阅读说明：本技术 用于结合旋转机器使用的插入设备 (Insertion device for use with a rotary machine ) 是由 D·特里维迪 G·A·小贝尼特 S·库马 M·K·K·米塔尔 D·M·沙多克 A·C·格拉 于 2020-09-29 设计创作，主要内容包括：本发明涉及用于结合旋转机器使用的插入设备。一种用于结合旋转机器使用的插入设备包括从插入端延伸至操纵端并尺寸设置成配合在环形腔内的本体。本体具有第一刚度,并且在插入端行进穿过环形腔时沿环形腔的圆周弯曲。插入设备还包括加强件,该加强件联接到本体并且从操纵端延伸至插入端。加强件具有大于第一刚度的第二刚度。插入设备还包括至少一个维护装置,该至少一个维护装置联接到插入设备的插入端,以及位移机构,位移机构构造成调整该至少一个维护装置相对于本体的位置。(The present invention relates to an insertion device for use with a rotary machine. An insertion device for use with a rotary machine includes a body extending from an insertion end to a manipulation end and sized to fit within a ring-shaped cavity. The body has a first stiffness and bends along a circumference of the annular cavity as the insertion end travels through the annular cavity. The insertion device also includes a stiffener coupled to the body and extending from the handling end to the insertion end. The stiffener has a second stiffness greater than the first stiffness. The insertion apparatus also includes at least one maintenance device coupled to the insertion end of the insertion apparatus, and a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.)

1. An insertion apparatus for use with a rotary machine defining a circumferentially extending annular cavity, the insertion apparatus comprising:

an insertion end positionable within the annular cavity and configured to travel through the annular cavity;

a manipulation end opposite the insertion end;

a body extending from the insertion end to the manipulation end and sized to fit within the annular cavity, wherein the body has a first stiffness and bends along the circumference as the insertion end travels through the annular cavity;

a stiffener coupled to the body and extending from the manipulation end to the insertion end, wherein the stiffener has a second stiffness greater than the first stiffness and is configured to resist bending of the body;

at least one maintenance device coupled to the insertion end of the insertion apparatus; and

a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.

2. The insertion device as defined in claim 1, wherein the body includes a first surface and a second surface opposite the first surface, the first and second surfaces extending from the manipulation end to the insertion end, the body having a thickness defined between the first and second surfaces, wherein the thickness is less than a width of the first and second surfaces, and wherein the body is configured to bend in a direction perpendicular to the first and second surfaces.

3. The insertion device as defined in claim 2, wherein the thickness of the body is less than approximately 0.02 inches.

4. The insertion device as defined in claim 1, wherein the strength component includes at least one of a cable and a hollow tube.

5. The insertion device as defined in claim 1, wherein the displacement mechanism includes an inflatable bladder and a flexible tube configured to deliver fluid to the inflatable bladder, wherein the inflatable bladder is configured to switch between a deflated position and an at least partially inflated position to adjust the position of the at least one maintenance device relative to the body.

6. The insertion apparatus of claim 1, wherein the at least one maintenance device is pivotably coupled to the insertion end, and wherein the displacement mechanism is configured to pivot the at least one maintenance device about the insertion end.

7. The insertion device as defined in claim 1, wherein the body is configured to transmit power and communication signals for the at least one maintenance device.

8. The insertion device of claim 1, wherein the at least one maintenance device comprises at least one of: optical sensors, mechanical sensors, thermal sensors, magnetic sensors, acoustic sensors, and electromagnetic sensors.

9. A system for use with a rotary machine defining a circumferentially extending annular cavity, the system comprising:

an insertion device comprising a body extending from an insertion end to a manipulation end, wherein the body is sized to fit within the annular cavity and is flexible to conform to the curvature of the annular cavity;

at least one maintenance device coupled to the insertion end of the insertion apparatus;

a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body; and

a conduit positionable in a port of the rotary machine and configured to define a path for the insertion device into the annular cavity, wherein the conduit is curved to form an at least partially helical path around an object and is sized to extend proximate an opening to the annular cavity.

10. The system of claim 9, wherein the catheter comprises a substantially rigid body having a first stiffness and a pliable tip having a second stiffness less than the first stiffness.

Technical Field

The field of the present disclosure relates generally to an insert device, and more particularly to an insert device for use with a rotary machine having an annular cavity.

