DE10300383A1 - Pipe inspection and processing device, comprising spring supported examining heads moving in several directions - Google Patents

Pipe inspection and processing device, comprising spring supported examining heads moving in several directions Download PDF

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Publication number
DE10300383A1
DE10300383A1 DE2003100383 DE10300383A DE10300383A1 DE 10300383 A1 DE10300383 A1 DE 10300383A1 DE 2003100383 DE2003100383 DE 2003100383 DE 10300383 A DE10300383 A DE 10300383A DE 10300383 A1 DE10300383 A1 DE 10300383A1
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Germany
Prior art keywords
pig
examining
pipeline
measuring heads
heads
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Granted
Application number
DE2003100383
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German (de)
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DE10300383B4 (en
Inventor
Reinhold Dipl.-Ing. Reif
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Gmh Prueftechnik 90461 Nuernberg De GmbH
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ARCHINGER AG
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Priority to DE2003100383 priority Critical patent/DE10300383B4/en
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Publication of DE10300383B4 publication Critical patent/DE10300383B4/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
    • G01N27/9013—Arrangements for scanning
    • G01N27/902—Arrangements for scanning by moving the sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/10—Number of transducers
    • G01N2291/106—Number of transducers one or more transducer arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces
    • G01N2291/2636—Surfaces cylindrical from inside

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrochemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

The device is assembled of several movable but not rotary joined inspection elements (3), each provided with a number of radial positioned examining heads (6) to be used for various purposes. The examining head (6) is held by a radial movable holding element (7) and can be tilted around an axle (10) positioned in a right angle to the longitudinal axis of the inspection device and to the direction of motion (8) of the holding element (7). A curved sliding element (14) in combination with the motility of the examining head (6) facilitates the use of the device in a straight as well as in a curved pipe (13).

Description

Die Erfindung betrifft einen Rohrleitungsmolch zur Prüfung von Rohrleitungswandungen, mit mindestens einem Molchkörper und mehreren Messköpfen, die außen am Molchkörper ringsum vorgesehen sind.The invention relates to a pipeline pig for testing of pipeline walls, with at least one pig body and several measuring heads, the outside on the pig body are provided all around.

Ein derartiger Rohrleitungsmolch ist beispielsweise durch die DE 101 06 614 C1 bekannt geworden.Such a pipeline pig is, for example, by the DE 101 06 614 C1 known.

Zum Durchfahren und Warten von Rohrleitungen werden so genannte Rohrleitungsmolche eingesetzt, die sich selbsttätig durch die Rohrleitung bewegen.For driving through and maintaining pipes So-called pipeline pigs are used, which automatically move through move the pipeline.

Der aus der DE 101 06 614 C1 bekannte Rohrleitungsmolch umfasst mehrere hantelförmige Molchkörper, die über Verbindungselemente gelenkig, aber verdrehsteif miteinander verbunden sind. Außen am Molchkörper sind zwischen den beiden Hanteln ringsum Messköpfe zur Prüfung einer Rohrleitungswandung fest angeordnet. In gekrümmten Rohrleitungsabschnitten sind die bezüglich des Krümmungsmittelpunkts radial außen liegenden Messköpfe allerdings weiter von der Innenwand der Rohrleitung beabstandet als die radial innen liegenden Messköpfe, was zu Messungenauigkeiten führen kann.The one from the DE 101 06 614 C1 Known pipeline pig comprises several dumbbell-shaped pig bodies which are connected to one another in an articulated but torsionally rigid manner. On the outside of the pig body, measuring heads for checking a pipe wall are permanently arranged between the two dumbbells. In curved pipeline sections, however, the measuring heads lying radially outward with respect to the center of curvature are spaced further from the inner wall of the pipeline than the radially inner measuring heads, which can lead to measurement inaccuracies.

Es ist demgegenüber die Aufgabe der Erfindung, einen Rohrleitungsmolch der eingangs genannten Art derart weiterzubilden, dass alle Messköpfe eines Molchkörpers sowohl in einem geraden als auch in einem gekrümmten Rohrleitungsabschnitt stets gleich weit von der Innenwand der Rohrleitung beabstandet sind.In contrast, it is the object of the invention to further develop a pipeline pig of the type mentioned at the outset, that all measuring heads a pig body always in a straight as well as in a curved pipe section are equally spaced from the inner wall of the pipeline.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Messköpfe jeweils an einem Halter, der am Molchkörper radial verschiebbar gelagert und nach außen vorgespannt ist, kippbar um eine etwa rechtwinklig zur Molchlängsachse und etwa rechtwinklig zur Verschieberichtung des Halters verlaufende Achse gelagert sind.This object is achieved according to the invention solved, that the measuring heads each on a holder which is mounted on the pig body so as to be radially displaceable and outwards is biased, tiltable about an approximately perpendicular to the pig's longitudinal axis and approximately perpendicular to the direction of displacement of the holder Axis are stored.

