IL264120B - Automatic system for performing tests on wing-like objects - Google Patents

Automatic system for performing tests on wing-like objects

Info

Publication number
IL264120B
IL264120B IL264120A IL26412019A IL264120B IL 264120 B IL264120 B IL 264120B IL 264120 A IL264120 A IL 264120A IL 26412019 A IL26412019 A IL 26412019A IL 264120 B IL264120 B IL 264120B
Authority
IL
Israel
Prior art keywords
inspection
along
displacement mechanism
carrying arm
inspection probe
Prior art date
Application number
IL264120A
Other languages
Hebrew (he)
Other versions
IL264120A (en
Inventor
Lepek Hanan
Lagziel Rafi
Dvorkin Zeev
Uretsky Mark
Original Assignee
Israel Aerospace Ind Ltd
Lepek Hanan
Lagziel Rafi
Dvorkin Zeev
Uretsky Mark
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Israel Aerospace Ind Ltd, Lepek Hanan, Lagziel Rafi, Dvorkin Zeev, Uretsky Mark filed Critical Israel Aerospace Ind Ltd
Priority to IL264120A priority Critical patent/IL264120B/en
Publication of IL264120A publication Critical patent/IL264120A/en
Publication of IL264120B publication Critical patent/IL264120B/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G01N29/225—Supports, positioning or alignment in moving situation
    • 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
    • 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
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
    • 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
    • G01N2291/269—Various geometry objects
    • 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
    • G01N2291/269—Various geometry objects
    • G01N2291/2694—Wings or other aircraft parts

