| 摘要 |
PURPOSE: An inspection system for a gas turbine combustor is provided to inspect various portions of transition parts on combustion components precisely in the right position by using three robotic manipulators including a small camera and an optical assembly. CONSTITUTION: 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 seam 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(44) and a front arm(46) mounting an inspection head pivotally coupled. The interior manipulator is mounted in the end of the combustion casing, and composed of 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. The annulus manipulator has 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, and performs remote visual inspection.
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