Vorzugsweise ist zwischen dem Molchkörper und den Haltern jeweils eine Feder, insbesondere eine Druckfeder, vorgesehen, die den Halter bzw. den Messkopf radial nach außen in Anlage an die Innenwand der Rohrleitung drückt.Is preferably between the pig body and the holders each have a spring, in particular a compression spring, the holder or the measuring head radially outwards in contact with the inner wall the pipe presses.

Bei bevorzugten Ausführungsformen der Erfindung weisen die Messköpfe außenseitig jeweils ein Gleitteil zur Anlage an der Rohrleitungsinnenwand auf, wobei die beiden Längsenden des Gleitteils beidseitig des Messkopfes in Richtung der Molchlängsachse überstehen und kufenförmig radial nach innen gebogen sein können.In preferred embodiments of the invention have the measuring heads externally one sliding part each for contacting the inner pipe wall, with the two longitudinal ends protrude on both sides of the measuring head in the direction of the pig's longitudinal axis and skid-shaped can be bent radially inwards.

Weitere Vorteile der Erfindung ergeben sich aus der Beschreibung und der Zeichnung. Ebenso können die vorstehend genannten und die noch weiter aufgeführten Merkmale erfindungsgemäß jeweils einzeln für sich oder zu mehreren in beliebigen Kombinationen Verwendung finden. Die gezeigte und beschriebene Ausführungsform ist nicht als abschließende Aufzählung zu verstehen, sondern hat vielmehr beispielhaften Charakter für die Schilderung der Erfindung.Further advantages of the invention result itself from the description and the drawing. Likewise, the the above-mentioned and the features listed further according to the invention individually for themselves or more than one can be used in any combination. The embodiment shown and described is not intended to be a conclusive list understand, but rather has exemplary character for the description of the Invention.

Es zeigt:It shows:

1 eine Seitenansicht des erfindungsgemäßen Rohrleitungsmolchs mit mehreren Messköpfen zur Prüfung einer Rohrleitungswandung; und 1 a side view of the pipeline pig according to the invention with several measuring heads for testing a pipeline wall; and

2 die Lagerung eines in 1 gezeigten Messkopfes am Rohrleitungsmolch. 2 the storage of an in 1 shown measuring head on the pipeline pig.

Der in 1 gezeigte Rohrleitungsmolch 1 dient der optischen und/oder messtechnischen Untersuchung und/oder der Bearbeitung eines geraden oder gekrümmten Rohrs mittels Ultraschall, Wirbelstrom, Kamerasystem, Laser und artverwandten Techniken sowie Kombinationen davon.The in 1 shown piping pig 1 serves the optical and / or metrological examination and / or the processing of a straight or curved tube by means of ultrasound, eddy current, camera system, laser and related techniques as well as combinations thereof.

Der Molch 1 ist bezüglich seiner Längsachse 2 rotationssymmetrisch ausgebildet und weist vier jeweils axial beabstandete Molchkörper 3 auf, die zwischen zwei Endkörpern 4 angeordnet sind. Die Molch- und Endkörper 3, 4 sind miteinander jeweils durch ein Verbindungselement 5 gelenkig, aber torsionssteif verbunden. Außen an jedem Molchkörper 3 sind ringsum mehrere Messköpfe 6 zur Prüfung oder Bearbeitung einer Rohrleitungswandung 13 (2) vorgesehen.The newt 1 is with respect to its longitudinal axis 2 rotationally symmetrical and has four each pig bodies axially spaced 3 on that between two end bodies 4 are arranged. The newt and end bodies 3 . 4 are connected to each other by a connecting element 5 articulated but torsionally rigid. On the outside of every pig body 3 are several measuring heads all around 6 for testing or processing a pipe wall 13 ( 2 ) intended.