Background

At least some known rotary machines, such as turbines for aircraft engines and gas and steam powered turbines for industrial applications, include a casing and at least one rotor carrying multiple stages of rotating airfoils, i.e., blades, that rotate relative to the casing. In addition, the casing carries multiple stages of stationary airfoils, i.e., vanes. The blades and vanes are arranged in alternating stages. In at least some known rotary machines, shrouds are provided on the radially inner surface of the stator to form annular seals around the tips of the blades.

At least some rotary machines are periodically inspected to determine whether components of the rotary machine require repair and/or replacement. However, it may be difficult to access and inspect certain components of the rotary machine without disassembling the rotary machine. For example, some components, such as a clamp that attaches the shroud to the shroud hanger, are positioned in an annular cavity that extends circumferentially around the shroud. However, the size, shape and location of the annular cavity prevents at least some known inspection devices from accessing and inspecting the grippers. Furthermore, the annular cavity may be blocked by a member, such as a clamp, that extends at least partially into the annular cavity.

Accordingly, it is desirable to provide an insertion apparatus for use with a rotary machine that is configured to inspect components located along an annular cavity of the rotary machine.

Disclosure of Invention

In one aspect, an insertion device for use with a rotary machine is provided. The rotary machine defines a circumferentially extending annular cavity. The insertion apparatus includes an insertion end positionable within the annular cavity and configured to travel through the annular cavity. The insertion device also includes a manipulation end opposite the insertion end. The insertion device also includes a body extending from the insertion end to the manipulation end and sized to fit within the annular cavity. The body has a first stiffness and bends circumferentially as the insertion end travels through the annular cavity. The insertion device also includes a stiffener coupled to the body and extending from the handling end to the insertion end. The stiffener has a second stiffness greater than the first stiffness. The insertion apparatus also includes at least one maintenance device coupled to the insertion end of the insertion apparatus, and a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.

In another aspect, a system for use with a rotary machine is provided. The rotary machine defines a circumferentially extending annular cavity. The system includes an insertion device including a body extending from an insertion end to a manipulation end. The body is sized to fit within the annular cavity and is circumferentially curved. The system also includes at least one maintenance device coupled to the insertion end of the insertion apparatus, and a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body. The system also includes a conduit positionable in a port of the rotary machine and configured to define a path for an insertion device into the annular cavity. The conduit is curved to form an at least partially helical path around the object and is dimensioned to extend to the vicinity of the opening to the annular cavity.

In another aspect, a method of inspecting a rotating machine is provided. The rotary machine defines a circumferentially extending annular cavity. The method includes positioning a conduit in a port of the rotary machine to define a path for an insertion device into the annular cavity. The conduit is curved to form an at least partially helical shape. The method also includes positioning an insertion device along the path and into the annular cavity. The insertion device includes a body having an insertion end and a manipulation end opposite the insertion end. The body is sized to fit within the annular cavity and is circumferentially curved. The method also includes directing the insertion end of the insertion device through the annular cavity. At least one maintenance device is coupled to the insertion end of the insertion apparatus. The method also includes positioning the at least one maintenance device adjacent a portion of the rotary machine using a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.

An insertion apparatus for use with a rotary machine defining a circumferentially extending annular cavity, the insertion apparatus comprising:

an insertion end positionable within the annular cavity and configured to travel through the annular cavity;

a manipulation end opposite the insertion end;

a body extending from the insertion end to the manipulation end and sized to fit within the annular cavity, wherein the body has a first stiffness and bends along the circumference as the insertion end travels through the annular cavity;

a stiffener coupled to the body and extending from the manipulation end to the insertion end, wherein the stiffener has a second stiffness greater than the first stiffness and is configured to resist bending of the body;

at least one maintenance device coupled to the insertion end of the insertion apparatus; and

a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.

The insertion device of any preceding claim, wherein the body includes a first surface and a second surface opposite the first surface, the first and second surfaces extending from the manipulation end to the insertion end, the body having a thickness defined between the first and second surfaces, wherein the thickness is less than a width of the first and second surfaces, and wherein the body is configured to bend in a direction perpendicular to the first and second surfaces.

Claim 3. the insertion device of any of the preceding claims, wherein the thickness of the body is less than about 0.02 inches.

Solution 4. the insertion device of any of the preceding claims, wherein the strength component comprises at least one of a cable and a hollow tube.

An insertion device as in any preceding claim, wherein the displacement mechanism comprises an inflatable bladder and a flexible tube configured to deliver fluid to the inflatable bladder, wherein the inflatable bladder is configured to switch between a deflated position and an at least partially inflated position to adjust the position of the at least one maintenance device relative to the body.

