturing actuators circumferentially-arranged around the deployment device.

9. The device according to claim 1, wherein the tool comprises a spray cleaning tool, a media blasting tool, a vision system or a turning tool.

10. A method of positioning and using a tool within a cavity having a cavity wall, using a positioning device according to claim 1, the method comprising positioning the tool within the cavity with the fixturing element in the contracted deployment configuration and expanding the fixturing element to its bracing configuration such that it abuts the cavity wall.

11. The method according to claim 10, wherein the or each fixturing actuator comprises an inflatable bladder, the method comprising inflating the fixturing actuator bladder(s) into the expanded configuration after positioning of the tool.

12. The method according to claim 10, wherein the cavity is an annular cavity, the method comprising bracing the fixturing element against the radially outer cavity wall in its expanded configuration.

13. The method according to claim 12, wherein the fixturing element is an annular fixturing element, the method comprising bracing the fixturing element against the radially inner cavity wall in its expanded configuration.

14. The method according to claim 10, wherein the cavity is within a gas turbine engine.

15. The method according to claim 14, further comprising cleaning a surface within a gas turbine using a surface cleaning tool when the tool is braced against the cavity wall by the fixturing element.

16. The method according to claim 14, further comprising turning an engine shaft in a front section of the gas turbine engine using a turning tool when the tool is braced against the cavity wall by the fixturing element.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Embodiments will now be described by way of example only with reference to the accompanying drawings in which:

[0049] FIGS. 1A and 1B show an embodiment of the positioning device being deployed in a cavity; and

[0050] FIGS. 2A and 2B show a further embodiment of the positioning device being deployed in a cavity.

DETAILED DESCRIPTION OF THE DISCLOSURE

[0051] Aspects and embodiments of the present disclosure will now be discussed with reference to the corresponding drawings. Other aspects and embodiments will be apparent to those skilled in the art.

[0052] FIG. 1A shows an embodiment of the device 1 being deployed in the cavity 2 of a gas turbine engine 3. In this case, the device 1 is being used for positioning and using a tool 4 within the cavity 2 for the purpose of repairing a combustor tile with a delaminated coating 5.

[0053] The device 1 comprises a flexible robotic deployment arm 6 (having multiple degrees of freedom) carrying the tool 4. The device further comprises a soft robotic fixturing element 7 disposed at an end of the deployment arm 6 that is adjustable between a contracted (deployment) configuration and an expanded (bracing) configuration. In FIG. 1A the fixturing element 7 is in the contracted deployment configuration. In this configuration, the fixturing element 7 is able to pass through a bore 8 formed in a wall 9 defining the cavity 2 and can be manoeuvred within the cavity 2 so as to position the tool 4 in proximity to the delaminated coating 5 requiring repair.

[0054] Although not apparent from the figures, the deployment arm 6 is a soft robotic arm formed of a plurality of actuators arranged axially along a longitudinal axis of the compliant arm 6. Each of the flexible actuators comprises an inflatable pneumatic bladder, which can be fully or partially filled with air, independently of the other bladders, so as to be adjustable between inflated and deflated configurations. In this respect, each bladder may include one or more valves that selectively allow air to pass into or out of the bladder.

[0055] In the present embodiment, the bladders of the deployment arm 6 are in fluid communication with a fluid supply system (not shown) comprising a pump that supplies air to the bladders to inflate/deflate the bladders. In this way, the deployment arm 6 may be manoeuvred by partial or full inflation and deflation of the various bladders forming the deployment arm 6. Thus, the bends in the deployment arm 6, as shown in the figures, are formed by arrangements of fully inflated, partially inflated and deflated bladders.

[0056] FIG. 1B shows the soft robotics fixturing element 7 in an expanded configuration. In this configuration a portion of the fixturing element 7 abuts the wall 9 defining the cavity 2. As will be described in more detail below, this abutment of the fixturing element 7 against the wall 9 helps to retain the tool 4 in a substantially fixed position in the cavity 2 during use of the tool 4.

[0057] The fixturing element 7 comprises a pneumatic inflatable bladder 10 (similar to those described above with respect to the deployment arm 6). In the expanded configuration (as shown in FIG. 1B), the fixturing element bladder 10 of the fixturing element 7 is filled with fluid (in this case, air). Conversely, in the deflated configuration (as shown in FIG. 1A), the bladder 10 is drained of air.

[0058] The pump (which supplies air to the bladders of the deployment arm 6) is also in fluid communication with the fixturing element bladder 10 of the fixturing element 7. In this way, air supplied by the pump can be used to inflate the fixturing element bladder 10. The air is supplied by a fluid feed line 11, which also forms part of the fluid supply system. Although not shown, the fixturing element 7 comprises a valve to control the flow of air into and out of the fixturing element bladder 10.

[0059] In the illustrated embodiment the tool 4 is a surface cleaning tool in the form of a media blasting tool. The media blasting tool 4 can be used to remove the delaminated coating 5 on the combustor tile and re-profile the surrounding area prior to a new coating being applied (using a separate tool). The tool 4 comprises a spray nozzle 12 that, when active, generates a force on the tool 4 that is in the opposite direction to the direction of the spray 13.

[0060] The fixturing element 7 is arranged so as to be located at an opposite side of the tool 4 to the spray nozzle 12. Hence, the deployment arm 6 can be manoeuvred such that the spray nozzle 12 of the tool 4 is directed at the delaminated coating 5, whilst the fixturing element 7 is located between the tool 4 and the wall 9 of the cavity 2. When arranged in this way, the fixturing element bladder 10 of the fixturing element 7 can be expanded so as to fill the space between the tool 4 and the internal wall of the cavity 2, such that a portion of the fixturing element 7 abuts the wall 9. Thus, when the spray nozzle 12 is activated (thus generating a reactionary force), the fixturing element 7 absorbs the reactionary force and prevents movement of the tool 4 relative to the delaminated coating 5. In this way, the spray 13 can be applied in an accurate manner (i.e. without any, or only minimal, movement of the tool 4) to the delaminated coating 5.

[0061] The spray nozzle 12 may also be reoriented by movement of the deployment arm 6 and/or inflation/deflation of the fixturing element bladder 10 of the fixturing element 7. That is, the direction of the spray 13 may be controlled by movement of arm 6 and/or fixturing element 7.

[0062] Once the spraying operation is complete, the device 1 may be removed from the cavity 2 by returning the fixturing element bladder 10 of the fixturing element 7 to the contracted configuration and manoeuvring the deployment arm 6 back through the bore 8.

[0063] FIG. 2A shows an alternative embodiment with the fixturing element 7 in an expanded configuration. It is the same as that in FIGS. 1A and 1B except that the deployment device comprises an articulating guide tube 14 and a flexible insertion element 15. The tool 4 is affixed at the end of the insertion element 15.

[0064] The fixturing element 7 is an annular fixturing element mounted on the guide tube 14 and comprising a plurality of fixturing element bladders 10a-d. FIG. 2B shows a cross section view through the guide tube 14 with the fixturing element bladders 10a-d arranged circumferentially around the guide tube 14.

[0065] The bladders 10a-10d will abut against both the radially inner and outer walls of the cavity 2 thus bracing the guide tube 14 and also the tool 4 on the insertion element 15 within the guide tube 14.

[0066] It will be understood that the invention is not limited to the embodiments above-described and various modifications and improvements can be made without departing from the concepts described herein. Except where mutually exclusive, any of the features may be employed separately or in combination with any other features and the disclosure extends to and includes all combinations and sub-combinations of one or more features described herein.