Wie in 2 gezeigt, sind die Messköpfe 6 jeweils an einem Halter 7, der am Molchkörper 3 radial verschiebbar (Doppelpfeil 8) geführt ist, kippbar (Doppelpfeil 9) um eine rechtwinklig zur Molchlängsachse 2 und rechtwinklig zur Verschieberichtung 8 des Halters 7 verlaufende Achse 10 gelagert. Durch eine am Molchkörper 3 abgestützte Druckfeder 11 ist der Halter 7 radial nach außen vorgespannt, so dass, in der Gebrauchslage des Rohrleitungsmolchs 1, der Messkopf 6 an die Innenwand 12 der Rohrleitungswandung 13 angedrückt wird. Zur Anlage an der Innenwand 12 weisen die Messköpfe 6 außenseitig jeweils ein Gleitteil 14 auf, dessen beide Längsenden 15 beidseitig des Messkopfes 6 in Richtung der Molchlängsachse 2 überstehen und kufenförmig radial nach innen gebogen sind. As in 2 shown are the measuring heads 6 each on a holder 7 on the pig body 3 radially displaceable (double arrow 8th ) is guided, tiltable (double arrow 9 ) at a right angle to the pig's longitudinal axis 2 and perpendicular to the direction of displacement 8th of the holder 7 extending axis 10 stored. Through one on the pig body 3 supported compression spring 11 is the keeper 7 biased radially outwards so that, in the position of use of the pipeline pig 1 , the measuring head 6 to the inner wall 12 the pipe wall 13 is pressed. For installation on the inner wall 12 point the measuring heads 6 one sliding part on the outside 14 on whose two longitudinal ends 15 on both sides of the measuring head 6 in the direction of the pig's longitudinal axis 2 protrude and are bent radially inwards like a skid.

Die radiale Verschiebbarkeit und die kippbare Lagerung der Messköpfe 6 am Molchkörper 3 bewirken, dass der Messkopf 6 sowohl in einem geraden als auch in einem gekrümmten Rohrleitungsabschnitt stets rechtwinklig zur Innenwand 12 bzw. radial zur Rohrmittelachse an der Innenwand 12 anliegt.The radial displaceability and the tiltable mounting of the measuring heads 6 on the pig body 3 cause the measuring head 6 always in a straight as well as in a curved pipe section at right angles to the inner wall 12 or radial to the pipe center axis on the inner wall 12 is applied.

Claims (5)

Rohrleitungsmolch (1) zur Prüfung von Rohrleitungswandungen (13), mit mindestens einem Molchkörper (3) und mehreren Messköpfen (6), die außen am Molchkörper (3) ringsum vorgesehen sind, dadurch gekennzeichnet, dass die Messköpfe (6) jeweils an einem Halter (7), der am Molchkörper (3) radial verschiebbar gelagert und nach außen vorgespannt ist, kippbar um eine etwa rechtwinklig zur Molchlängsachse (2) und etwa rechtwinklig zur Verschieberichtung (8) des Halters (7) verlaufende Achse (10) gelagert sind.Pipeline pig ( 1 ) for testing pipes line walls ( 13 ), with at least one pig body ( 3 ) and several measuring heads ( 6 ) on the outside of the pig body ( 3 ) are provided all around, characterized in that the measuring heads ( 6 ) each on a holder ( 7 ) on the pig body ( 3 ) is radially displaceable and is pretensioned to the outside, can be tilted about an approximately perpendicular to the longitudinal axis of the pig ( 2 ) and approximately at right angles to the direction of displacement ( 8th ) of the holder ( 7 ) running axis ( 10 ) are stored. Rohrleitungsmolch nach Anspruch 1, dadurch gekennzeichnet, dass zwischen dem Molchkörper (3) und den Haltern (7) jeweils eine Feder (11), insbesondere eine Druckfeder, vorgesehen ist.Pipeline pig according to claim 1, characterized in that between the pig body ( 3 ) and the holders ( 7 ) one spring each ( 11 ), in particular a compression spring, is provided. Rohrleitungsmolch nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Messköpfe (6) außenseitig jeweils ein Gleitteil (14) zur Anlage an der Innenwand (12) der Rohrleitungswandung (13) aufweisen.Pipe pig according to claim 1 or 2, characterized in that the measuring heads ( 6 ) one sliding part on the outside ( 14 ) on the inner wall ( 12 ) the pipe wall ( 13 ) exhibit. Rohrleitungsmolch nach Anspruch 3, dadurch gekennzeichnet, dass die beiden Längsenden (15) des Gleitteils (14) beidseitig des Messkopfes (6) in Richtung der Molchlängsachse (2) überstehen.Pipeline pig according to claim 3, characterized in that the two longitudinal ends ( 15 ) of the sliding part ( 14 ) on both sides of the measuring head ( 6 ) in the direction of the pig's longitudinal axis ( 2 ) survive. Rohrleitungsmolch nach Anspruch 4, dadurch gekennzeichnet, dass die überstehenden Längsenden (15) des Gleitteils (14) kufenförmig radial nach innen gebogen sind.Pipeline pig according to claim 4, characterized in that the projecting longitudinal ends ( 15 ) of the sliding part ( 14 ) are bent radially inwards like a skid.
DE2003100383 2003-01-09 2003-01-09 Pipeline pig Expired - Fee Related DE10300383B4 (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007064677A1 (en) * 2005-11-30 2007-06-07 General Electric Company Pulsed eddy current pipeline inspection system and method
WO2012024096A1 (en) * 2010-08-20 2012-02-23 General Electric Company Eddy current inspection of case-hardened metal components
CN103123337A (en) * 2011-11-17 2013-05-29 波音公司 Non-destructive inspection apparatus having an ergonomic grip and associated method
US20180267554A1 (en) * 2016-12-23 2018-09-20 Gecko Robotics, Inc. Inspection robot having self-aligning wheels
FR3069059A1 (en) * 2017-07-17 2019-01-18 Airbus Operations INSPECTION TOOL FOR A METAL TUBE
CN109696483A (en) * 2018-12-30 2019-04-30 河海大学 Auxiliary device for ultrasonic detection based on through transmission technique
US11135721B2 (en) 2016-12-23 2021-10-05 Gecko Robotics, Inc. Apparatus for providing an interactive inspection map
US11307063B2 (en) 2016-12-23 2022-04-19 Gtc Law Group Pc & Affiliates Inspection robot for horizontal tube inspection having vertically positionable sensor carriage
US11850726B2 (en) 2021-04-20 2023-12-26 Gecko Robotics, Inc. Inspection robots with configurable interface plates
US11971389B2 (en) 2021-04-22 2024-04-30 Gecko Robotics, Inc. Systems, methods, and apparatus for ultra-sonic inspection of a surface
US11992935B2 (en) 2022-05-24 2024-05-28 Gecko Robotics, Inc. Methods and apparatus for verifiable inspection operations