Solution 6. the insertion device of any preceding solution, wherein the at least one maintenance device is pivotably coupled to the insertion end, and wherein the displacement mechanism is configured to pivot the at least one maintenance device about the insertion end.

An insertion device according to any preceding claim, wherein the body is configured to transmit power and communication signals for the at least one maintenance device.

The insertion device of any preceding claim, wherein the at least one maintenance device comprises at least one of: optical sensors, mechanical sensors, thermal sensors, magnetic sensors, acoustic sensors, and electromagnetic sensors.

Technical solution 9. a system for use with a rotary machine defining a circumferentially extending annular cavity, the system comprising:

an insertion device comprising a body extending from an insertion end to a manipulation end, wherein the body is sized to fit within the annular cavity and is flexible to conform to the curvature of the annular cavity;

at least one maintenance device coupled to the insertion end of the insertion apparatus;

a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body; and

a conduit positionable in a port of the rotary machine and configured to define a path for the insertion device into the annular cavity, wherein the conduit is curved to form an at least partially helical path around an object and is sized to extend proximate an opening to the annular cavity.

Solution 10. the system of any of the preceding claims, wherein the catheter comprises a substantially rigid body having a first stiffness and a pliable tip having a second stiffness less than the first stiffness.

Solution 11 the system of any preceding solution, wherein the catheter defines a lumen sized to receive the insertion device.

Solution 12. the system of any preceding solution, wherein the conduit is coupled to the port and sized and shaped to extend from the port to the annular cavity, the conduit configured to guide the insertion device through the port and into the annular cavity.

Solution 13. the system of any of the preceding claims, wherein the catheter comprises a plurality of positionable segments.

Solution 14. the system of any preceding solution, wherein the body comprises a first surface and a second surface opposite the first surface, the first and second surfaces extending from the manipulation end to the insertion end, the body having a thickness defined between the first and second surfaces, wherein the thickness is less than a width of the first and second surfaces, and wherein the body is configured to bend in a direction perpendicular to the first and second surfaces along a bend of the annular cavity.

Solution 15. the system of any preceding solution, wherein the at least one maintenance device comprises at least one of: optical sensors, mechanical sensors, thermal sensors, magnetic sensors, acoustic sensors, and electromagnetic sensors.

A method of inspecting a rotary machine defining a circumferentially extending annular cavity, the method comprising:

positioning a conduit in a port of the rotary machine to define a path for an insertion device into the annular cavity, wherein the conduit is curved to form an at least partially helical shape;

positioning the insertion device along the path and into the annular cavity, wherein the insertion device comprises a body having an insertion end and a manipulation end opposite the insertion end, and wherein the body is sized to fit within the annular cavity and to bend along the circumference;

directing an insertion end of the insertion apparatus through the annular cavity, wherein at least one maintenance device is coupled to the insertion end of the insertion apparatus; and

positioning the at least one maintenance device proximate a portion of the rotary machine using a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body.

The method of any preceding claim, further comprising detecting a characteristic of an interior of the rotary machine using the at least one maintenance device.

Solution 18. the method of any preceding solution, wherein the catheter comprises a substantially rigid body having a first stiffness and a pliable tip having a second stiffness less than the first stiffness, the method further comprising deforming the pliable tip to guide the insertion device into the annular cavity.

Solution 19. the method of any preceding solution, wherein positioning the at least one maintenance device adjacent a portion of the rotary machine using a displacement mechanism configured to adjust the position of the at least one maintenance device relative to the body comprises pivoting the at least one maintenance device about an insertion end of the insertion apparatus.

Solution 20. the method of any preceding solution, wherein positioning the at least one maintenance device proximate to a portion of the rotary machine using a displacement mechanism configured to adjust a position of the at least one maintenance device relative to the body comprises inflating a bladder coupled to the at least one maintenance device.

Drawings

These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

FIG. 1 is a cross-sectional schematic view of an exemplary rotary machine;

FIG. 2 is a schematic view of a system including an insertion device and a catheter positioned within a main lumen of the rotary machine shown in FIG. 1;

FIG. 3 is a schematic illustration of the insertion apparatus shown in FIG. 2 traveling along the annular cavity of the rotary machine shown in FIG. 1;

FIG. 4 is a side view of a portion of the insertion device shown in FIGS. 2 and 3;

FIG. 5 is a perspective view of the catheter shown in FIG. 2;

FIG. 6 is a perspective view of an alternative embodiment of a displacement mechanism for use with the insertion device shown in FIGS. 2-4; and

FIG. 7 is a flow chart of an exemplary method of inspecting a rotating machine.

