Patent Description:
At least some known rotary machines, such as turbines for aircraft engines and gas and steam powered turbines for industrial applications, include an outer case and at least one rotor that carries multiple stages of rotating airfoils, i.e., blades, which rotate with respect to the outer case. In addition, the outer case carries multiple stages of stationary airfoils, i.e., guide vanes. The blades and guide vanes are arranged in alternating stages. In at least some known rotary machines, shrouds are disposed on the radially inner surfaces of a stator to form a ring seal around tips of the blades. Together, the blades, guide vanes, and shrouds define a primary flowpath inside the compressor and turbine sections of the rotary machine. This flowpath, combined with a flowpath through the combustor, defines a primary cavity within the rotary machine.

During operation, the components of the rotary machine experience at least some material degradation as a function of the components' service history. Accordingly, for at least some known rotary machines, periodic inspections, such as borescope inspections, are performed to assess the condition of the rotary machine between service intervals. Examples of conditions observed during inspections include wear (e.g., from incursion of blade tips into the shrouds, particle-induced erosion, water droplet induced erosion, wear due to sliding contact between stationary components), impact (e.g., spallation of thermal barrier coating (TBC) or environmental barrier coating (EBC) from turbine-section components, leading edge burring/bending of compressor blades), cracking (e.g., thermal fatigue, low-cycle fatigue, high-cycle fatigue, creep rupture), edge-of-contact wear between stationary parts, oxidation or hot corrosion of high-temperature metallic sections, static seal degradation, and creep deformation (e.g., of guide vane sidewalls/airfoils, blade platforms, and blade tip shrouds).

During service intervals, the rotary machines are at least partially disassembled to allow repair and/or replacement of damaged components. For example, damaged components of at least some known rotary machines are primarily repaired at overhaul or component repair facilities, with only limited intervention conducted in the field. Processes used to repair compressor and turbine flowpath components include surface cleaning to remove accumulated dirt and oxidation products, stripping and restoration of coated surfaces, crack repair, section replacement, and aero contouring and smoothing. Repairing the components during service intervals reduces the cost to maintain the rotary machine because the cost to repair components is sometimes less than the cost to replace the components. However, sometimes, the components run past their repair limits between planned service intervals. In addition, sometimes, heavily distressed components fail and cause an unplanned outage.

For at least some known rotary machines, a borescope is inserted through an opening of the rotary machine and manipulated within a primary cavity of the rotary machine for inspection. However, at least some known borescopes do not access all locations of the rotary machine. In particular, some non-rotating components in at least some known rotary machines are difficult to access with a borescope. Furthermore, damage detected during inspection is typically unmitigated until the machine is at least partially disassembled for scheduled service.

<CIT> discloses methods for remotely stopping a crack in a component of a gas turbine engine. <CIT> relates to redundant robotic apparatus and methods of deploying them.

In the following, apparatus and/or methods referred to as embodiments that nevertheless do not fall within the scope of the claims should be understood as examples useful for understanding the invention.

Embodiments described herein provide an insertion apparatus and service apparatus for use with rotary machines. The insertion apparatus is configured to position the service apparatus precisely within a primary flowpath of the machine. For example, the insertion apparatus extends through a port of a turbine assembly and positions the service apparatus adjacent a rotating component of the turbine assembly. During deployment, the service apparatus is proximate to an insertion end of the insertion apparatus such that the service apparatus is positionable relative to the rotary machine using a steering interface on the steering end of the insertion apparatus. As a result, the insertion apparatus facilitates positioning the service apparatus proximate the rotor, such as between adjacent blades, and thus facilitates access of the service apparatus to locations within the primary flowpath of the machine.

<FIG> is a cross-sectional schematic view of an exemplary rotary machine. In the exemplary embodiment, the rotary machine includes a turbine assembly <NUM>. In alternative embodiments, the rotary machine includes any assembly. For example, in some embodiments, the rotary machine includes, without limitation, any of the following: a compressor, a blower, a pump, a turbine, a motor, and a generator.