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3511076A1 (en) * 1985-03-27 1986-10-09 Kopp AG International Pipeline Services, 4450 Lingen MOLCH FOR ELECTROMAGNETIC TESTS ON PIPELINE WALLS OF STEEL AND METHOD THEREFOR
DE10106614C1 (en) * 2001-02-13 2002-05-29 Archinger Ag Pig, for inspection and maintenance of straight and curved pipes, has base body in dumb-bell shape, with test/working unit between dumb-bell bodies and sliding cushion around their outer surfaces against pipe wall

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3511076A1 (en) * 1985-03-27 1986-10-09 Kopp AG International Pipeline Services, 4450 Lingen MOLCH FOR ELECTROMAGNETIC TESTS ON PIPELINE WALLS OF STEEL AND METHOD THEREFOR
DE10106614C1 (en) * 2001-02-13 2002-05-29 Archinger Ag Pig, for inspection and maintenance of straight and curved pipes, has base body in dumb-bell shape, with test/working unit between dumb-bell bodies and sliding cushion around their outer surfaces against pipe wall

Cited By (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007064677A1 (en) * 2005-11-30 2007-06-07 General Electric Company Pulsed eddy current pipeline inspection system and method
US7402999B2 (en) 2005-11-30 2008-07-22 General Electric Company Pulsed eddy current pipeline inspection system and method
WO2012024096A1 (en) * 2010-08-20 2012-02-23 General Electric Company Eddy current inspection of case-hardened metal components
CN103123337A (en) * 2011-11-17 2013-05-29 波音公司 Non-destructive inspection apparatus having an ergonomic grip and associated method
US11511426B2 (en) 2016-12-23 2022-11-29 Gecko Robotics, Inc. System, method, and apparatus for rapid development of an inspection scheme for an inspection robot
US11529735B2 (en) 2016-12-23 2022-12-20 Gecko Robotics, Inc. Inspection robots with a multi-function piston connecting a drive module to a central chassis
US11892322B2 (en) 2016-12-23 2024-02-06 Gecko Robotics, Inc. Inspection robot for horizontal tube inspection having sensor carriage
US10698412B2 (en) 2016-12-23 2020-06-30 Gecko Robotics, Inc. Inspection robot with couplant chamber disposed within sled for acoustic coupling
US10739779B2 (en) 2016-12-23 2020-08-11 Gecko Robotics, Inc. Inspection robot having replaceable sensor sled portions
US10884423B2 (en) 2016-12-23 2021-01-05 Gecko Robotics, Inc. System, method, and apparatus for acoustic and magnetic induction thickness inspection of a material on a substrate
US20180267554A1 (en) * 2016-12-23 2018-09-20 Gecko Robotics, Inc. Inspection robot having self-aligning wheels
US10942522B2 (en) 2016-12-23 2021-03-09 Gecko Robotics, Inc. System, method, and apparatus for correlating inspection data and image data
US11511427B2 (en) 2016-12-23 2022-11-29 Gecko Robotics, Inc. System, apparatus and method for providing an inspection map
US11135721B2 (en) 2016-12-23 2021-10-05 Gecko Robotics, Inc. Apparatus for providing an interactive inspection map
US11144063B2 (en) 2016-12-23 2021-10-12 Gecko Robotics, Inc. System, method, and apparatus for inspecting a surface
US11148292B2 (en) 2016-12-23 2021-10-19 Gecko Robotics, Inc. Controller for inspection robot traversing an obstacle