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Description

AUTOMATIC INSPECTION SYSTEM FOR AIRFOIL-SHAPED OBJECTS TECHNOLOGICAL FIELD The presently disclosed subject matter is related to the field of inspection systems for airfoil-shaped objects.
BACKGROUND Airfoil shaped objects or airfoils in short, normally have a characteristic shape with a rounded leading edge, followed by a sharp trailing edge, often with a symmetric curvature of upper and lower surfaces. Common industrial implementations of airfoils can be found for example in fixed wings of an aircraft, in horizontal, and vertical stabilizers of an aircraft, as well as in helicopter rotor blades. Airfoils can also be found in propellers, fans, compressors and turbines. In the aviation industry, where airfoils are commonly used, maintenance programs often include a routine inspection thereof, and these are performed before and after flights, and are purposed to discover any damages or defects in the airfoil which may require fixing. Some of these inspections include non-destructive testing (NDT), purposed to locate and characterize material conditions and flaws on airfoils, in a manner which does not affect the future utility of the airfoil or material. In other words, NDT allows airfoil parts and their material to be inspected and measured without damaging them. NDT methods can include visual inspection, tap testing, ultrasonic inspection, radiography, and advanced methods such as thermography and laser shearography.
GENERAL DESCRIPTION According to a first aspect of the presently disclosed subject matter there is provided A system for inspecting an airfoil-shaped object via an inspection surface thereof, the system having a spanwise axis and a chordwise axis and a main plane defined by the two axes of the system, the system comprising, at least in operation: 25 at least one elongated rigid carrying arm extending along the chordwise axis and having a dimension along the spanwise axis essentially smaller than that along the chordwise axis; at least one inspection probe attached to the carrying arm to perform the inspection; a first displacement mechanism configured for displacing the carrying arm together with the at least one inspection probe at least along the spanwise axis; and a second displacement mechanism configured for displacing at least a portion of the carrying arm together with at least the inspection probe at least in a direction transverse to the main plane. The system can further be configured to displace the at least inspection probe along the chordwise axis. The displacing of the at least inspection probe along the chordwise axis can be performed by the first displacement mechanism. The system can further comprise a third displacement mechanism, and wherein the displacing of the at least inspection probe along the chordwise axis is performed by the third displacement mechanism. The direction can be perpendicular to the main plane, and can comprise a vertical component. The system can further comprise a base movable by the first displacement mechanism together with the rigid carrying arm along the spanwise axis, on a surface spaced from the carrying arm. The second displacement mechanism can comprise a guiding rail formed in the base, along which the at least a portion of the carrying arm can be configured to displace. The system can further comprise a computing unit configured to control the operation of at least the first and second displacement mechanisms during the inspection so as to displace the inspection probe along a predetermined inspection path calculated based on geometrical parameters of the airfoil shaped object. The inspection path can be three dimensional.
The computing unit can further be configured to control the operation of the third displacement mechanism so as to displace the inspection probe along the inspection path. The computing unit can further be configured to receive the geometrical parameters of the airfoil shaped object and calculate the inspection path based on the parameters. The carrying arm can have a first end at which it is at least indirectly mechanically connected to the first and the second displacement mechanisms, and a second end which is free of mechanical connection to these mechanisms, thereby allowing inspection of a selected area of the inspection surface using the entire carrying arm or a portion thereof at one side of the inspection surface. The second displacement mechanism can be configured for displacing the entire carrying arm together with the at least one inspection probe. The at least one inspection probe are a plurality of inspection probes. According to a first aspect of the presently disclosed subject matter there is provided a method for inspecting an airfoil-shaped object via an inspection surface thereof, the object having a spanwise axis and a chordwise axis defining together a main plane, the method comprising the steps of: (a) providing at least one rigid carrying arm extended at least partially along the chordwise axis; (b) providing at least one inspection probe attached to the carrying arm to perform the inspection; (c) displacing the carrying arm, by a first displacement mechanism spaced from the airfoil-shaped object, together with the at least one inspection probe at least along the spanwise axis; and (d) displacing at least a portion of the carrying arm, by a second displacement mechanism spaced from the airfoil-shaped object, together with at least the inspection probe at least in a direction transverse to the main plane. The method can further comprise the step of displacing the at least inspection probe along the chordwise axis. This displacing can be performed by the first displacement mechanism, or by a third displacement mechanism, further provided in a preliminary step of the method.
The direction can be perpendicular to the main plane, and can comprise a vertical component. The method can further comprise the steps of: - providing a base connected to the rigid carrying arm; and - moving the base, by the first displacement mechanism, together with the rigid carrying arm along the spanwise axis, on a surface spaced from the airfoil-shaped object. The second displacement mechanism can comprise a guiding rail formed in the base, and the method can further comprise the step of along which the at least a portion of the carrying arm is displaces. The method can further comprise the steps of: - providing a computing unit; - calculating a predetermined inspection path, by the computing unit, based on geometrical parameters of the airfoil shaped object; and - controlling the operation of at least the first and second displacement mechanisms, by the computing unit, so as to displace the inspection probe along the predetermined inspection path. The method can further comprise the step of controlling the operation of the third displacement mechanism, by the computing unit, so as to displace the inspection probe along the inspection path. The inspection path can be three dimensional. The method can further comprise a preliminary step of receiving the geometrical parameters of the airfoil shaped object. Step (d) in the method can include displacing the entire carrying arm together with the at least one inspection probe, by the second displacement mechanism spaced from the airfoil-shaped object, at least in a direction transverse to the main plane. The at least one inspection probe can be a plurality of inspection probes. Instead of using microphones to capture the sound emanating from the wing as a result of the tap, other sensing means can also be provided to capture a feedback emerging from the tapping on the wing. Such sensing means can be for example force sensing means for measuring the normal force developing in the wing as a result of the tap, or vibration sensing means for sensing the vibrations in the wing as a result of the tap.
BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the subject matter that is disclosed herein and to exemplify how it may be carried out in practice, embodiments will now be described, by way of non-limiting examples only, with reference to the accompanying schematic drawings, in which: Fig. 1 illustrates a front perspective view of a system according to one example of the presently disclosed subject matter; Fig. 2 illustrates a rear sectional view of the system shown in Fig. 1, taken along line I-I; Fig. 3 illustrates a perspective view of one example of a tapping probe that can be used in a system according to the presently disclosed subject matter; Fig. 4 illustrates a perspective view of a system according to another example of the presently disclosed subject matter; Fig. 5 illustrates a perspective view of another example of a tapping probe which can be used in a system according to the presently disclosed subject matter; Fig. 6 illustrates a perspective view of yet another system according to an example of the presently disclosed subject matter; Fig. 7illustrates a cross-section view of the system shown in Fig. 6, taken along a plane II-II; Fig. 8 illustrates a perspective view of a system according to yet another example of the presently disclosed subject matter; Fig. 9 illustrates a perspective view of a system according to yet another example of the presently disclosed subject matter; Fig. 10 illustrates a perspective view of a system according to yet another example of the presently disclosed subject matter; Fig. 11 illustrates a perspective view of yet another example of a tapping probe which can be used in a system according to the presently disclosed subject matter; Fig. 12 illustrates a front view of a system according to yet another example of the presently disclosed subject matter; Fig. 13 illustrates a close up cross-sectional view of the system shown in Fig. 12, taken along a plane III-III; Fig. 14 illustrates a close up view of an area A in Fig, 13; Fig. 15 illustrates a rear view of an area B in Fig. 14, where some parts are omitted for clarity ; Fig. 16 illustrates a perspective view of a system according to yet another example of the presently disclosed subject matter; Fig. 17 illustrates a perspective view of a system according to yet another example of the presently disclosed subject matter; and Fig. 18 illustrates a perspective view of a tapping probe according to yet another example of the presently disclosed subject matter.