In the exemplary embodiment, turbine assembly <NUM> includes an inlet <NUM>, a compressor <NUM>, a combustor <NUM>, a turbine <NUM>, an outer case <NUM>, and an exhaust <NUM>. Fluid flows from inlet <NUM>, through compressor <NUM>, through combustor <NUM>, through turbine <NUM> and is discharged through exhaust <NUM>. Also, in the exemplary embodiment, compressor <NUM> and turbine <NUM> include airfoils configured to direct fluid through turbine assembly <NUM>. In particular, compressor <NUM> and turbine <NUM> include blades <NUM>, <NUM> and guide vanes <NUM>, <NUM>. Together, blades <NUM>, <NUM>, guide vanes <NUM>, <NUM>, and shrouds <NUM> (shown in <FIG>) define a primary flowpath <NUM> of turbine assembly <NUM>. This flowpath, combined with a flowpath through combustor <NUM>, defines a primary cavity within turbine assembly <NUM>. In alternative embodiments, turbine assembly <NUM> is configured in any manner that enables turbine assembly <NUM> to operate as described herein.

Blades <NUM>, <NUM> are operably coupled with rotating shafts <NUM>, <NUM> such that blades <NUM>, <NUM> rotate when rotating shafts <NUM>, <NUM> rotate. Accordingly, blades <NUM>, <NUM> and rotating shafts <NUM>, <NUM> form a rotor of turbine assembly <NUM>. Guide vanes <NUM>, <NUM> and shrouds <NUM> are stationary components and are coupled to an interior surface <NUM> of outer case <NUM>. Blades <NUM>, <NUM> and guide vanes <NUM>, <NUM> are generally positioned alternatingly along the rotor axis within turbine assembly <NUM>. In alternative embodiments, compressor <NUM> and/or turbine <NUM> includes any airfoils that enable turbine assembly <NUM> to operate as described herein.

<FIG> is a schematic view of an insertion apparatus <NUM> and service apparatus <NUM> positioned in the primary cavity of turbine assembly <NUM>. <FIG> is a schematic view of service apparatus <NUM> positioned between adjacent blades <NUM> of turbine assembly <NUM>. In addition, in the exemplary embodiment, service apparatus <NUM> is configured to move through the primary flowpath of turbine assembly <NUM>. Accordingly, service apparatus <NUM> facilitates maintenance of turbine assembly <NUM>. For example, service apparatus <NUM> facilitates inspection and repair of turbine assembly <NUM> at locations within the primary flowpath that are difficult to access from an exterior of turbine assembly <NUM> by conventional means, such as using a borescope tool. Service apparatus <NUM> is positioned within the primary flowpath using insertion apparatus <NUM>. In some embodiments, insertion apparatus <NUM> is used to position service apparatus <NUM> adjacent rotating components of turbine assembly <NUM>, such as blades <NUM>, <NUM>, and the rotating components are subsequently used to position service apparatus <NUM> relative to stationary components of turbine assembly <NUM>.

During operation, service apparatus <NUM> enters turbine assembly <NUM> through any suitable access port or opening of turbine assembly <NUM>. For example, in some embodiments, service apparatus <NUM> enters and/or exits turbine assembly <NUM> through any of inlet <NUM>, exhaust <NUM>, and/or an access port, such as an igniter, borescope, or fuel nozzle port. In the exemplary embodiment, service apparatus <NUM> is sized and shaped to fit within turbine assembly <NUM> and to travel through turbine assembly <NUM>, such as through the primary cavity of turbine assembly <NUM>. For example, service apparatus <NUM> has a height, length, and width that are less than a clearance required to fit within the primary flowpath. The height, length, and width define a volume of service apparatus <NUM>. In alternative embodiments, service apparatus <NUM> is any size and shape that enables service apparatus <NUM> to operate as described herein.

During operation, service apparatus <NUM> could be used to inspect and/or repair any interior components of turbine assembly <NUM>. For example, in some embodiments, service apparatus <NUM> is positioned adjacent a portion of interior surface <NUM> of turbine assembly <NUM>. Interior surface <NUM> is any surface within the primary flowpath of turbine assembly <NUM>. For example, in some embodiments, interior surface <NUM> includes, without limitation, surfaces of blades <NUM>, <NUM>, guide vanes <NUM>, <NUM>, and shrouds <NUM>. In some embodiments, service apparatus <NUM> detects a characteristic of interior surface <NUM>. For example, in some embodiments, service apparatus <NUM> is used to generate an image of interior surface <NUM> and the image is examined to determine the condition of turbine assembly <NUM> and assess whether repairs are necessary. If repairs are necessary, in some embodiments, service apparatus <NUM> is used to repair interior surface <NUM>. For example, in some embodiments, service apparatus <NUM> removes and/or replaces a damaged portion of interior surface <NUM>. After inspection and/or repair of interior surface <NUM>, service apparatus <NUM> exits turbine assembly <NUM> through any suitable access port or opening of turbine assembly <NUM>, such as via the route of entry.