US11157013B2 (en) 2016-12-23 2021-10-26 Gecko Robotics, Inc. Inspection robot having serial sensor operations
US11157012B2 (en) 2016-12-23 2021-10-26 Gecko Robotics, Inc. System, method, and apparatus for an inspection robot performing an ultrasonic inspection
US11307063B2 (en) 2016-12-23 2022-04-19 Gtc Law Group Pc & Affiliates Inspection robot for horizontal tube inspection having vertically positionable sensor carriage
US11385650B2 (en) 2016-12-23 2022-07-12 Gecko Robotics, Inc. Inspection robot having replaceable sensor sled portions
US11429109B2 (en) 2016-12-23 2022-08-30 Gecko Robotics, Inc. System, method, and apparatus to perform a surface inspection using real-time position information
US11518031B2 (en) 2016-12-23 2022-12-06 Gecko Robotics, Inc. System and method for traversing an obstacle with an inspection robot
US10895878B2 (en) * 2016-12-23 2021-01-19 Gecko Robotics, Inc. Inspection robot having self-aligning wheels
US11740635B2 (en) 2016-12-23 2023-08-29 Gecko Robotics, Inc. System, method, and apparatus for acoustic inspection of a surface
US11504850B2 (en) 2016-12-23 2022-11-22 Gecko Robotics, Inc. Inspection robot and methods thereof for responding to inspection data in real time
US11518030B2 (en) 2016-12-23 2022-12-06 Gecko Robotics, Inc. System, apparatus and method for providing an interactive inspection map
US11872707B2 (en) 2016-12-23 2024-01-16 Gecko Robotics, Inc. Systems and methods for driving an inspection robot with motor having magnetic shielding
US11565417B2 (en) 2016-12-23 2023-01-31 Gecko Robotics, Inc. System and method for configuring an inspection robot for inspecting an inspection surface
US11648671B2 (en) 2016-12-23 2023-05-16 Gecko Robotics, Inc. Systems, methods, and apparatus for tracking location of an inspection robot
US11669100B2 (en) 2016-12-23 2023-06-06 Gecko Robotics, Inc. Inspection robot having a laser profiler
US11673272B2 (en) 2016-12-23 2023-06-13 Gecko Robotics, Inc. Inspection robot with stability assist device
FR3069059A1 (en) * 2017-07-17 2019-01-18 Airbus Operations INSPECTION TOOL FOR A METAL TUBE
CN109696483B (en) * 2018-12-30 2021-06-01 河海大学 Ultrasonic detection auxiliary device based on penetration method
CN109696483A (en) * 2018-12-30 2019-04-30 河海大学 Auxiliary device for ultrasonic detection based on through transmission technique
US11926037B2 (en) 2021-04-20 2024-03-12 Gecko Robotics, Inc. Systems for reprogrammable inspection robots
US11872688B2 (en) 2021-04-20 2024-01-16 Gecko Robotics, Inc. Inspection robots and methods for inspection of curved surfaces
US11865698B2 (en) 2021-04-20 2024-01-09 Gecko Robotics, Inc. Inspection robot with removeable interface plates and method for configuring payload interfaces
US11904456B2 (en) 2021-04-20 2024-02-20 Gecko Robotics, Inc. Inspection robots with center encoders
US11850726B2 (en) 2021-04-20 2023-12-26 Gecko Robotics, Inc. Inspection robots with configurable interface plates
US11964382B2 (en) 2021-04-20 2024-04-23 Gecko Robotics, Inc. Inspection robots with swappable drive modules
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