Patent Description:
At least one known gas turbine engine includes, in serial flow arrangement, a compressor for compressing air flowing through the engine, a combustor for mixing fuel with the compressed air such that the mixture may be ignited, a turbine for providing power to the compressor. The compressor, combustor and turbine are sometimes collectively referred to as the core engine.

Through continuous operation one or more the components of the gas turbine engine may become worn or damaged. For example, cracks may form in or beneath a surface of one or more of the components due to, e.g., repeated stress during operation, exposure to temperatures in excess of a designed temperature limit, etc. In order to repair such components, the gas turbine engine is typically removed from the aircraft (e.g., uninstalled from beneath a wing of an aircraft) and disassembled to expose the component. The component may be repaired, and the engine reassembled and reinstalled, such that the engine may be used further. <CIT> relates to a cleaning system and method that utilizes a portable workhead to direct a pulsed laser beam to a surface of a generator, turbine or boiler component. <CIT> relates to a method of supporting a tool in an assembled apparatus. <CIT> relates to a method for in-frame repairing of thermal barrier coating on a gas turbine component. <CIT> relates to a maintenance device including a flexible member with an inspection end sized to be inserted through an inspection port of a workpiece such as a gas turbine engine or a blade of a gas turbine engine. <CIT> relates to a method of drilling one or more holes, substantially in situ, in a turbomachine casing. <CIT> relates to methods for repairing a surface of a component within a gas turbine engine. <CIT> relates to a synchronous robotic operation on a structure having a confined space.

However, such steps of removing the engine from the aircraft and disassembling the engine to expose the component to be repaired may be a relatively time-consuming and expensive process. Accordingly, a system and method for repairing a component of an engine without necessarily requiring the engine be removed from the aircraft and disassembled to expose such component would be beneficial.

Features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims.

The terms "forward" and "aft" refer to relative positions within a component or system, and refer to the normal operational attitude of the component or system. For example, with regard to a robotic arm, forward refers to a position closer to a distal end of the robotic arm and aft refers to a position closer to a root end of the robotic arm.

Referring now to the drawings, wherein identical numerals indicate the same elements throughout the Figs. , <FIG> is a schematic, cross-sectional view of a turbine engine in accordance with an exemplary embodiment of the present disclosure. More particularly, for the embodiment of <FIG>, the turbine engine is a high-bypass turbofan jet engine <NUM>, referred to herein as "turbofan engine <NUM>. " As shown in <FIG>, the turbofan engine <NUM> defines an axial direction A (extending parallel to a longitudinal centerline <NUM> provided for reference) and a radial direction R. In general, the turbofan engine <NUM> includes a fan section <NUM> and a turbomachine <NUM> disposed downstream from the fan section <NUM>.

The exemplary turbomachine <NUM> depicted generally includes an outer casing <NUM> that defines an annular inlet <NUM>. Within the outer casing <NUM> may be considered an interior <NUM> of the turbomachine <NUM>, and more specifically, of the turbofan engine <NUM>. The outer casing <NUM> encases, in serial flow relationship, a compressor section including a booster or low pressure (LP) compressor <NUM> and a high pressure (HP) compressor <NUM>; a combustion section <NUM>; a turbine section including a high pressure (HP) turbine <NUM> and a low pressure (LP) turbine <NUM>; and a jet exhaust nozzle section <NUM>. The compressor section, combustion section <NUM>, turbine section, and exhaust nozzle section <NUM> together define at least in part a core air flowpath <NUM> through the turbomachine <NUM>. A high pressure (HP) shaft or spool <NUM> (or rather a high pressure spool assembly, as described below) drivingly connects the HP turbine <NUM> to the HP compressor <NUM>. A low pressure (LP) shaft or spool <NUM> drivingly connects the LP turbine <NUM> to the LP compressor <NUM>.

For the embodiment depicted, the fan section <NUM> includes a variable pitch fan <NUM> having a plurality of fan blades <NUM> coupled to a disk <NUM> in a spaced apart manner. As depicted, the fan blades <NUM> extend outwardly from disk <NUM> generally along the radial direction R. Each fan blade <NUM> is rotatable relative to the disk <NUM> about a pitch axis P by virtue of the fan blades <NUM> being operatively coupled to a suitable actuation member <NUM> configured to collectively vary the pitch of the fan blades <NUM> in unison. The fan blades <NUM>, disk <NUM>, and actuation member <NUM> are together rotatable about the longitudinal centerline <NUM> by LP shaft <NUM> across a power gear box <NUM>. The power gear box <NUM> includes a plurality of gears for stepping down the rotational speed of the LP shaft <NUM> to a more efficient rotational fan speed.