Insertion apparatus <NUM> includes an insertion end <NUM> and a steering end <NUM> opposite insertion end <NUM>. Insertion end <NUM> is positionable within the primary flowpath of turbine assembly <NUM>, such as adjacent blades <NUM>, <NUM>. In addition, service apparatus <NUM> is coupled to insertion end <NUM> of insertion apparatus <NUM> and is positionable in a plurality of orientations using a steering interface on steering end <NUM> of insertion apparatus <NUM>. For example, in some embodiments, service apparatus <NUM> is pivoted between a first orientation (shown in <FIG>) in which service apparatus <NUM> is aligned with a translation direction <NUM> and a second orientation (shown in <FIG>) in which service apparatus <NUM> extends at an angle relative to translation direction <NUM> so as to facilitate anchoring to at least one blade <NUM>, <NUM>. The ability to position service apparatus <NUM> in a plurality of orientations facilitates insertion of service apparatus into the target location within the primary flowpath and allows service apparatus <NUM> to anchor onto the rotor and perform service operations at otherwise difficult to access locations. In alternative embodiments, service apparatus <NUM> is positionable in any orientation that enables service apparatus <NUM> to operate as described herein.

In addition, in the exemplary embodiment, a steering interface <NUM> is located at steering end <NUM> of insertion apparatus <NUM> and is configured to steer service apparatus <NUM> via insertion end <NUM>. In some embodiments, steering interface <NUM> includes one or more actuator members (such as elastic sheets driving kinematic linkages). For example, a user may hold and manipulate steering end <NUM>. In further embodiments, steering is at least partially automated. In alternative embodiments, insertion apparatus <NUM> includes any steering interface <NUM> that enables insertion apparatus <NUM> to operate as described herein.

Also, in the exemplary embodiment, a guide apparatus <NUM> extends through a port of turbine assembly <NUM> and defines a path for insertion apparatus <NUM>. For example, guide apparatus <NUM> includes a curved guide tube that is sized to receive insertion apparatus <NUM> within its interior space. Guide apparatus <NUM> may be fixed to turbine assembly <NUM> by a flange <NUM> coupled to a port of turbine assembly <NUM>. For example, flange <NUM> extends around guide apparatus <NUM> and is sized to fit onto a borescope or an igniter port of turbine assembly <NUM>. In alternative embodiments, guide apparatus <NUM> is coupled to turbine assembly <NUM> in any manner that enables guide apparatus <NUM> to operate as described herein.

In addition, in the exemplary embodiment, guide apparatus <NUM> is configured to direct insertion apparatus <NUM> within the primary cavity of turbine assembly <NUM>. For example, guide apparatus <NUM> is curved and defines a curved path for insertion apparatus <NUM>. In addition, guide apparatus <NUM> is sized such that an insertion end <NUM> of guide apparatus <NUM> is positioned proximate a target area within turbine assembly <NUM>. For example, in some embodiments, guide apparatus <NUM> positions insertion end <NUM> of insertion apparatus <NUM> between adjacent vanes <NUM>, <NUM> and, using steering interface <NUM>, advances insertion end <NUM> proximate a rotating component of turbine assembly <NUM>, such as proximate blades <NUM>, <NUM>, thus facilitating anchoring service apparatus <NUM> between adjacent blades <NUM>, <NUM>. In alternative embodiments, guide apparatus <NUM> is any size and shape that enables guide apparatus <NUM> to operate as described herein.