Unless otherwise indicated, the drawings provided herein are intended to illustrate features of embodiments of the present disclosure. These features are considered applicable to a variety of systems, including one or more embodiments of the present disclosure. Accordingly, the drawings are not intended to include all of the conventional features known to those of ordinary skill in the art that are required to practice the embodiments disclosed herein.

Detailed Description

In the following specification and claims, reference will be made to a number of terms, which shall be defined to have the following meanings.

The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

"optional" or "optionally" means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as "about", "approximately" and "approximately", are not to be limited to the precise value specified. In at least some cases, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and/or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise.

Embodiments described herein provide a system for use with a rotary machine having an annular cavity. The system includes an insertion apparatus configured to position a maintenance device along an annular cavity of the rotary machine. Additionally, in some embodiments, the system includes a conduit positionable in a port of the rotary machine and configured to guide the insertion apparatus into the annular cavity. For example, the conduit is curved and has a helical shape. During deployment, the insertion device is inserted into and guided along the annular cavity along a path defined by the catheter. The insertion device is sized and shaped to fit within and move along the annular cavity. The maintenance device is coupled to the insertion end of the insertion apparatus and is positionable relative to the rotary machine using the displacement mechanism. As a result, the system allows inspection and/or repair of components at locations within the annular cavity of the rotary machine.

FIG. 1 is a cross-sectional schematic view of an exemplary rotary machine. In the exemplary embodiment, a rotary machine includes a turbine assembly 100. In alternative embodiments, the rotary machine includes any components. For example, in some embodiments, the rotary machine includes, but is not limited to, any of: a compressor, a blower, a pump, a turbine, a motor, and a generator.

In the exemplary embodiment, turbine assembly 100 includes an inlet 102, a compressor 104, a combustor 106, a turbine 108, a casing 110, and an exhaust port 112. Fluid flows from the inlet 102 through the compressor 104, through the combustor 106, through the turbine 108, and out through the exhaust 112. Moreover, in the exemplary embodiment, compressor 104 and turbine 108 include airfoils that are configured to channel fluid through turbine assembly 100. Specifically, the compressor 104 and the turbine 108 include blades 114, 116 and vanes 118, 120. The blades 114, 116, vanes 118, 120, and shroud 122 (shown in FIG. 2) together define a main flow path 124 of the turbine assembly 100. This flow path, in combination with the flow path through combustor 106, defines a main cavity within turbine assembly 100. In an alternative embodiment, turbine assembly 100 is configured in any manner that enables turbine assembly 100 to operate as described herein.

The blades 114, 116 are operably coupled with the rotating shafts 126, 128 such that the blades 114, 116 rotate when the rotating shafts 126, 128 rotate. Accordingly, blades 114, 116 and rotating shafts 126, 128 form a rotor of turbine assembly 100. The vanes 118, 120 and the shroud 122 are stationary components and are coupled to an inner surface 130 of the casing 110. The blades 114, 116 and vanes 118, 120 are generally alternately positioned along the rotor axis within the turbine assembly 100. In an alternative embodiment, compressor 104 and/or turbine 108 include any airfoils that enable operation of turbine assembly 100 as described herein.

Fig. 2 is a schematic view of system 132, which includes insertion device 134 and conduit 136 positioned in a main cavity of turbine assembly 100. FIG. 3 is a schematic view of the insertion device 134 traveling along the annular cavity 138 of the turbine assembly 100. The annular cavity 138 extends along the circumference of the respective shroud 122 of the turbine assembly 100.

In the exemplary embodiment, shroud 122 is at least partially supported by the hangers and extends circumferentially around blades 114, 116 and alongside turbine center frame 140. The clamp 142 couples the shroud 122 to the hanger and secures the shroud 122 in place during operation of the turbine assembly 100. In the exemplary embodiment, clamp 142 is C-shaped and extends at least partially into annular cavity 138. The holders 142 are spaced apart along the circumference of each shroud 122. Therefore, the holder 142 is difficult to access from the outside of the turbine assembly 100 or from the main cavity of the turbine assembly 100. The insertion device 134 is sized and shaped to fit within the annular cavity 138 and facilitate inspection and/or repair at locations within the annular cavity 138 that are difficult to access from outside of the turbine assembly 100 by conventional means, such as using borescope tools. Specifically, in contrast to at least some known insertion devices, the insertion device 134 is configured to extend into the annular cavity 138 to facilitate inspection of the gripper 142.