Referring still to the exemplary embodiment of <FIG>, the disk <NUM> is covered by rotatable front hub <NUM> aerodynamically contoured to promote an airflow through the plurality of fan blades <NUM>. Additionally, the exemplary fan section <NUM> includes an annular fan casing or outer nacelle <NUM> that circumferentially surrounds the fan <NUM> and/or at least a portion of the turbomachine <NUM>. The nacelle <NUM> is supported relative to the turbomachine <NUM> by a plurality of circumferentially-spaced outlet guide vanes <NUM>. Moreover, the nacelle <NUM> extends over an outer portion of the turbomachine <NUM> so as to define a bypass airflow passage <NUM> therebetween.

During operation of the turbofan engine <NUM>, a volume of air <NUM> enters the turbofan <NUM> through an associated inlet <NUM> of the nacelle <NUM> and/or fan section <NUM>. As the volume of air <NUM> passes across the fan blades <NUM>, a first portion of the air <NUM> as indicated by arrows <NUM> is directed or routed into the bypass airflow passage <NUM> and a second portion of the air <NUM> as indicated by arrow <NUM> is directed or routed into the LP compressor <NUM>. The ratio between the first portion of air <NUM> and the second portion of air <NUM> is commonly known as a bypass ratio. The pressure of the second portion of air <NUM> is then increased as it is routed through the high pressure (HP) compressor <NUM> and into the combustion section <NUM>, where it is mixed with fuel and burned to provide combustion gases <NUM>. Subsequently, the combustion gases <NUM> are routed through the HP turbine <NUM> and the LP turbine <NUM>, where a portion of thermal and/or kinetic energy from the combustion gases <NUM> is extracted.

The combustion gases <NUM> are then routed through the jet exhaust nozzle section <NUM> of the turbomachine <NUM> to provide propulsive thrust. Simultaneously, the pressure of the first portion of air <NUM> is substantially increased as the first portion of air <NUM> is routed through the bypass airflow passage <NUM> before it is exhausted from a fan nozzle exhaust section <NUM> of the turbofan <NUM>, also providing propulsive thrust.

Moreover, it will be appreciated, that the exemplary turbofan engine <NUM> defines a plurality of openings. For example, the exemplary turbofan engine <NUM>, and more specifically, turbomachine <NUM>, defines a plurality of borescope openings <NUM> arranged along the axial direction A, the inlet <NUM>, the exhaust nozzle <NUM>, etc. Additionally, although not depicted, the turbofan engine <NUM>, or more specifically, the turbomachine <NUM>, may define one or more igniter openings, fuel air mixer openings, fuel nozzle openings, etc..

It will be appreciated, however, that the exemplary turbofan engine <NUM> depicted in <FIG> is provided by way of example only. In other exemplary embodiments the present disclosure, the turbofan engine <NUM> may have any other suitable configuration, such as any other suitable number of compressors or turbines, or any geared or direct drive system, variable pitch or fixed pitch fan, etc. Further, although depicted as a turbofan engine in <FIG>, in other embodiments, any other suitable turbine engine may be provided. For example, in other embodiments, the turbine engine may be a turbojet engine, a turboprop engine, etc. Further, in still other exemplary embodiments of the present disclosure, the turbine engine may not be an aeronautical gas turbine engine, such as the engine depicted in <FIG>, and instead may be, e.g., a land-based turbine engine used, e.g., for power generation, or a nautical turbine engine. Further, still, in other embodiments, any other suitable type of engine may be provided, such as a rotary engine, such as an internal combustion engine.

Referring now to <FIG>, a schematic view of a robotic arm assembly <NUM> in accordance with an exemplary embodiment of the present disclosure is provided. The exemplary robotic arm assembly <NUM> depicted generally includes a base <NUM>, a robotic arm <NUM>, and a utility member <NUM>. The base <NUM> generally includes an actuator pack <NUM> and a controller <NUM>. The controller <NUM> is operably coupled to the actuator pack <NUM> for controlling operation of the robotic arm assembly <NUM>. Additionally, the controller <NUM> may be operably coupled to the utility member <NUM> and/or one or more sensors (not shown) attached to or embedded in the robotic arm <NUM> and/or utility member <NUM>. Further, the robotic arm <NUM> extends generally between a root end <NUM> and a distal end <NUM>. As will be explained in greater detail below, the robotic arm <NUM> includes an attachment section <NUM> at the root end <NUM>, with the attachment section <NUM>, for the embodiment depicted, attached to the actuator pack <NUM> of the base <NUM>. Additionally, the robotic arm <NUM> includes the utility member <NUM> at the distal end <NUM>. The utility member <NUM> includes laser drill.

Moreover, the robotic arm <NUM> of the exemplary robotic arm assembly <NUM> depicted is generally formed of a plurality of links <NUM> and a plurality of joints <NUM>, with the plurality of links <NUM> sequentially arranged and movably coupled to one another with the plurality of joints <NUM>. At least certain of the plurality of links <NUM> are operable with the actuator pack <NUM>, such that one or more actuators or motors (not shown) of the actuator pack <NUM> may control operation (such as a position and/or orientation) of the robotic arm <NUM>. However, in other embodiments, any other suitable configuration may be provided for manipulating or otherwise controlling the plurality of links <NUM> of the robotic arm <NUM> of the exemplary robotic arm assembly <NUM>.