As a result, insertion apparatus <NUM> allows precise positioning of service apparatus <NUM> within the primary flowpath of turbine assembly <NUM>. For example, in some embodiments, insertion apparatus <NUM> is used to position service apparatus <NUM> proximate blades <NUM>, <NUM> of turbine assembly <NUM>. In some embodiments, service apparatus <NUM> is anchored to a portion of turbine assembly <NUM>. In addition, in some embodiments, a rotating component of turbine assembly <NUM> is used to position service apparatus <NUM> proximate a stationary component of turbine assembly <NUM> that is difficult to access by conventional means. Accordingly, service apparatus <NUM> is positioned to perform service operations at difficult-to-access locations within turbine assembly <NUM>.

<FIG> is a perspective view of insertion apparatus <NUM> and service apparatus <NUM>. <FIG> is a side view of service apparatus <NUM>. In the exemplary embodiment, insertion apparatus <NUM> includes a body <NUM> extending from steering end <NUM> to insertion end <NUM>. Body <NUM> includes a first elastic sheet <NUM> and a second elastic sheet <NUM>. Accordingly, insertion end <NUM> is steerable by moving, using steering interface <NUM> (shown in <FIG>), first elastic sheet <NUM> and second elastic sheet <NUM> in opposing directions. The first elastic sheet <NUM> and second elastic sheet <NUM> are flexible and bend elastically in a plane extending along the insertion path. At the same time, first elastic sheet <NUM> and second elastic sheet <NUM> are relatively rigid in the plane of the sheets to allow transmission of the steering forces along the axis of the body <NUM>. For example, first elastic sheet <NUM> and second elastic sheet <NUM> include elastically deformable sheets, such as fiberglass, spring steel, or any material that allows the first elastic sheet <NUM> and second elastic sheet <NUM> to elastically bend through the guide apparatus <NUM> in the translation direction while providing sufficient stiffness to allow forward forces on the steering interface <NUM> (shown in <FIG>) to advance insertion end <NUM>, and hence service apparatus <NUM>, along the translation direction. In a non-claimed embodiments, insertion apparatus <NUM> includes any body <NUM> that enables insertion apparatus <NUM> to operate as described herein. For example, in some non-claimed embodiments, body <NUM> includes a torsionally stiff tube or semi-rigid member that is compliant in bending and extends from insertion end <NUM> to steering end <NUM>.

With reference to <FIG>, also, in the exemplary embodiment, insertion apparatus <NUM> includes a latching mechanism <NUM> that releasably couples service apparatus <NUM> to insertion end <NUM>. In some embodiments, service apparatus <NUM> and/or insertion apparatus <NUM> include magnets, hooks, latches, adhesives, and any other engagement mechanism that enables insertion apparatus <NUM> to operate as described herein. In addition, in some embodiments, insertion apparatus <NUM> includes an actuator that is actuated from steering end <NUM> and causes latching mechanism <NUM> to disengage from service apparatus <NUM>. In the exemplary embodiment, insertion apparatus <NUM> includes a plurality of linkages <NUM> that facilitate pivoting of service apparatus <NUM> relative to blades <NUM> (shown in <FIG>). Linkages <NUM> may be located on insertion end <NUM> of body <NUM> (shown in <FIG>) and/or on latching mechanism <NUM>. In alternative embodiments, service apparatus <NUM> is coupled to insertion apparatus <NUM> in any manner that enables service apparatus <NUM> and insertion apparatus <NUM> to operate as described herein.

In addition, in the exemplary embodiment, a component, such as a harness or tether <NUM>, extends from service apparatus <NUM> to the exterior of turbine assembly <NUM>. For example, tether <NUM> provides power to service apparatus <NUM>, allows service apparatus <NUM> to send and/or receive signals, and/or transmits mechanical force, fluids, or thermal energy to service apparatus <NUM>. Insertion apparatus <NUM> includes a tensioning mechanism <NUM> configured to control the tension of tether <NUM>. For example, tensioning mechanism <NUM> prevents slack in tether <NUM> which could cause service apparatus <NUM> to be moved out of a desired position and/or hinder removal of service apparatus <NUM> from the primary flowpath. In the exemplary embodiment, tensioning mechanism <NUM> includes a constant-force tensioning spring system with a reel <NUM>. Tether <NUM> is wound around reel <NUM> of tensioning mechanism <NUM>. Reel <NUM> maintains tension on tether <NUM>. When a sufficient force pulls tether <NUM>, tether <NUM> unwinds from reel <NUM>. Accordingly, tensioning mechanism <NUM> maintains a desired tension in tether <NUM>. In alternative embodiments, service apparatus <NUM> includes any tether <NUM> and/or tensioning mechanism <NUM> that enables service apparatus <NUM> to operate as described herein. In some embodiments, tensioning mechanism <NUM> employs an active tensioner, such as a motorized tensioner with closed-loop feedback control to maintain tension within the desired range. In other embodiments, tensioning mechanism <NUM> is not required. In still other embodiments, tension on tether <NUM> is maintained manually by the operator.