Claims (26)

1./ 02572623111- CLAIMS: 1. A system for in-situ inspecting an airfoil-shaped object via an inspection surface thereof, the system having a spanwise axis and a chordwise axis and a main plane defined by the two axes of the system, the system comprising, at least in operation: a base; at least one elongated rigid carrying arm extending along the chordwise axis, and having a dimension along the spanwise axis essentially smaller than that along the chordwise axis; at least one inspection probe attached to the carrying arm to perform the inspection; a first displacement mechanism connected to said base configured for displacing the system at least along the spanwise axis on a surface spaced from said inspection surface; and a second displacement mechanism connected to said rigid carrying arm configured for displacing at least a portion of the carrying arm together with at least the inspection probe at least in a direction transverse to the main plane.
2. A system according to Claim 1, wherein the system is further configured to displace the at least inspection probe along the chordwise axis.
3. A system according to Claim 2, wherein the displacing of the at least one inspection probe along the chordwise axis is performed by the first displacement mechanism.
4. A system according to Claim 2 wherein the system further comprises a third displacement mechanism for displacing the at least one inspection probe along the chordwise axis. – 23 – 02572623111-
5. A system according to any one of the preceding claims, wherein the direction is perpendicular to the main plane.
6. A system according to any one of the preceding claims, wherein the carrying arm has a first end at which it is at least indirectly mechanically connected to the first and the second displacement mechanisms, and a second end which is free of mechanical connection to these mechanisms.
7. A system according to any one of the preceding claims, wherein the second displacement mechanism comprises a guiding rail formed in the base, along which the at least a portion of the carrying arm is configured to be displaced.
8. A system according to any one of the preceding claims, further comprising a computing unit configured to control the operation of at least the first and second displacement mechanisms during the inspection so as to displace the inspection probe along a predetermined inspection path calculated based on geometrical parameters of the airfoil shaped object.
9. A system according to Claim 8 when dependent in Claim 4, wherein the computing unit is further configured to control the operation of the third displacement mechanism so as to displace the inspection probe along the inspection path.
10. A system according to Claim 8 or Claim 9, wherein the inspection path is three dimensional.
11. A system according to Claim 8, 9 or 10, wherein the computing unit is further configured to receive the geometrical parameters of the airfoil shaped object and calculate the inspection path based on the parameters. – 24 – 02572623111-
12. A system according to any one of the preceding claims, wherein the second displacement mechanism is configured for displacing the entire carrying arm together with the at least one inspection probe.
13. A system according to any one of the preceding claims, wherein the at least one inspection probe are a plurality of inspection probes.
14. A method for in-situ inspecting an airfoil-shaped object via an inspection surface thereof, the object having a spanwise axis and a chordwise axis defining together a main plane, the method comprising the steps of: (a) providing a base; (b) - providing at least one elongated rigid carrying arm extending along the chordwise axis and having a dimension along the spanwise axis essentially smaller than that along the chordwise axis; (c) - providing at least one inspection probe attached to the carrying arm to perform the inspection; (d) displacing the base together with the at least one inspection probe on a surface spaced from said inspection surface by a first displacement mechanism connected to said base and spaced from the airfoil-shaped object, at least along the spanwise axis; and (e) displacing at least a portion of the carrying arm together with the at least one inspection probe, by a second displacement mechanism connected to said rigid carrying arm which is spaced from the airfoil-shaped object, at least in a direction transverse to the main plane.
15. A method according to Claim 14, further comprising the step of displacing the at least inspection probe along the chordwise axis. – 25 – 02572623111-
16. A method according to Claim 15, wherein the displacing of the at least inspection probe along the chordwise axis is also performed by the first displacement mechanism.
17. A method according to Claim 15, further comprising the step of providing a third displacement mechanism, and wherein the displacing of the at least inspection probe along the chordwise axis is performed by the third displacement mechanism.
18. A method according to any one of claims 14 to 17, wherein the direction is perpendicular to the main plane.
19. A method according to any one of claims 14 to 18, wherein the direction comprises a vertical component.
20. A method according to any one of claims 14 to 19, further wherein the second displacement mechanism comprises a guiding rail formed in the base, along which the at least a portion of the carrying arm displaces.
21. A method according to any one of claims 14 to 20, further comprising the steps of: - providing a computing unit; - calculating a predetermined inspection path, by the computing unit, based on geometrical parameters of the airfoil shaped object; and - controlling the operation of at least the first and second displacement mechanisms, by the computing unit, so as to displace the inspection probe along the predetermined inspection path.
22. A method according to Claim 21 when dependent in Claim 17, further comprising the step of controlling the operation of the third displacement mechanism, – 26 – 02572623111- by the computing unit, so as to displace the inspection probe along the inspection path.
23. A method according to Claim 21 or Claim 22, wherein the inspection path is three dimensional.
24. A method according to Claim 21, 22 or 23, further comprising a preliminary step of receiving the geometrical parameters of the airfoil shaped object.
25. A method according to any one of claim 14 to 24, wherein step (d) includes displacing the entire carrying arm together with the at least one inspection probe, by the second displacement mechanism spaced from the airfoil-shaped object, at least in a direction transverse to the main plane.
26. A method according to any one of claim 14 to 25, wherein the at least one inspection probe are a plurality of inspection probes.
IL264120A 2019-01-07 2019-01-07 Automatic system for performing tests on wing-like objects IL264120B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
IL264120A IL264120B (en) 2019-01-07 2019-01-07 Automatic system for performing tests on wing-like objects

