Inspection robot having replaceable sensor sled portions

Patent metadata

Field	Value
Publication number	US-10739779-B2
Application number	US-201815988969-A
Country	US
Kind code	B2
Filing date	May 24, 2018
Priority date	Dec 23, 2016
Publication date	Aug 11, 2020
Grant date	Aug 11, 2020

Abstract

A system includes an inspection robot having a number of payloads, a number of arms mounted to the payloads, and a number of sleds mounted to the arms, where the sleds comprise an upper portion coupled to a replaceable lower portion, the replaceable lower portion having a bottom surface shaped to accommodate an inspection surface; and an inspection sensor coupled to the upper portion of the one of the plurality of sleds such that the sensor is operationally couplable to the inspection surface.

First claim

What is claimed is:

1. A method, comprising:
determining a surface feature of an inspection surface;
selecting one of a multiplicity of replaceable lower portions of an inspection sled in response to the surface feature; and
coupling the selected one of the multiplicity of replaceable lower portions to an upper portion of the inspection sled, thereby forming a completed inspection sled,
wherein coupling the selected one of the multiplicity of replaceable lower portions to an upper portion comprises twisting the replaceable lower portion comprising a slot into a coupled position with the upper portion having a key, the twisting comprising rotating the replaceable lower portion about an axis centered on an inspection sensor mounted on the inspection sled.

2. The method of claim 1 , wherein the selecting the one of the multiplicity of replaceable lower portions comprises selecting a lower portion having at least one feature selected from the features consisting of: a selected bottom surface shape; a selected ramp angle; a selected ramp total height value; a selected distance between a sensor coupled to the upper portion and the inspection surface; and a selected material of the replaceable lower portion.

3. The method of claim 1 , wherein the selecting comprises manufacturing the selected one of the replaceable lower portions after the determining the surface feature of the inspection surface.

4. The method of claim 1 , wherein the twisting further comprises rotating the replaceable lower portion in a plane parallel to a bottom surface of the replaceable lower portion.

5. A method, comprising: providing an inspection robot comprising:
a plurality of payloads and a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads;
a plurality of sleds, wherein each sled is mounted to one of the plurality of arms, and wherein each of the plurality of sleds comprises an upper portion coupled to a replaceable lower portion, each replaceable lower portion having a bottom surface that engages an inspection surface; and
a plurality of inspection sensors, wherein each of the plurality of inspection sensors is coupled to the upper portion of one of the plurality of sleds;
removing one of the replaceable lower portions of one of the plurality of sleds by twisting the one of the replaceable lower portions to disengage a slot of the one of the replaceable lower portions with a key of the upper portion of one of the plurality of sleds; and
replacing the one of the replaceable lower portions of the one of the plurality of sleds by twisting a replacement lower portion to engage a slot of the replacement lower portion with the key of the upper portion of one of the plurality of sleds;
wherein twisting the replacement lower portion comprises rotating the replacement lower portion about an axis centered on one of the inspection sensors of the plurality coupled to the upper portion of the one of the plurality of sleds.

6. The method of claim 5 , further comprising determining that the bottom surface of one of the replaceable lower portions is damaged, and wherein the removing comprises removing the damaged one of the replaceable lower portions.

7. The method of claim 5 , further comprising manufacturing a new replaceable lower portion using a 3D printing operation, and wherein the replacing comprises using the new replaceable lower portion.

8. The method of claim 5 , wherein the replacing comprises changing at least one feature of the replaceable lower portion selected from the features consisting of: a bottom surface shape; a ramp angle; a ramp total height value; a distance between one of the inspection sensors coupled to the upper portion and the inspection surface; and a selected material of the replaceable lower portion.

9. The method of claim 5 , wherein the removing is performed without de-coupling the inspection sensor from the corresponding upper portion.

10. The method of claim 5 , wherein the providing the inspection robot comprises providing the plurality of sleds with a horizontal distribution such that an inspection distance between two horizontally adjacent sleds of the plurality of sleds that is not greater than a selected horizontal resolution.

Assignees

• Gecko Robotics Inc

Inventors

• Loosararian Mark
• Moore Joshua
• Gu Yizhu
• Low Kevin
• Bryner Edward
• Mackenzie Logan
• Miller Ian
• Chou Alvin
• Joslin Todd

Classifications

• G05B15/02

  electric · CPC title

• G01N29/04

  Analysing solids (using acoustic emission techniques G01N29/14) · CPC title

• G01N27/82

  for investigating the presence of flaws · CPC title

• G01N21/88

  Investigating the presence of flaws or contamination · CPC title

• G01M3/04

  by detecting the presence of fluid at the leakage point · CPC title