During operation, the insertion device 134 enters the turbine assembly 100 through any suitable access port or opening of the turbine assembly 100. For example, in some embodiments, the insertion device 134 enters and/or exits the turbine assembly 100 through any of the inlet 102 (shown in fig. 1), the exhaust port 112 (shown in fig. 1), and/or an access port (e.g., an igniter, a borescope, or a fuel nozzle port). In the exemplary embodiment, insertion apparatus 134 is sized and shaped to fit within turbine assembly 100 and travel along annular cavity 138. For example, the height, length, and width of the insertion device 134 are less than the clearance required to fit within the annular cavity 138. In alternative embodiments, insertion device 134 has any size and shape that enables insertion device 134 to operate as described herein.

Moreover, in the exemplary embodiment, conduit 136 extends through a port of turbine assembly 100 and defines a path for insertion of apparatus 134. For example, the catheter 136 defines an interior space sized to receive the insertion device 134 and allow the insertion device 134 to travel through the catheter 136. The conduit 136 may be secured to the turbine assembly 100 by a flange (not shown) coupled to a port of the turbine assembly 100. For example, in some embodiments, a flange extends around the conduit 136 and is sized to fit over a port of the turbine assembly 100. In an alternative embodiment, conduit 136 is coupled to turbine assembly 100 in any manner that enables conduit 136 to operate as described herein.

Further, in the exemplary embodiment, conduit 136 is configured to direct insertion apparatus 134 into an annular cavity 138 of turbine assembly 100. For example, the conduit 136 is curved and defines a curved path for the insertion device 134. Specifically, the conduit 136 is curved in three dimensions and has a helical shape. Thus, the conduit 136 is capable of guiding the insertion device 134 around obstacles in the main cavity of the turbine assembly 100. In addition, the conduit 136 is sized such that the tip 144 of the conduit 136 is positioned near a target area within the turbine assembly 100, e.g., an opening to the annular cavity 138. In alternative embodiments, conduit 136 has any size and shape that enables conduit 136 to operate as described herein.

During operation, the insertion device 134 is used to inspect and/or repair any internal components of the turbine assembly 100. For example, in some embodiments, the insertion device 134 is positioned adjacent a portion of the inner surface 130 of the turbine assembly 100 within the annular cavity 138. The inner surface 130 may comprise a surface of the holder 142. In some embodiments, the insertion device 134 detects a characteristic of the inner surface 130. For example, in some embodiments, the insertion device 134 is used to generate an image of the inner surface 130, and the image is inspected to determine the condition of the turbine assembly 100 and to assess whether a repair is required. In other embodiments, the insertion device 134 includes a sensor that detects a characteristic of the interior surface 130. If repair is required, in some embodiments, an insertion device 134 is used to repair the interior surface 130. After inspection and/or repair of the inner surface 130, the insertion device 134 exits the turbine assembly 100 through any suitable access port or opening of the turbine assembly 100, such as via an access path.

Fig. 4 is a side view of a portion of insertion device 134. Insertion device 134 includes an insertion end 146 and a manipulation end 148 opposite insertion end 146. The insertion end 146 may be positioned within the annular cavity 138 (shown in FIG. 3) of the turbine assembly 100 (shown in FIG. 1) at a target location, such as near the gripper 142 (shown in FIG. 3). In some embodiments, the insertion end 146 is shaped to facilitate movement of the insertion device 134 through the annular cavity 138 (shown in fig. 3) without catching the insertion device 134 on objects. For example, in some embodiments, the insertion end 146 is curved. In other embodiments, the insertion end 146 is angled, e.g., the insertion end 146 has a V-shape.

Moreover, in the exemplary embodiment, insertion apparatus 134 includes at least one maintenance device 150 that is coupled to insertion end 146 of insertion apparatus 134 to allow insertion apparatus 134 to perform inspection and/or repair operations within annular cavity 138 (shown in FIG. 3) of turbine assembly 100 (shown in FIG. 1). In some embodiments, the maintenance device 150 includes at least one sensor 152 configured to contact a surface. For example, in some embodiments, sensor 152 is an eddy current sensor. In an alternative embodiment, insertion device 134 includes any maintenance apparatus 150 that enables insertion device 134 to operate as described herein. For example, in some embodiments, the maintenance device 150 of the insertion device 134 includes, but is not limited to, any of the following: applicators, drill bits, grinders, heaters, welding electrodes, sprayers, optical sensors (e.g., visible, infrared, and/or multispectral sensors), mechanical sensors (e.g., needle profilers, coordinate measurement probes, load sensors, linear variable differential transformers), thermal sensors (e.g., pyrometers, thermocouples, resistive temperature detectors), magnetic sensors, acoustic sensors (e.g., piezoelectric, microphones, ultrasonic), and electromagnetic sensors (e.g., eddy currents, potential drops, x-rays).

