Apparatus for Automated Maintenance of Aircraft Structural Elements

Patent metadata

Field	Value
Publication number	US-2016368134-A1
Application number	US-201615244927-A
Country	US
Kind code	A1
Filing date	Aug 23, 2016
Priority date	Jan 19, 2010
Publication date	Dec 22, 2016
Grant date	—

Abstract

Devices for maintaining crawler alignment on complex-shaped blades and for enabling the blade crawler to traverse over trailing edge protrusions. Using ball and socket bearings or air pads in place of alignment wheels, the crawler will be able to track along complex-geometry rotor blades, propellers and other airfoils. Using an oversized-diameter roller, a semi-flexible roller, or a dual-roller arrangement, the crawler will be able to traverse over trailing edge protrusions.

First claim

1 . An automated apparatus for moving an end effector over a surface of an airfoil-shaped body, comprising:
a chassis configured to be mounted on an airfoil-shaped body, said chassis comprising forward and rearward assemblies which are linearly displaceable relative to each other along a first axis, said rearward assembly comprising an axle having a second axis perpendicular to said first axis; a drive roller rotatably mounted to said chassis; a first drive motor mounted to said chassis and arranged to drive rotation of said drive roller; a cross beam rotatably mounted to said axle of said rearward assembly of said chassis; a second drive motor arranged to drive rotation of said cross beam relative to said axle; and first and second rollers rotatably mounted to opposing ends of said cross beam for rotation about third and fourth axes respectively, said third and fourth axes being parallel to said second axis.

2 . The apparatus as recited in claim 1 , further comprising a pivot gear mounted to an output shaft of said second drive motor and an axle reaction gear affixed to said axle, each of said pivot gear and said axle reaction gear comprising teeth that are interengaged.

3 . The apparatus as recited in claim 2 , wherein said second drive motor is housed inside said cross beam and said pivot gear is disposed outside said cross beam.

4 . The apparatus as recited in claim 2 , further comprising a third drive motor arranged to drive rotation of said first roller relative to said cross beam and a fourth drive motor arranged to drive rotation of said second roller relative to said cross beam.

5 . The apparatus as recited in claim 4 , wherein said second, third and fourth drive motors are housed inside said cross beam and said pivot gear is disposed outside said cross beam.

6 . The apparatus as recited in claim 1 , further comprising a linear actuator for linearly displacing said rearward assembly relative to said forward assembly of said chassis, said linear actuator comprising a third drive motor.

7 . The apparatus as recited in claim 6 , further comprising a computer system configured to control said second and third drive motors in a protrusion climbing mode such that said cross beam rotates about said second axis and linearly displaces along said first axis concurrently.

8 . The apparatus as recited in claim 7 , wherein said computer system is further configured to control said first drive motor in a chassis displacement mode such that said drive roller rotates while said cross beam does not rotate.

9 . An automated apparatus for moving an end effector over a surface of an airfoil-shaped body, comprising:
a chassis configured to be mounted on an airfoil-shaped body, said chassis comprising forward and rearward assemblies which are linearly displaceable relative to each other along a first axis, said rearward assembly comprising a support member; a drive roller rotatably mounted to said chassis; a first drive motor mounted to said chassis and arranged to drive rotation of said drive roller; a second drive motor mounted to said support member and comprising an output shaft having a second axis perpendicular to said first axis; a cross beam mounted to said output shaft of said second drive motor; and first and second rollers rotatably mounted to opposing ends of said cross beam for rotation about third and fourth axes respectively, said third and fourth axes being parallel to said second axis.

10 . The apparatus as recited in claim 9 , further comprising a linear actuator for linearly displacing said rearward assembly relative to said forward assembly of said chassis, said linear actuator comprising a third drive motor.

11 . The apparatus as recited in claim 10 , further comprising a computer system configured to control said second and third drive motors in a protrusion climbing mode such that said cross beam rotates about said second axis and linearly displaces along said first axis concurrently.

12 . The apparatus as recited in claim 11 , wherein said computer system is further configured to control said first drive motor in a chassis displacement mode such that said drive roller rotates while said cross beam does not rotate.

13 . An automated apparatus for moving an end effector over a surface of an airfoil-shaped body, comprising:
a chassis configured to be mounted on an airfoil-shaped body, said chassis comprising forward and rearward assemblies which are linearly displaceable relative to each other along a first axis, said rearward assembly comprising an axle having a second axis perpendicular to said first axis; a drive roller rotatably mounted to said chassis; a first drive motor mounted to said chassis and arranged to drive rotation of said drive roller; a cross beam rotatably mounted to said axle of said rearward assembly of said chassis and not driven to rotate by a motor; first and second rollers rotatably mounted to opposing ends of said cross beam for rotation about third and fourth axes respectively, said third and fourth axes being parallel to said second axis; and a second drive motor for driving rotation of said first roller about said third axis.

14 . The apparatus as recited in claim 13 , further comprising:
a drive pulley affixed to an output shaft of said second drive motor; a first follower pulley rotatably coupled to said cross beam and fixedly coupled to said first roller; and a first drive belt or chain that couples the first follower pulley to the drive pulley.

15 . The apparatus as recited in claim 14 , further comprising:
a second follower pulley rotatably coupled to said cross beam and fixedly coupled to said second roller; and a second drive belt or chain that couples the second follower pulley to the drive pulley.

16 . The apparatus as recited in claim 13 , further comprising a third drive motor for driving rotation of said second roller about said fourth axis.

17 . An automated apparatus for moving an end effector over a surface of an airfoil-shaped body, comprising:
a chassis comprising forward and rearward assemblies, said rearward assembly being displaceable along an axis relative to said forward assembly; a drive roller coupled to said chassis for rolling in a direction which is transverse to said axis; a drive motor coupled to said drive roller and mounted to said chassis, said drive motor being capable of actuating rotation of said drive roller; and a follower roller coupled to said chassis for rolling in said transverse direction, wherein said follower roller comprises semi-flexible material.

18 . The apparatus as recited in claim 17 , wherein said drive roller is coupled to said forward subassembly of said chassis and said follower roller is coupled to said rearward subassembly of said chassis.

19 . The apparatus as recited in claim 18 , wherein said rearward assembly comprises an axle, said follower roller being rotatably coupled to said axle.

20 . The apparatus as recited in claim 17 , wherein said semi-flexible material comprises soft elastomeric or semi-rigid foam.

Assignees

• Boeing Co

Inventors

• Hafenrichter Joseph L
• Georgeson Gary E

Classifications

• G01M5/0033

  by determining damage, crack or wear · CPC title

• G01N2291/106

  one or more transducer arrays · CPC title

• G01N29/28

  providing acoustic coupling {, e.g. water (impedance matching G10K11/02)} · CPC title

• B64F5/60

  Testing or inspecting aircraft components or systems · CPC title

• G01N2291/0422

  Shear waves, transverse waves, horizontally polarised waves · CPC title