Further, as is depicted, the base <NUM> includes one or more support structures <NUM> operable with the utility member <NUM> for assisting the utility member <NUM> and performing certain operations.

Briefly, it will be appreciated that the robotic arm <NUM> may define certain parameters to further enable it to reach the relatively remote positions within the interior of the turbomachine <NUM>. More specifically, for the embodiment shown, the robotic arm <NUM> defines a length between the root end <NUM> in the distal end <NUM> of least about <NUM> (thirty-six (<NUM>) inches), such as at least about <NUM> (forty-eight (<NUM>) inches), such as at least about <NUM> (sixty (<NUM>) inches), such as up to about <NUM> (<NUM> inches). Similarly, the robotic arm <NUM> defines a maximum diameter between the root end <NUM> and the distal end <NUM>, which for the embodiment depicted is a maximum diameter of each of the individual segments <NUM> of the robotic arm <NUM>, less than about <NUM> (five (<NUM>) inches). For example, the maximum diameter of the robotic arm <NUM> may be less than about <NUM> (three (<NUM>) inches), such as less than about <NUM> (<NUM> inches), such as less than about <NUM> (one (<NUM>) inch). Such may further allow the robotic arm <NUM> to reach the relatively remote locations within the interior of the turbomachine <NUM>.

Referring now to <FIG>, a close-up, schematic view is provided of a turbine engine assembly <NUM> having a turbine engine <NUM> and a system <NUM> for performing an operation on a component <NUM> of the turbine engine <NUM>. In certain exemplary embodiments, the turbine engine <NUM> may be a turbomachine of a gas turbine engine, such as the exemplary turbomachine <NUM> of the turbofan engine <NUM> described above with reference to <FIG>. Additionally, the component <NUM> of the turbine engine <NUM> may be, e.g., one or more of an airfoil, a liner, or a shroud of the turbine engine <NUM>. As will be appreciated from <FIG>, for the embodiment depicted the component <NUM> is more particularly an airfoil. For example, the component <NUM> may be one or more of a compressor rotor blade, a compressor stator vane, a turbine rotor blade, a turbine stator vane, an inlet guide vane, an outlet guide vane, an inner or outer turbine shroud, an inner or outer compressor shroud, a compressor section liner, a turbine section liner, an inner combustion chamber liner, an outer combustion chamber liner, etc. Accordingly, in at least certain exemplary embodiments, the component <NUM> may be positioned within an interior <NUM> of the turbine engine <NUM> (i.e., within an outer casing <NUM> of the turbine engine <NUM>, similar to the exemplary outer casing <NUM> of the turbomachine <NUM> described above with reference to <FIG>). More specifically, for the exemplary aspect depicted, the component <NUM> is exposed to a core air flowpath <NUM> of the turbine engine <NUM> (similar to the exemplary core air flowpath <NUM> of the exemplary turbomachine <NUM> described above with reference to <FIG>). In such a manner, it will be appreciated that the component <NUM> generally includes a first side <NUM> positioned within the interior <NUM> of the turbine engine <NUM>, and more specifically, exposed to the core air flowpath <NUM> of the turbine engine <NUM>, and an opposite, second side <NUM> (not shown in <FIG>). For the embodiment depicted, the second side <NUM> is also positioned within the interior <NUM> of the turbine engine <NUM>, and more specifically, exposed to the core air flowpath <NUM> of the turbine engine <NUM>.

It will further be appreciated that for at least certain turbine engines <NUM>, such as the one depicted, the component <NUM> may be positioned proximate one or more openings of the turbine engine <NUM>. For example, the exemplary turbine engine <NUM> within which the component <NUM> of <FIG> is positioned includes a first opening 218A and a second opening 218B. The first opening 218A and the second opening 218B extend through, e.g., the casing <NUM> of the turbine engine <NUM> and an outer shroud <NUM> surrounding the component <NUM>. The first opening 218A and/or the second opening 218B may be, e.g., borescope openings (see, e.g., exemplary borescope openings <NUM> of <FIG>). Additionally, in other embodiments, the turbine engine <NUM> may have any other suitable position and/or configuration of openings.

