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    • 6. 发明授权
    • Apparatus for robotically inspecting gas turbine combustion components
    • 用于机器人检查燃气轮机燃烧部件的装置
    • US06414458B1
    • 2002-07-02
    • US09739356
    • 2000-12-19
    • Kenneth John HatleyRichard Michael HatleySean Michael McDonnellMichael John Bousquet
    • Kenneth John HatleyRichard Michael HatleySean Michael McDonnellMichael John Bousquet
    • B25J500
    • B25J5/00B25J5/02F01D25/285
    • A robotic inspection system for gas turbine combustion components includes an exterior manipulator for visual inspection of the exterior surface of the impingement sleeve, an interior manipulator for visual inspection of the interior of the transition piece body and an annulus manipulator for inspecting the side weld seams of the transition piece body. The exterior manipulator includes an arcuate segment extending about the annular spaced impingement sleeves and a robotic subassembly including a linear rail and an upper arm and forearm mounting an inspection head pivotally coupled to one another for visual inspection of the top, bottom and side external surfaces of the impingement sleeve. The interior manipulator mounts to the open end of the combustion casing and includes an arm mounted for universal pivotal movement to the mount, actuators for pivoting the arm and motors for extending and rotating an inspection head about pan and tilt axes within the interior of the transition piece body. The annulus manipulator includes a guide plate mounted to the combustor casing and having contoured surfaces tracking the side weld seams. A carriage mounts an inspection head and tracks along the contoured surfaces to track along the seam, affording remote visual inspection thereof.
    • 用于燃气轮机燃烧部件的机器人检查系统包括用于目视检查冲击套筒的外表面的外部操纵器,用于目视检查过渡件主体内部的内部操纵器和用于检查侧面焊缝 过渡件体。 外部操纵器包括围绕环形间隔开的冲击套筒延伸的弧形段和包括线性轨道和上臂以及前臂的机器人子组件,其安装了可枢转地联接到彼此的检查头,用于目视检查顶部,底部和侧面的外表面 冲击套筒。 内部操纵器安装到燃烧壳体的开口端,并且包括安装用于通向枢轴运动的臂的臂,用于枢转臂和电动机的致动器,用于使检查头围绕转盘内部的摇摄和倾斜轴线延伸和旋转 片体。 环形机械手包括安装到燃烧器壳体并具有跟踪侧面焊缝的轮廓表面的引导板。 托架安装检查头并沿着轮廓表面轨道沿着缝线跟踪,从而进行远程目视检查。