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IL264120A IL264120B (en) 2019-01-07 2019-01-07 Automatic system for performing tests on wing-like objects

Publications (2)

Publication Number Publication Date
IL264120A IL264120A (en) 2020-07-30
IL264120B true IL264120B (en) 2022-09-01

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ID=65910794

Family Applications (1)

Application Number Title Priority Date Filing Date
IL264120A IL264120B (en) 2019-01-07 2019-01-07 Automatic system for performing tests on wing-like objects

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IL (1) IL264120B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050160818A1 (en) * 2002-02-08 2005-07-28 Mueller Dennis W. Acoustic coupling with a fluid bath
US20070137302A1 (en) * 2005-12-19 2007-06-21 The Boeing Company Methods and systems for inspection of composite assemblies
US20130289766A1 (en) * 2010-01-19 2013-10-31 The Boeing Company Apparatus for Automated Maintenance of Aircraft Structural Elements

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050160818A1 (en) * 2002-02-08 2005-07-28 Mueller Dennis W. Acoustic coupling with a fluid bath
US6951134B1 (en) * 2002-02-08 2005-10-04 Metscan Technologies, Llc Flowing fluid acoustic coupling
US20070137302A1 (en) * 2005-12-19 2007-06-21 The Boeing Company Methods and systems for inspection of composite assemblies
US20130289766A1 (en) * 2010-01-19 2013-10-31 The Boeing Company Apparatus for Automated Maintenance of Aircraft Structural Elements

Also Published As

Publication number Publication date
IL264120A (en) 2020-07-30

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