As will also be appreciated, the exemplary system <NUM> depicted in <FIG> includes a first robotic arm <NUM> and a second robotic arm <NUM>, and more specifically, a first robotic arm assembly <NUM> including the first robotic arm <NUM> and a second robotic arm assembly <NUM> including the second robotic arm <NUM>. In at least certain exemplary embodiments, the first robotic arm assembly <NUM> and second robotic arm assembly <NUM> may each be configured in a similar manner as the exemplary robotic arm assembly <NUM> described above with reference to <FIG>. Accordingly, it will be appreciated that the first robotic arm <NUM> of the first robotic arm assembly <NUM> extends between a first root end <NUM> and a first distal end <NUM>, and the first robotic arm <NUM> generally includes a first utility member <NUM> positioned at the first distal end <NUM>. The first robotic arm <NUM> is movable to the interior <NUM> of the engine to a location operably adjacent to the first side <NUM> of the component <NUM>. In such a manner, it will be appreciated that the first robotic arm <NUM> is positioned through at least one of a plurality of openings of the turbine engine <NUM>, and more specifically, through the first opening 218A of the turbine engine <NUM>, such that the first utility member <NUM> of the first robotic arm <NUM> is positioned operably adjacent to the first side <NUM> of the component <NUM> during operation. It will be appreciated, that as used herein, the term "operably adjacent to" with reference to a utility member and a surface of the component, refers to the utility member being positioned such that it may perform the operation for which it was designed on the component.

Similarly, the second robotic arm <NUM> of the second robotic arm assembly <NUM> extends between a second root end <NUM> and a second distal end <NUM>, and the second robotic arm <NUM> generally includes a second utility member <NUM> positioned at the second distal end <NUM>. The second robotic arm <NUM> is also movable to the interior <NUM> of the turbine engine <NUM> to facilitate the first utility member <NUM> and the second utility member <NUM> performing the operation on the component <NUM> of the turbine engine <NUM>. In such a manner, it will be appreciated that the second robotic arm <NUM> is also positioned through at least one of a plurality of openings of the turbine engine <NUM>, and more specifically, through the second opening 218B of the turbine engine <NUM>, to facilitate the first and second utility members <NUM>, <NUM> performing the operation on the component <NUM> of the turbine engine <NUM>.

As noted, one or both of the first robotic arm assembly <NUM> and second robotic arm assembly <NUM> may be configured in a manner similar to the exemplary robotic arm assembly <NUM> described above with reference to, e.g., <FIG>. Accordingly, it will be appreciated that the first robotic arm assembly <NUM> further includes a first base <NUM> with the first robotic arm <NUM> operably connected to the first base <NUM>. The first base <NUM> includes one or more motors <NUM>, or actuators (such as an actuator pack), for controlling the first robotic arm <NUM>, and the first base <NUM> is configured for positioning outside of the interior <NUM> of the turbine engine <NUM>. Similarly, it will be appreciated that the second robotic arm assembly <NUM> further includes a second base <NUM> with the second robotic arm <NUM> operably connected to the second base <NUM>. The second base <NUM> also includes one or more motors <NUM>, or actuators (such as an actuator pack), for controlling the second robotic arm <NUM> and the second base <NUM> is configured for positioning outside of the interior <NUM> of the turbine engine <NUM>. Accordingly, the first and second bases <NUM>, <NUM> are each positioned outside of the interior <NUM> of the turbine engine <NUM> during operation of the system <NUM> (e.g., during the performance of the operation on the component <NUM> of the turbine engine <NUM> by the system <NUM>).

It will be appreciated, however, that in other exemplary embodiments, the first robotic arm assembly <NUM>, the second robotic arm assembly <NUM>, or both may have any other suitable configuration. For example, although the first base <NUM> of the first robotic arm assembly <NUM> is depicted as being positioned physically separate from the second base <NUM> of the second robotic arm assembly <NUM>, in other exemplary embodiments, the first base <NUM> and second base <NUM> may be integrated as a single, contained unit. Additionally, one or both of the first robotic arm <NUM> and second robotic arm <NUM> may be constructed in any suitable manner, and one or both of the first base <NUM> and second base <NUM> may have any other suitable structure for controlling such robotic arms (e.g., any suitable motor/actuator configuration, etc.).

As is also depicted schematically in <FIG>, the system <NUM> includes a controller <NUM>. The exemplary controller <NUM> is operably connected to the first base <NUM> of the first robotic arm assembly <NUM> and the second base <NUM> of the second robotic arm assembly <NUM> for controlling the first robotic arm <NUM> and the second robotic arm <NUM>. Notably, although the controller <NUM> is depicted as being positioned physically separate from the first robotic arm assembly <NUM> and second robotic arm assembly <NUM>, in other embodiments, the controller <NUM> may be positioned, or otherwise integrated into, the first base <NUM> of the first robotic arm assembly <NUM>, the second base <NUM> of the second robotic arm assembly <NUM>, or both. Additionally, or alternatively, the controller <NUM> may be integrated into, and/or operable with, any other suitable system.