Additionally, in the exemplary embodiment, maintenance device 150 may be positioned in a plurality of orientations using displacement mechanism 154. For example, in the exemplary embodiment, maintenance device 150 is pivotably coupled to insertion end 146 of insertion apparatus 134. The displacement mechanism 154 includes a cable 156 extending from the maintenance device 150 to the manipulation end 148. The maintenance device 150 is selectively pivoted by a steering cable 156. For example, the maintenance device 150 may be positioned between a first orientation in which the maintenance device 150 is aligned with the direction of translation 158 of the insertion apparatus 134 and a second orientation in which the insertion apparatus 134 extends at an angle relative to the direction of translation 158. The ability to position the maintenance device 150 in multiple orientations facilitates accurate positioning of the maintenance device 150 relative to a target location. In alternative embodiments, maintenance device 150 may be positioned in any manner that enables insertion apparatus 134 to operate as described herein.

Moreover, in the exemplary embodiment, insertion device 134 includes a body 160 that extends from insertion end 146 to manipulation end 148. The body 160 is sized and shaped to fit within the annular cavity 138 (shown in FIG. 3). For example, the body 160 includes a first surface 162, a second surface 164 opposite the first surface 162, and an edge 166 extending along the first surface 162 and the second surface 164. First and second surfaces 162, 164 extend from handling end 148 to insertion end 146 and define a thickness 168 of body 160 therebetween. Thickness 168 is less than the width of each of first surface 162 and second surface 164. For example, in some embodiments, the thickness 168 of the body 160 is less than about 0.02 inches. Additionally, first surface 162 and second surface 164 are substantially smooth, e.g., without ridges, perforations, folds, or other surface features. Thus, the body 160 is band-shaped. In alternative embodiments, body 160 has any shape that enables insertion device 134 to function as described herein.

Further, in the exemplary embodiment, body 160 is flexible and conforms to the curvature of annular cavity 138. Specifically, the body 160 has a first stiffness and is configured to bend in a direction perpendicular to the first and second surfaces 162, 164 along the bending of the annular cavity 138. Accordingly, the insertion device 134 is able to travel circumferentially along the shroud 122 (shown in fig. 2) within the annular cavity 138. Moreover, the length of the body 160 is greater than the circumference of the shroud 122, such that the insertion device 134 is configured to extend from an exterior of the turbine assembly 100 (shown in FIG. 2) into the annular cavity 138 (shown in FIG. 2) and through the entire annular cavity 138. In the exemplary embodiment, body 160 includes at least one conductor 170, such as a flexible metal wire, encased within an insulator 172. In alternative embodiments, the insertion device 134 includes any body 160 that enables the insertion device 134 to operate as described herein.

Additionally, in the exemplary embodiment, insertion device 134 includes a stiffener 174 that is coupled to body 160 and extends along body 160 from manipulation end 148 to insertion end 146. In some embodiments, the stiffener 174 is coupled to the body 160 or integrally formed with the body 160. The stiffener 174 is configured to resist bending of the body 160 and facilitate translation and manipulation of the insertion device 134 within the annular cavity 138 (shown in fig. 3). In addition, the stiffener 174 prevents the body 160 from folding when the insertion device 134 is moved. The second stiffness of the stiffener 174 is greater than the first stiffness of the body 160. For example, in some embodiments, the stiffener 174 comprises a material that is stiffer per unit volume than the material of the body 160. In other embodiments, the thickness of the stiffener 174 is greater than the thickness 168 of the body 160. In the exemplary embodiment, stiffener 174 includes at least one cable and/or at least one hollow tube that extends from handling end 148 to insertion end 146. The width of the stiffener 174 is less than the width of the body 160 and allows for some flexing of the body 160. In an alternative embodiment, insertion device 134 includes any reinforcement 174 that enables insertion device 134 to operate as described herein. In other embodiments, the stiffener 174 is omitted.