Moreover, in the exemplary embodiment, service apparatus <NUM> is sized to fit adjacent a rotating component within the primary flowpath of turbine assembly <NUM>. For example, service apparatus <NUM> is positioned, using insertion apparatus <NUM>, within the primary flowpath of turbine assembly <NUM> between adjacent blades <NUM>. In addition, service apparatus <NUM> is configured to anchor, using an anchoring feature <NUM> (shown in <FIG>), to turbine assembly <NUM> to facilitate positioning service apparatus <NUM> adjacent a portion of turbine assembly <NUM> using a rotating component of turbine assembly <NUM>. Anchoring feature <NUM> can be an actuated feature, such as a spring-loaded arm that engages features in blades <NUM> and is actuated from steering end <NUM>. Alternatively, anchoring feature <NUM> can be a geometrical feature, such as a notch, that allows interlocking with the rotor, such as with blade <NUM>, while tension is applied to tether <NUM>. The rotating component of turbine assembly <NUM> is then used to position service apparatus <NUM> relative to stationary components of turbine assembly <NUM>. In alternative embodiments, service apparatus <NUM> is positioned in any manner that enables service apparatus <NUM> to operate as described herein.

Also, in the exemplary embodiment, service apparatus <NUM> includes at least one maintenance device <NUM> to allow service apparatus <NUM> to perform an inspection and/or repair operation within the primary flowpath of turbine assembly <NUM>. In some embodiments, maintenance device <NUM> includes a camera <NUM> and an illuminator <NUM> (shown in <FIG>). Illuminator <NUM> may comprise a light-emitting diode (LED). In alternative embodiments, service apparatus <NUM> includes any maintenance device that enables service apparatus <NUM> to operate as described herein. For example, in some embodiments, maintenance device <NUM> of service apparatus <NUM> includes, without limitation, any of the following: an applicator, a drill, a grinder, a heater, a welding electrode, a sprayer, an optical sensor (e.g., visible, infrared, and/or multi-spectral sensor), a mechanical sensor (e.g., stylus profilometer, coordinate measurement probe, load transducer, linear variable differential transformer), a thermal sensor (e.g., pyrometer, thermocouple, resistance temperature detector), a magnetic sensor, an acoustic sensor (e.g., piezoelectric, microphone, ultrasound), and an electromagnetic sensor (e.g., eddy current, potential drop, x-ray).

<FIG> is a flow chart of an exemplary method <NUM> of operating service apparatus <NUM>. In reference to <FIG>, method <NUM> includes positioning <NUM> service apparatus <NUM> within a primary flowpath of turbine assembly <NUM> using insertion apparatus <NUM>. Service apparatus <NUM> is coupled to insertion end <NUM> of insertion apparatus <NUM>. Service apparatus <NUM> is positioned <NUM> within the primary flowpath of turbine assembly <NUM> by inserting insertion apparatus <NUM> and service apparatus <NUM> through any suitable opening or port of turbine assembly <NUM>. For example, in some embodiments, insertion apparatus <NUM> is inserted through an igniter port and positioned within a primary cavity of combustor <NUM>. Guide apparatus <NUM> facilitates positioning insertion apparatus <NUM> and service apparatus <NUM> within the primary flowpath. In alternative embodiments, service apparatus <NUM> is positioned <NUM> within the primary flowpath of turbine assembly <NUM> in any manner that enables service apparatus <NUM> to operate as described herein.