The controller <NUM> generally includes a network interface <NUM>. The network interface <NUM> may be operable with any suitable wired or wireless communications network for communicating data with other components of, e.g., the robotic arm assembly <NUM>, and/or other components or systems not depicted. As depicted using phantom lines in <FIG>, for the embodiment depicted, the network interface <NUM> utilizes a wireless communication network <NUM> to communicate data with other components. Specifically, for the embodiment shown, through the network interface <NUM> of the controller <NUM> and the wireless communication network <NUM>, the controller <NUM> is operably coupled to the first base <NUM> of the first robotic arm assembly <NUM> and the second base <NUM> of the second robotic arm assembly <NUM>. For example, the controller <NUM> may be operably coupled to the one or more motors <NUM> of the first base <NUM> and/or the one or more motors <NUM> of the second base <NUM>. In such a manner, the controller <NUM> may control operation of the first robotic arm <NUM> and the second robotic arm <NUM>. It will be appreciated, of course, that although the network interface <NUM> utilizes the wireless communication network <NUM> for the embodiment of <FIG>, in other embodiments, the network interface <NUM> may instead utilize a wired communication network, or a combination of wired and wireless communication networks.

Referring still to <FIG>, the controller <NUM> further includes one or more processors <NUM> and memory <NUM>. The memory <NUM> stores data <NUM> accessible by the one or more processors <NUM>. The one or more processor(s) <NUM> can include any suitable processing device, such as a microprocessor, microcontroller, integrated circuit, logic device, and/or other suitable processing device. The one or more memory device(s) <NUM> can include one or more computer-readable media, including, but not limited to, non-transitory computer-readable media, RAM, ROM, hard drives, flash drives, and/or other memory devices. The data <NUM> may include instructions that when executed by the one or more processors <NUM> cause the system <NUM> to perform functions. One or more exemplary aspects of these functions may be described below with respect to the exemplary method <NUM> of <FIG>. The instructions within the data <NUM> can be any set of instructions that when executed by the one or more processor(s) <NUM>, cause the one or more processor(s) <NUM> to perform operations. In certain exemplary embodiments, the instructions within the data <NUM> can be software written in any suitable programming language or can be implemented in hardware. Additionally, and/or alternatively, the instructions can be executed in logically and/or virtually separate threads on processor(s) <NUM>. The memory device(s) <NUM> can further store other data <NUM> that can be accessed by the processor(s) <NUM>.

Referring now to <FIG>, a close-up, schematic view of the exemplary system <NUM> of <FIG> is depicted. It will be appreciated that for the exemplary embodiment depicted, the operation being performed by the system <NUM> on the component <NUM> is a physical operation on the component (i.e., physically modifying the component). More particularly, for the embodiment depicted, the operation is a material removal operation, and more specifically still is a drilling operation. Notably, as used herein, the term "drilling operation" refers generally to any operation used to make a hole in or through a component, whether the hole is circular in cross-section or defines some other shape.

As is depicted in <FIG>, for the exemplary embodiment depicted, which does not belong to the invention, the first utility member <NUM> of the first robotic arm <NUM> includes a mechanical drill having a drill bit <NUM>. The first utility member <NUM> may be configured to rotate the drill (and drill bit <NUM>) to drill a hole <NUM> in or through the component <NUM>, i.e., from the first side <NUM> of the component <NUM> towards or to the second side <NUM> of the component <NUM>. The hole <NUM> may be, e.g. a cooling hole, or may be provided for any other purpose. Additionally, it will be appreciated that the hole <NUM> may be a new hole drilled by the mechanical drill of the first utility member <NUM>, or alternatively, may be an existing hole that is, e.g. clogged, needs to be widened, etc..

Also for the embodiment depicted, the second utility member <NUM> includes at least one of a container or a suction member. More specifically, for the embodiment of <FIG>, the second utility member <NUM> includes a container <NUM> for positioning over the hole <NUM> on the second side <NUM> of the component <NUM> to capture or otherwise contain debris and/or other materials resulting from the operation of the mechanical drill of the first utility member <NUM> to drill the hole <NUM> in the component <NUM>. More particularly, for the embodiment of <FIG>, the container <NUM> is positioned completely around/over the hole <NUM> on the second side <NUM> of the component <NUM>, contacting the second side <NUM> of the component <NUM>. However, in other embodiments, the container <NUM> may instead be positioned elsewhere to capture debris from the drilling operation. For example, in other embodiments, the container <NUM> may be positioned underneath the mechanical drill of the first utility member <NUM> on the first side <NUM> of the component <NUM> to catch debris falling from the mechanical drill. Similarly, the container <NUM> may be positioned underneath the opening on the second side <NUM> of the component <NUM> of the hole <NUM> being drilled by the mechanical drill to catch the debris when the mechanical drill breaks through the second side <NUM> of the component <NUM>, or otherwise completes drilling operations of the hole <NUM>.