In some embodiments, the body 160 and/or the stiffener 174 are configured to transmit power and communication signals for the maintenance device 150. In other embodiments, the maintenance device 150 uses any wired and/or wireless connection to send and receive signals and/or power. For example, in some embodiments, a component, such as a wire harness or tether, extends from the maintenance device 150 to the exterior of the turbine assembly 100 and provides power to the maintenance device 150, allowing the maintenance device 150 to send and/or receive signals, and/or transfer mechanical, fluid, or thermal energy to the maintenance device 150.

Fig. 5 is a perspective view of the conduit 136. Catheter 136 includes a body 176 and a tip 144. Together, the body 176 and the tip 144 define an inner cavity 178 sized to receive the insertion device 134 (shown in fig. 4). The conduit 136 is configured to direct the insertion device 134 (shown in FIG. 2) toward the annular cavity 138 (shown in FIG. 2). The body 176 is substantially rigid relative to the insertion device 134 (shown in fig. 2) such that the body 176 does not deform as the insertion device 134 is advanced through the catheter 136. In addition, the body 176 is curved in three dimensions and forms a spiral shape. When positioned in a port of turbine assembly 100 (shown in fig. 2), conduit 136 defines a path for insertion device 134 to surround components of turbine assembly 100, such as blades 114 (shown in fig. 2), and enter annular cavity 138 (shown in fig. 2). In an alternative embodiment, conduit 136 includes any body 176 that enables conduit 136 to function as described herein. For example, in some embodiments, the body 176 is segmented, and the segments of the body 176 may be positioned relative to one another.

Additionally, in the exemplary embodiment, tip 144 is flexible and has a stiffness that is less than a stiffness of body 176. In addition, the tip (144) is relatively flexible compared to the rest of the catheter 136. Thus, the tip 144 may deform when contacted by the insertion device 134. When the catheter tube 136 is positioned adjacent the annular cavity 138, the tip 144 facilitates guiding the insertion device 134 into the opening of the annular cavity 138. In alternative embodiments, catheter 136 includes any tip that enables catheter 136 to function as described herein.

FIG. 6 is a perspective view of an alternative embodiment of a displacement mechanism 200 for use with the insertion device 134 (shown in FIGS. 2-4). The displacement mechanism 200 is configured to adjust an orientation of the maintenance device 150 (shown in fig. 4) relative to the insertion end 146 (shown in fig. 4) of the insertion apparatus 134. For example, the displacement mechanism 200 includes an inflatable bladder 202 and a flexible tube 204 configured to deliver fluid to the inflatable bladder 202. The inflatable bladder 202 is configured to be coupled to the maintenance device 150 (shown in fig. 4). In addition, the inflatable bladder 202 is configured to switch between a deflated position and an at least partially inflated position to adjust the position of the maintenance device 150 relative to the body 160 (shown in fig. 4) of the insertion apparatus 134 (shown in fig. 4).

Further, in the exemplary embodiment, flexible tube 204 extends from insertion end 146 (shown in fig. 4) to manipulation end 148 (shown in fig. 4) and is configured to communicate a fluid (e.g., air, water, and/or any other suitable fluid) to inflatable bladder 202. In some embodiments, the displacement mechanism 200 includes a valve or other adjustment mechanism to allow control of the fluid flow through the flexible tube 204. In some embodiments, flexible tube 204 provides rigidity to body 160 (shown in fig. 4) and serves as stiffener 174 (shown in fig. 4) of insertion device 134 (shown in fig. 4).

FIG. 7 is a flow chart of an exemplary method 300 of inspecting the turbine assembly 100 (shown in FIG. 1). Referring to fig. 1-3 and 7, the method 300 includes positioning 302 the catheter 136 in a port of a rotary machine to define a path for the insertion device 134 to enter the annular cavity 138 defined by the shroud 122. For example, in some embodiments, a flange is fitted onto a port of the turbine assembly 100 and couples the conduit 136 to the turbine assembly 100. Conduit 136 defines a path from the exterior of turbine assembly 100 through the port and into annular cavity 138. The conduit 136 is shaped to bend around obstacles within the turbine assembly 100 and sized such that a tip 144 of the conduit 136 is positioned proximate an opening to the annular cavity 138. In an alternative embodiment, conduit 136 defines any path that enables system 132 to operate as described herein.

