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Non-destructive ultrasonic inspection apparatus, systems, and methods

  • US 9,664,652 B2
  • Filed: 10/30/2014
  • Issued: 05/30/2017
  • Est. Priority Date: 10/30/2014
  • Status: Active Grant
First Claim
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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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