However, in other exemplary embodiments any other suitable component <NUM> or feature may be provided for catching the debris resulting from the drilling operation. For example, referring briefly to <FIG>, a close-up, schematic view is provided of a system <NUM> in accordance with another exemplary embodiment of the present disclosure. The exemplary system <NUM> of <FIG> may be configured in substantially the same manner as the exemplary system <NUM> described above with reference to <FIG>. However, for the embodiment of <FIG>, instead of including a container <NUM>, a second utility member <NUM> of a second robotic arm <NUM> instead includes a suction member <NUM>. The suction member <NUM> generally defines a suction nozzle for capturing debris or other particles resulting from the drilling operation. In at least certain exemplary embodiments, the second robotic arm <NUM> may include one or more vacuum lines (not shown; e.g., supported by support structures <NUM>, see <FIG>) extending therethrough in airflow communication with the suction member <NUM> for providing a desired suction to the suction member.

Further, in still other exemplary embodiments, any other suitable component <NUM> or feature may be provided for facilitating the drilling operation. For example, referring briefly to <FIG>, a close-up, schematic view is provided of a system <NUM> in accordance with yet another exemplary embodiment of the present disclosure. The exemplary system <NUM> of <FIG> may be configured in substantially the same manner as exemplary system <NUM> described above with reference to <FIG>.

According to the invention the first utility member <NUM> includes a laser drill <NUM>. The laser drill <NUM> of the first utility member <NUM> is similarly configured to be positioned operably adjacent to the first side <NUM> of the component <NUM>, and oriented towards the first side <NUM> of the component <NUM> during drilling operations. In such a manner, the laser drill <NUM> of the first utility member <NUM> defines a line of sight of access to the first side <NUM> of the component <NUM>, and is separated by a distance of no more than a distance at which the laser drill <NUM> may effectively operate (i.e., drill into, or through, the component <NUM>), such that it may drill a hole <NUM> in the component <NUM> at a desired position and orientation into/ through the component <NUM>. It will be appreciated that the laser drill <NUM> is generally configured to direct a laser beam <NUM> towards the component <NUM> to drill the hole <NUM> therethrough. In such a manner, the laser drill <NUM> may be configured as any suitable laser drill. For example, in certain embodiments, the laser drill may be a Nd:YAG laser drill or any other suitable laser drill.

Further, for the exemplary embodiment of <FIG>, a second utility member <NUM> of a second robotic arm <NUM> positioned at a second distal end <NUM> thereof may not be configured as at least one of a container (<FIG>) or a suction member (<FIG>).

According to the invention the second utility member <NUM> of the second robotic arm <NUM> includes a laser beam receiver <NUM>. Notably, the laser beam receiver <NUM> of the second utility member <NUM> is aligned with an axis <NUM> of the laser beam <NUM> from the laser drill <NUM> of the first utility member <NUM> during drilling operations of the system <NUM>. The laser beam receiver <NUM> may be any suitable material or component capable of absorbing or dissipating a laser beam <NUM> from the laser drill <NUM> after such laser beam <NUM> has broken through the second side <NUM> of the component <NUM>, preventing an amount of potential damage to various other components within the interior <NUM> of the turbine engine <NUM>. The laser beam receiver <NUM> may also be referred to as a back strike protection member or a "beam dump. " For example, in at least certain exemplary embodiments, the laser beam receiver <NUM> may be a plate comprising a metal or other sufficiently robust material capable of withstanding drilling from the laser beam <NUM> of the laser drill <NUM> for at least a minimal amount of time. It will be appreciated, however, that in other embodiments, the laser beam receiver <NUM> may have any other suitable configuration for performing the functions described herein. Additionally, in at least certain exemplary embodiments, the laser beam receiver <NUM> may further include suction features (similar to the suction member <NUM> discussed above) for removing cutting debris (e.g., vapor, hot liquid droplets, etc.) from the environment to prevent damage to adjacent surfaces, and/or air blowing features, such as an air curtain or other wide jet of pressurized air to deflect debris to a relatively less sensitive location.

Notably, in at least certain embodiments, the laser beam receiver <NUM> may include one or more sensors coupled thereto, operable therewith, and/or embedded therein. Specifically, for the embodiment depicted, the laser beam receiver <NUM> includes a sensor <NUM> coupled thereto. The sensor <NUM> may be configured to sense when the laser beam <NUM> of the laser drill <NUM> contacts the laser beam receiver <NUM>. In such a manner, the sensor <NUM> may be capable of sensing data indicative of a breakthrough of the laser beam <NUM> through the component <NUM>. In at least certain exemplary embodiments, the sensor <NUM> may be operably coupled to the controller <NUM> through, e.g., the wireless communication network <NUM> (see <FIG>). The sensor <NUM> may be any suitable sensor for sensing data indicative of the laser beam <NUM> contacting the laser beam receiver <NUM>. For example, the sensor <NUM> may be one or more of, e.g., a temperature sensor, an accelerometer, an optical sensor, and acoustic sensor, etc..

