Method of robotically inspecting in situ an impingement sleeve of a gas turbine cannular combustion component

摘要

A robotic inspection system for gas turbine combustion components includes an exterior manipulator (20) for visual inspection of the exterior surface of the impingement sleeve (26), an interior manipulator (200) for visual inspection of the interior of the transition piece body (28) and an annulus manipulator (300) for inspecting the side weld seams (29) of the transition piece body. The exterior manipulator includes an arcuate segment (36) extending about the annular spaced impingement sleeves and a robotic subassembly (39) including a linear rail (38) and an upper arm (44) and forearm (46) mounting an inspection head (48) 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 (212, 214) mounted for universal pivotal movement (212) to the mount, actuators (220) for pivoting the arm and motors (232, 242, 250) for extending and rotating an inspection head about pan and tilt axes within the interior of the transition piece body. The annulus manipulator (300) includes a guide plate (314) mounted to the combustor casing and having contoured surfaces (320, 322) tracking the side weld seams (29). A carriage (324, 330) mounts an inspection head (347) and tracks along the contoured surfaces to track along the seam, affording remote visual inspection thereof.