Inspection robot having a number of horizontally displaced sensor sleds

Patent metadata

Field	Value
Publication number	US-10795373-B2
Application number	US-201815990021-A
Country	US
Kind code	B2
Filing date	May 25, 2018
Priority date	Dec 23, 2016
Publication date	Oct 6, 2020
Grant date	Oct 6, 2020

Abstract

A system includes an inspection robot comprising a plurality of payloads; 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; a plurality of inspection sensors, each of the inspection sensors coupled to one of the plurality of sleds such that each sensor is operationally couplable to an inspection surface; and wherein the plurality of sleds are horizontally distributed on the inspection surface at selected horizontal positions, and wherein each of the arms is horizontally moveable relative to the corresponding payload.

First claim

What is claimed is:

1. A system, comprising:
an inspection robot comprising a plurality of payloads;
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;
a plurality of inspection sensors, each of the inspection sensors coupled to one of the plurality of sleds such that each sensor is operationally couplable to an inspection surface; and
wherein the plurality of sleds are horizontally distributed on the inspection surface at selected horizontal positions, and wherein each of the arms is horizontally moveable relative to the corresponding payload.

2. The system of claim 1 , wherein each of the payloads defines a horizontal inspection lane of the inspection surface.

3. The system of claim 2 , wherein each of the payloads is horizontally moveable relative to a body of the inspection robot.

4. The system of claim 1 , wherein the plurality of inspection sensors comprise a plurality of ultra-sonic (UT) sensors, the system further comprising a couplant chamber mounted to each of the plurality of sleds, and wherein the couplant chamber defines a delay line between the corresponding UT sensor and the inspection surface.

5. The system of claim 4 , wherein each payload comprises a single couplant connection between the payload and a body of the inspection robot.

6. The system of claim 4 , wherein each couplant chamber comprises a cone, the cone comprising a cone tip portion at an inspection surface end of the cone, and a sensor mounting end opposite the cone tip portion, and wherein the cone tip portion defines a couplant exit opening.

7. The system of claim 6 , further comprising a couplant entry for each couplant chamber, wherein the couplant entry is positioned between the cone tip portion and the sensor mounting end, and wherein the couplant entry is positioned at a vertically upper side of the cone in an intended orientation of the inspection robot on the inspection surface.

8. The system of claim 7 , wherein the system further includes a biasing member providing a down force on each of the arms.

9. The system of claim 8 , wherein the selected horizontal positions comprise an inspection distance between two horizontally adjacent sensors of the plurality of inspection sensors that is not greater than a selected horizontal resolution.

10. A system, comprising:
an inspection robot having a plurality of magnetic wheels and a plurality of payloads, wherein the magnetic wheels are configured to traverse a ferrous inspection surface;
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 the plurality of sleds are slidably mounted to the inspection robot, and configured to horizontally move relative to a body of the inspection robot when the plurality of arms are horizontally moved relative to the corresponding payload;
a plurality of inspection sensors, each of the plurality of inspection sensors operationally coupled to one of the plurality of sleds; and
wherein the plurality of sleds are horizontally distributed on the inspection surface at selected horizontal positions, and wherein the selected horizontal positions comprise an inspection distance between two horizontally adjacent sensors of the plurality of inspection sensors.

11. The system of claim 10 , wherein the plurality of inspection sensors comprise a plurality of ultra-sonic (UT) sensors, the system further comprising a couplant chamber mounted to one of the plurality of sleds, and wherein the couplant chamber defines a delay line between the corresponding UT sensor and the inspection surface.

12. The system of claim 11 , further comprising:
wherein each couplant chamber comprises a cone, the cone comprising a cone tip portion at an inspection surface end of the cone, and a sensor mounting end opposite the cone tip portion, and wherein the cone tip portion defines a couplant exit opening;
a couplant entry for each couplant chamber, wherein the couplant entry is positioned between the cone tip portion and the sensor mounting end; and
wherein the couplant entry is positioned at a vertically upper side of the cone in an intended orientation of the inspection robot on the inspection surface.

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