Referring now to <FIG> and <FIG>, close-up, schematic views are provided of two additional systems <NUM>, each not belonging to the invetion. The exemplary systems <NUM> of <FIG> and <FIG> may each be configured in substantially the same manner as exemplary system <NUM> described above with reference to <FIG>. For example, each of the exemplary systems <NUM> of <FIG> and <FIG> includes a first robotic arm <NUM> including a first utility member <NUM> positioned at a first distal end <NUM> of the first robotic arm <NUM> and a second robotic arm <NUM> including a second utility member <NUM> positioned at a second distal end <NUM> of the second robotic arm <NUM>.

Referring first particularly to the exemplary system <NUM> of <FIG>, it will be appreciated that the operation performed by the system <NUM> is a welding operation. With such an exemplary embodiment, the first utility member <NUM> includes an electrode <NUM> and the second utility member <NUM> includes an electrical connector <NUM> configured for electrical connection to the component <NUM>. More specifically, for the embodiment of <FIG>, the second utility member <NUM>, or rather, the electrical connector <NUM> of the second utility member <NUM>, is configured to contact the component <NUM>. In such a manner, the system <NUM> may provide for an electrical path through the component <NUM> during welding operations that avoids any sensitive components, such as bearings, that may otherwise be damaged by electrical paths extending therethrough. Accordingly, it will be appreciated that although for the embodiment depicted, the electrical connector <NUM> of the second utility member <NUM> is directly contacting the actual component <NUM>, in other embodiments, the electrical connector <NUM> may instead contact any other suitable components of the turbine engine <NUM> capable of providing an electrical connection with the component <NUM> without any substantial risk of the electrical path extending through undesirable, sensitive components.

Further, it will be appreciated that depending on the desired welding technology to be utilized, one or both of the first robotic arm <NUM> and second robotic arm <NUM> may include additional components, features, etc. For example, in certain exemplary embodiments, the system <NUM> may be configured for gas metal arc welding, tungsten inert gas welding, arc welding, etc. With one or more of these embodiments, one or both of the first robotic arm <NUM> and second robotic arm <NUM> may include a gas line, or alternatively, an additional robotic arm (not shown) may be included with a gas line, to provide a working gas for the welding.

Referring now particularly to the exemplary system <NUM> of <FIG>, it will be appreciated that the operation performed by the system <NUM> is, again, a drilling operation. However, for the embodiment of <FIG>, the first utility member <NUM> includes an electric discharge machine tool <NUM> positioned operably adjacent to the first side <NUM> of the component <NUM>, and oriented towards the first side <NUM> of the component <NUM> during drilling operations. In such a manner, the electric discharge machine tool <NUM> of the first utility member <NUM> is positioned in a relatively close proximity to the first side <NUM> of the component <NUM> such that it may drill a hole in the component <NUM> at a desired position and orientation through the component <NUM>. For example, the electric discharge machine tool <NUM> may be a tool electrode configured to discharge a current to the first side <NUM> of the component <NUM> (or along a hole through the component <NUM>), across a discharge gap <NUM> defined with the first side <NUM> of the component <NUM>. Similarly, with such an exemplary embodiment, the second utility member <NUM> includes an electrical connector <NUM> configured for electrical connection to the component <NUM>. More specifically, for the embodiment of <FIG>, the electrical connector <NUM> of the second utility member <NUM> is configured to contact the component <NUM> to create a charge differential between, e.g., the tool electrode <NUM> of the electric machine tool of the first utility member <NUM> and the component <NUM>.

Notably, in order to further facilitate operation of the electric discharge machine drilling of a hole in the component <NUM>, the exemplary system <NUM> of <FIG> further includes a third robotic arm <NUM> of a third robotic arm assembly <NUM>. The third robotic arm assembly <NUM>, and third robotic arm <NUM>, may also be configured in substantially the same manner as the exemplary robotic arm assembly <NUM> described above with reference to <FIG>. Accordingly, the third robotic arm <NUM> extends generally between a root end (not shown) and a distal end <NUM> and includes a third utility member <NUM> positioned at the third distal end <NUM>. For the embodiment of <FIG>, the third utility member <NUM> includes a dielectric fluid nozzle <NUM> for providing a dielectric fluid to a location between the first utility member <NUM> (i.e., the electric discharge machine tool <NUM> for the embodiment depicted) and the component <NUM>. Providing the dielectric fluid may facilitate the electric discharge machine tooling by the system <NUM>.

It will be appreciated that in other exemplary embodiments, still other configurations may be provided. For example, although the exemplary system <NUM> depicted in <FIG> is the only system <NUM> described herein as including three robotic arms for facilitating the operations, in other exemplary embodiments, one or more of the embodiments described above with reference to, e.g., <FIG> may additionally include a third robotic arm, and optionally may include any other suitable number of robotic arms. Similarly, although for the embodiment of <FIG>, the electric discharge machine operations are depicted using three separate robotic arms, in other exemplary embodiments, the features and functionality of one of the exemplary robotic arms depicted may instead be integrated into one of the other robotic arms, such that only two robotic arms are utilized to provide electric discharge machine tooling.