Also, in the exemplary embodiment, method <NUM> includes directing <NUM> insertion end <NUM> of insertion apparatus <NUM> through turbine assembly <NUM> using steering interface <NUM>, which is configured to move insertion end <NUM> relative to turbine assembly <NUM>. In some embodiments, insertion end <NUM> is directed by moving body <NUM> along translation direction <NUM>. In the exemplary embodiment, insertion end <NUM> is directed by moving first elastic sheet <NUM> and second elastic sheet <NUM> in the same direction along translation direction <NUM>. In some embodiments, translation direction <NUM> includes at least one bend such that insertion end <NUM> extends along an axis that is at an angle relative to an axis through steering end <NUM>. For example, in the embodiment shown in <FIG>, an axis extends through insertion end <NUM> and an angle of about <NUM>° relative to the axis through steering end <NUM>. In alternative embodiments, insertion apparatus <NUM> is moved in any manner that enables insertion apparatus <NUM> to operate as described herein.

Moreover, in the exemplary embodiment, method <NUM> includes positioning <NUM>, via insertion end <NUM> of insertion apparatus <NUM>, service apparatus <NUM> adjacent a rotating component of turbine assembly <NUM>. In addition, method <NUM> includes transitioning <NUM> service apparatus <NUM> from a first orientation (e.g., as shown in <FIG>) to a second orientation (e.g., as shown in <FIG>) using steering interface <NUM>. Specifically, in the exemplary embodiment, service apparatus <NUM> is pivoted about an axis perpendicular to translation direction <NUM> between the first and second orientations by moving first elastic sheet <NUM> and second elastic sheet <NUM> relative to each other along translation direction <NUM>. In the first orientation, service apparatus <NUM> extends along translation direction <NUM> so as to facilitate directing service apparatus <NUM> through vanes <NUM>, <NUM>. In the second orientation, service apparatus <NUM> extends at an angle relative to translation direction <NUM> so as to position service apparatus <NUM> adjacent blades <NUM>, <NUM>.

In addition, in the exemplary embodiment, method <NUM> includes positioning <NUM> service apparatus <NUM> adjacent a portion of turbine assembly <NUM> using the rotating component of turbine assembly <NUM>. In some embodiments, service apparatus <NUM> is anchored to a rotating component of turbine assembly <NUM> and positioned proximate a non-rotating portion of turbine assembly <NUM> using the rotating component of turbine assembly <NUM>. That is, the rotating component is rotated to a desired location and service apparatus <NUM> performs a service operation at the desired location. During rotation, tensioning mechanism <NUM> is used to control the tension in tether <NUM>. After the service operation is complete, the rotating component is returned to the insertion location for retrieval of service apparatus <NUM>.

In some embodiments, method <NUM> includes inserting guide apparatus <NUM> through a port of turbine assembly <NUM> to define a path for insertion apparatus <NUM>. For example, in some embodiments, guide apparatus <NUM> is inserted through an ignitor port of turbine assembly <NUM> to define a path for insertion apparatus <NUM>. Flange <NUM> fits onto the ignitor port and couples guide apparatus <NUM> to turbine assembly <NUM>. In alternative embodiments, insertion apparatus <NUM> is inserted into the primary flowpath of turbine assembly <NUM> in any manner that enables insertion apparatus <NUM> to operate as described herein.

<FIG> is a schematic view of a non-claimed embodiment of an insertion apparatus <NUM> and a service apparatus <NUM> for use with turbine assembly <NUM> (shown in <FIG>). Insertion apparatus <NUM> includes an insertion end <NUM>, a steering end <NUM> opposite insertion end <NUM>, a body <NUM>, and a steering interface <NUM>. Insertion apparatus <NUM> is positionable within a primary flow path using a guide apparatus <NUM>. Body <NUM> extends from insertion end <NUM> to steering end <NUM>. Body <NUM> has a generally cylindrical shape and is elastically deformable in bending so as to change direction through guide apparatus <NUM>. Service apparatus <NUM> is coupled to insertion end <NUM> of insertion apparatus <NUM> so that rotation and translation of steering end <NUM> translate into rotation and translation on service apparatus <NUM>. Service apparatus also includes at least one anchoring feature <NUM> that facilitates maintaining position of service apparatus <NUM> relative to blades <NUM>, <NUM> during rotation of rotating shafts <NUM> and performance of maintenance operations. In alternative embodiments, insertion apparatus <NUM> includes any body <NUM> and/or any guide tube that enables insertion apparatus <NUM> to operate as described herein.

