Non-destructive ultrasonic inspection apparatus, systems, and methods
First Claim
1. A system for inspecting a component, comprising:
- an ultrasonic inspection probe comprising a component surface interface;
a robotic device comprising an end effector coupled to the ultrasonic inspection probe by an articulation subsystem comprising a two-axis gimbal structure arranged to passively absorb pitch and roll movement of the ultrasonic inspection probe, wherein the robotic device is automatably controllable to move the ultrasonic inspection probe across a surface of the component;
an angle sensor subsystem coupled to the two-axis gimbal structure, wherein the angle sensor subsystem is configured to operably detect an actual orientation of the end effector relative to a presently inspected portion of the surface of the component; and
a controller configured to receive orientation data from the angle sensor subsystem based on the actual orientation of the end effector, compare the actual orientation to a desired orientation, and control the robotic device to adjust the actual orientation of the end effector to be in the desired orientation.
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Accused Products
Abstract
As described herein, a system for inspecting a component includes an ultrasonic inspection probe with a component surface interface, and a robotic device with an end effector coupled to the ultrasonic inspection probe. The robotic device is automatably controllable to move the ultrasonic inspection probe across a surface of the component. Additionally, the system includes an angle sensor subsystem coupled between the ultrasonic inspection probe and the end effector. The angle sensor subsystem is configured to operably detect an actual orientation of the end effector relative to a presently inspected portion of the surface of the component. The system includes a controller configured to receive orientation data from the angle sensor subsystem, the orientation data comprising the actual orientation of the end effector, compare the actual orientation to a desired orientation, and control the robotic device to adjust an orientation of the end effector to be in the desired orientation.
62 Citations
19 Claims
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1. A system for inspecting a component, comprising:
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an ultrasonic inspection probe comprising a component surface interface; a robotic device comprising an end effector coupled to the ultrasonic inspection probe by an articulation subsystem comprising a two-axis gimbal structure arranged to passively absorb pitch and roll movement of the ultrasonic inspection probe, wherein the robotic device is automatably controllable to move the ultrasonic inspection probe across a surface of the component; an angle sensor subsystem coupled to the two-axis gimbal structure, wherein the angle sensor subsystem is configured to operably detect an actual orientation of the end effector relative to a presently inspected portion of the surface of the component; and a controller configured to receive orientation data from the angle sensor subsystem based on the actual orientation of the end effector, compare the actual orientation to a desired orientation, and control the robotic device to adjust the actual orientation of the end effector to be in the desired orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus for inspecting a component, comprising:
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a housing; an ultrasonic array coupled to the housing; a component surface interface of the housing, the component surface interface comprising a liquid couplant port, an engagement lip engageable with a surface of the component, and at least one vacuum port, wherein the engagement lip has an annular shape and circumferentially circumscribes the liquid couplant port and the at least one vacuum port has an annular shape and circumferentially circumscribes the engagement lip, wherein the at least one vacuum port is fluidly coupleable with a vacuum source; a liquid couplant chamber disposed between the ultrasonic array and the liquid couplant port of the component surface interface, wherein the liquid couplant chamber is in fluid communication with the liquid couplant port and the liquid couplant chamber is fluidly coupleable with a liquid couplant supply; and an end effector of a robotic device, coupled to an articulation subsystem, wherein the robotic device is automatably controllable to move the apparatus across the surface of the component; wherein the articulation subsystem comprises a two-axis gimbal structure coupled between the housing and the end effector, and is configured to operably maintain the component surface interface properly engaged with a presently inspected portion of the surface of the component. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for inspecting a component, comprising:
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robotically moving an ultrasonic inspection probe across a surface of the component to inspect structural characteristics of the component, wherein moving the ultrasonic inspection probe comprises automatably controlling a robotic device comprising an end effector to which the ultrasonic inspection probe is coupled by an articulation subsystem comprising a two-axis gimbal structure arranged to passively absorb pitch and roll movement of the ultrasonic inspection probe; detecting an actual orientation of the end effector relative to a presently inspected portion of the surface of the component, wherein detecting the actual orientation of the end effector comprises receiving orientation data from an angle sensor subsystem that is coupled to the two-axis gimbal structure; comparing the actual orientation to a desired orientation; and controlling the robotic device to adjust the actual orientation of the end effector to be in the desired orientation. - View Dependent Claims (19)
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Specification