Further, still other embodiments, any other suitable physical operations may be performed using a system <NUM> in accordance with one or more the exemplary embodiments described herein. For example, the operation may additionally, or alternatively, include one or more cutting operations, brazing operations, coating or slurry repair operations, etc. Specifically, for example, the operations may be a coating repair process (such as a thermal barrier coating repair process), whereby a first robotic arm is operable to remove at least a portion of an existing coating and a second robotic arm is operable to apply a new coating. Similarly, the operation may be a slurry repair operation for a ceramic matrix composite (CMC) component, such as a CMC liner , CMC shroud, etc. With such an operation, a first robotic arm may be operable to apply a slurry and a second robotic arm is operable to cure the slurry. Additionally, one or both of the first and second robotic arms (or additional robotic arms) may be operable to contour and/or level the slurry. In such a manner, it will be appreciated, that as used herein, the term "facilitate" may refer to performing a function simultaneously (e.g., first and second robotic arms working together simultaneously to perform the operation), or alternatively may refer to performing functions sequentially. However, in still other exemplary embodiments, any other suitable non-physical operations may be performed by the system. For example, the operations may be cleaning operations (such as sandblasting, pressure washing, steam washing), etc..

Moreover, it should be appreciated that although the exemplary system <NUM> described herein is depicted performing operations on a turbine engine <NUM>, in other exemplary embodiments, the system <NUM> may instead be utilized to perform operations on any other suitable engine, such as a rotary engine. Further, the system <NUM> described herein may additionally, or alternatively, may be utilized outside of the context of an engine in, e.g., relatively dangerous environments to perform operations. For example, in certain embodiments, the system <NUM> may be utilized within the oil and gas industry to, e.g., weld, cut, drill, etc. in, e.g., explosive atmospheres. Further, still, in certain embodiments, the system <NUM> may be utilized in the nuclear industry to, e.g., drill, cut, weld, etc. in a reactor or other container.

Referring now to <FIG>, a flow diagram of a method <NUM> for performing an operation on a component of an engine in accordance with an exemplary aspect of the present disclosure is provided. The exemplary method <NUM> may utilize one or more of the exemplary systems described above. According to the invention, the component includes a first side positioned within an interior of the engine.

As is depicted, the exemplary method <NUM> generally includes at (<NUM>) positioning a first robotic arm including a first utility member at a first distal end within the interior of the engine to a location operably adjacent to the first side of the component. Notably, for the exemplary aspect depicted, it will be appreciated that the engine defines a plurality of openings. For example, when the engine is a gas turbine engine, or other turbine engine, the plurality of openings may include one or more of a borescope opening, a fuel nozzle opening, an igniter opening, an inlet opening, an exhaust opening, etc. Further, for the exemplary aspect depicted, positioning the first robotic arm within the interior of the engine at (<NUM>) includes at (<NUM>) extending the first robotic arm through a first opening of the engine.

The exemplary method <NUM> further includes at (<NUM>) positioning a second robotic arm including a second utility member at a second distal end within the interior of the engine. Similarly, for the exemplary aspect depicted, positioning the second robotic arm within the interior of the engine at (<NUM>) includes at (<NUM>) extending the second robotic arm through a second opening of the engine.

Further, the exemplary method <NUM> includes at (<NUM>) performing the operation on the component of the engine utilizing the first utility member of the first robotic arm and the second utility member of the second robotic arm within the interior of the engine. Performing the operation on the component of the engine at (<NUM>) includes at (<NUM>) performing a drilling operation on the component of the engine.

Claim 1:
A system (<NUM>) for performing an operation on a component (<NUM>) of an engine, the component (<NUM>) including a first side (<NUM>) positioned within an interior (<NUM>) of the engine, the system comprising:
a first robotic arm (<NUM>) defining a first distal end (<NUM>) and including a first utility member (<NUM>) positioned at the first distal end (<NUM>), the first robotic arm (<NUM>) moveable to the interior (<NUM>) of the engine to a location operably adjacent to the first side (<NUM>) of the component (<NUM>); and
a second robotic arm (<NUM>) defining a second distal end (<NUM>) and including a second utility member (<NUM>) positioned at the second distal end (<NUM>), the second robotic arm (<NUM>) also moveable to the interior (<NUM>) of the engine to facilitate the first and second utility members (<NUM>,<NUM>) performing the operation on the component (<NUM>) of the engine,
wherein the operation is a drilling operation, and
wherein the first utility member (<NUM>) includes a laser drill (<NUM>) configured for orientation towards the first side (<NUM>) of the component (<NUM>), and characterized in that the second utility member (<NUM>) includes a laser beam receiver (<NUM>).