Additionally, the method 300 includes positioning 304 the insertion device 134 along the path and into the annular cavity 138. For example, in some embodiments, the insertion device 134 is inserted into the lumen 178 of the catheter 136 and moved through the catheter 136. As the insertion device 134 moves along the path defined by the conduit 136, the conduit 136 guides the insertion device 134 around obstacles within the turbine assembly 100 and into the annular cavity 138. In some embodiments, the method 300 includes deforming the tip 144 to guide the insertion device 134 into the annular cavity 138. For example, in some embodiments, the tip 144 has a stiffness less than that of the body 176 and allows the insertion device 134 to smoothly transition from the catheter 136 and into the annular cavity 138.

Additionally, the method 300 includes guiding 306 the insertion end 146 of the insertion device 134 through the annular cavity 138. For example, in some embodiments, the insertion end 146 of the insertion device 134 is guided through the annular cavity 138 using a steering interface located at the steering end 148. In some embodiments, insertion end 146 is guided by moving body 160 in translation direction 158. As the body 160 moves in the translational direction 158, the insertion end 146 moves along the circumference of the shroud 122 within the annular cavity 138. After insertion end 146 has traveled around substantially the entire circumference of shroud 122 or has passed a desired target location, insertion device 134 may be moved rearward within annular cavity 138 in translational direction 158. In alternative embodiments, insertion device 134 is moved in any manner that enables insertion device 134 to operate as described herein.

Moreover, the method 300 includes positioning 308 the maintenance device 150 coupled to the insertion end 146 of the insertion apparatus 134 near a portion of the rotary machine using the displacement mechanism 154. For example, in some embodiments, the cable 156 of the displacement mechanism 154 is used to pivot the maintenance device 150 about the insertion end 146 of the insertion apparatus 134 such that the maintenance device 150 contacts the inner surface 130 of the gripper 142. In other embodiments, the inflatable bladder 202 (shown in fig. 6) is inflated/deflated to adjust the position of the maintenance device 150.

Further, the method 300 includes detecting 310 a characteristic of an interior of the rotating machine using the maintenance device 150. For example, in some embodiments, the maintenance device 150 includes a sensor 152 having an electrode that contacts the holder 142 within the annular cavity 138 to determine characteristics of the holder 142. The displacement mechanism 154 facilitates proper contact of the maintenance device 150 with the clamp 142 or other component of the turbine assembly 100. Thus, the insertion device 134 can provide accurate and reliable information for the components along the annular cavity 138.

The above-described embodiments provide a system for use with a rotary machine having an annular cavity. The system includes an insertion apparatus configured to position a maintenance device along an annular cavity of the rotary machine. Additionally, in some embodiments, the system includes a conduit positionable in a port of the rotary machine and configured to guide the insertion apparatus into the annular cavity. For example, the conduit is curved and has a helical shape. During deployment, the insertion device is inserted into and guided along the annular cavity along a path defined by the catheter. The insertion device is sized and shaped to fit within and move along the annular cavity. The maintenance device is coupled to the insertion end of the insertion apparatus and is positionable relative to the rotary machine using the displacement mechanism. As a result, the system allows inspection and/or repair of components at locations within the annular cavity of the rotary machine.

Exemplary technical effects of the methods, systems, and apparatus described herein include at least one of: (a) reducing the time to inspect and/or repair rotating devices or other suitable circular mechanisms; (b) increasing accessibility to hard-to-reach locations within the turbine assembly for inspection and/or field repair; (c) the shutdown repair time of the circular mechanism is reduced; (d) improving the accuracy and/or reliability of inspecting and repairing the circular mechanism; (e) reducing unplanned service interruptions for the round mechanism; (f) enhancing data capture for quantifying and/or modeling a service status of at least some components of the circular mechanism; and (g) providing a system and method for inspecting shroud hanger holders within a toroidal cavity.

Exemplary embodiments of methods and systems for use with rotary machines are not limited to the specific embodiments described herein, but rather, components of systems and/or steps of the methods may be utilized independently and separately from other components and/or steps described herein. For example, the methods and systems may also be used in conjunction with other systems that require inspection and/or repair of a component, and are not limited to practice with only the systems and methods as described herein. Rather, the exemplary embodiment can be implemented and utilized in connection with many other applications, devices, and systems that may benefit from inspection and/or repair using service equipment.

Although specific features of various embodiments of the disclosure may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the present disclosure, any feature of a drawing may be referenced and/or claimed in combination with any feature of any other drawing.

This written description uses examples to disclose embodiments, including the best mode, and also to enable any person skilled in the art to practice embodiments, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.