In the non-claimed embodiment, steering interface <NUM> is located at steering end <NUM> of insertion apparatus <NUM> and is configured to steer insertion end <NUM>, and hence service apparatus <NUM>, relative to turbine assembly <NUM> (shown in <FIG>). Insertion end <NUM> and service apparatus <NUM> are steerable by moving, using steering interface <NUM>, body <NUM>. In a non-claimed embodiments, insertion apparatus <NUM> includes any steering interface <NUM> that enables insertion apparatus <NUM> to operate as described herein.

The above described embodiments provide an insertion apparatus and service apparatus for use with rotary machines. The insertion apparatus is configured to position the service apparatus within a primary flowpath of the machine. For example, the insertion apparatus extends through a port of a turbine assembly and positions the service apparatus adjacent a rotating component of the turbine assembly using a steering interface. The service apparatus is releasably or rigidly coupleable to an insertion end of the insertion apparatus such that the service apparatus is positionable relative to the insertion apparatus. As a result, the insertion apparatus facilitates the service apparatus fitting between blades of the rotating component and provides access to locations within the primary flowpath of the machine.

An exemplary technical effect of the methods, systems, and apparatus described herein includes at least one of: (a) reducing the time to inspect and/or repair rotary machines; (b) increasing the accessibility of difficult-to-reach locations within a turbine assembly for inspection and/or in situ repair; (c) reducing the time that rotary machines are out of service for maintenance; (e) increasing the precision and/or reliability of inspection and repair of rotary machines; (f) reducing unplanned service outages for a rotary machine; and (g) enhancing data capture for use in quantifying and/or modeling the service condition of at least some components of the rotary machine.

Exemplary embodiments of methods and systems for use in maintaining 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 combination with other systems requiring inspection and/or repair of components, 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, equipment, and systems that may benefit from using a service apparatus for inspection and/or repair.

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 disclosure, any feature of a drawing may be referenced and/or claimed in combination with any feature of any other drawing.

Claim 1:
A system for use in maintaining a turbine assembly (<NUM>), the turbine assembly including a plurality of blades (<NUM>, <NUM>) and a plurality of vanes (<NUM>, <NUM>), said system comprising:
an insertion apparatus (<NUM>) comprising
a steering interface (<NUM>),
an insertion end (<NUM>),
a steering end (<NUM>) opposite said insertion end, and
a body (<NUM>) extending from said insertion end to said steering end,
wherein said insertion end is positionable proximate at least one blade of the plurality of blades using the steering interface (<NUM>);
a service apparatus (<NUM>) for use in maintaining the turbine assembly, said service apparatus including at least one maintenance device (<NUM>) and an anchoring feature (<NUM>), wherein said service apparatus is proximate said insertion end of said insertion apparatus and is positionable in a plurality of orientations via said steering interface, and wherein said anchoring feature is configured to releasably couple said service apparatus to at least one blade of the plurality of blades; and
characterized by:
a guide apparatus (<NUM>) configured to extend through a port of the turbine assembly and define a path for said insertion apparatus (<NUM>);
wherein said body (<NUM>) includes a first elastic sheet (<NUM>) and a second elastic sheet (<NUM>), and wherein said first elastic sheet and said second elastic sheet extend from said steering end (<NUM>) to said insertion end (<NUM>) along a translation direction defined by said guide apparatus (<NUM>),
said first elastic sheet (<NUM>) and second elastic sheet (<NUM>) include elastically deformable sheets that allows the first elastic sheet (<NUM>) and the second elastic sheet (<NUM>) to elastically bend through the guide apparatus (<NUM>) in the translational direction while providing sufficient stiffness to allow forward forces on the steering interface (<NUM>) to advance the insertion end (<NUM>),
wherein said steering interface (<NUM>) is coupled to said first elastic sheet and to said second elastic sheet at said steering end of said insertion apparatus,
wherein said insertion end is positionable along the translation direction by moving said first elastic sheet and said second elastic sheet along the translation direction, and wherein said insertion end is rotatable about a direction perpendicular to the translation direction by moving said first elastic sheet and said second elastic sheet relative to one another.