Crawler robot for in situ gap inspection
First Claim
Patent Images
1. A robotic crawler comprising:
- an expandable body movable between a collapsed state and an expanded state;
a plurality of multidirectional traction modules removably connected to the expandable body, the multidirectional traction modules configured to engage opposed surfaces within an annular gap of a machine; and
a plurality of sensor modules removably connected to the expandable body and positioned by the plurality of multidirectional traction modules, the plurality of sensor modules including a plurality of sensor types to inspect the annular gap of the machine.
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Abstract
This disclosure provides systems and methods for in situ gap inspection in a machine, such as a generator, an electric motor, or a turbomachine. A robotic crawler includes an expandable body, multidirectional traction modules, and sensor modules. The expandable body is movable between a collapsed state and an expanded state. The multidirectional traction modules are removably connected to and positioned by the expandable body and configured to engage opposed surfaces within an annular gap of the machine. The sensor modules are removably connected to and supported by the expandable body and include a plurality of sensor types to inspect the annular gap of the machine.
69 Citations
25 Claims
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1. A robotic crawler comprising:
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an expandable body movable between a collapsed state and an expanded state; a plurality of multidirectional traction modules removably connected to the expandable body, the multidirectional traction modules configured to engage opposed surfaces within an annular gap of a machine; and a plurality of sensor modules removably connected to the expandable body and positioned by the plurality of multidirectional traction modules, the plurality of sensor modules including a plurality of sensor types to inspect the annular gap of the machine. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method comprising:
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configuring a plurality of multidirectional traction modules within an expandable body of a robotic crawler, the robotic crawler including a plurality of sensor interfaces; selecting a plurality of sensor modules from a plurality of sensor types; attaching the plurality of sensor modules to the plurality of sensor interfaces; inserting the robotic crawler into an annular gap of a machine; expanding the expandable body of the robotic crawler such that the plurality of multidirectional traction modules on the robotic crawler engage opposed surfaces in the annular gap; and performing a plurality of inspection tests along an inspection path using the plurality of sensor modules. - View Dependent Claims (19, 20, 21, 22, 23)
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24. A robot system comprising:
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a plurality of multidirectional traction modules configured to engage opposed surfaces within an annular gap of a machine, the machine selected from a generator, an electric motor, or a turbomachine; an expandable body connected to the plurality of multidirectional traction modules configured to position the plurality of multidirectional traction modules, wherein the expandable body is movable between a collapsed state and an expanded state; a plurality of sensor interfaces, each of the plurality of sensor interfaces providing a mounting interface connected to the expandable body and configured to receive at least one sensor module; and a plurality of sensor modules including a plurality of sensor types to inspect the annular gap of the machine, the plurality of sensor modules configured to removably attach to the plurality of sensor interfaces. - View Dependent Claims (25)
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Specification