JP6858481B2 - 非破壊超音波検査装置、システム、及び方法 - Google Patents
非破壊超音波検査装置、システム、及び方法 Download PDFInfo
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Description
部品表面インターフェイスを含む超音波検査プローブと、
前記超音波検査プローブに連結されたエンドエフェクタを含み、前記部品の表面で前記超音波検査プローブを移動させるべく自動制御可能なロボット装置と、
前記超音波検査プローブと前記エンドエフェクタとの間に連結されており、前記部品の前記表面の検査進行部分に対する前記エンドエフェクタの実際の配向を機能的に検出するように構成された角度センサーサブシステムと、
前記角度センサーサブシステムからの前記エンドエフェクタの前記実際の配向に基づいた配向データを受信し、前記実際の配向を所望の配向と比較し、前記ロボット装置を制御して前記エンドエフェクタの前記実際の配向を前記所望の配向に調節するように構成された制御装置と、を含む、システム。
ハウジングと、
前記ハウジングに連結された超音波アレイと、
中継液ポート、前記部品の表面と係合可能な係合リップ部、及び、少なくとも1つの真空ポートを含む、前記ハウジングの部品表面インターフェイスと、
前記超音波アレイと前記部品表面インターフェイスの前記中継液ポートとの間に配置された中継液チャンバーと、
前記ハウジングに連結されており、前記部品表面インターフェイスの前記係合リップ部が、前記部品の前記表面の検査進行部分に適切に係合する状態を機能的に維持するように構成された関節動サブシステムと、を含み、
前記係合リップ部は、前記中継液ポートを周方向に取り囲んでおり、
前記少なくとも1つの真空ポートは、前記係合リップ部を周方向に取り囲んでおり、
前記少なくとも1つの真空ポートは、真空源に流体連結可能であり、
前記中継液チャンバーは、前記中継液ポートに流体連通しており、
前記中継液チャンバーは、中継液供給源に流体連結可能である、付記1に記載のシステム。
ハウジングと、
前記ハウジングに連結された超音波アレイと、
中継液ポート、前記部品の表面と係合可能な係合リップ部、及び、少なくとも1つの真空ポートを含む、前記ハウジングの部品表面インターフェイスと、
前記超音波アレイと前記部品表面インターフェイスの前記中継液ポートとの間に配置された中継液チャンバーと、
前記ハウジングに連結されており、前記部品表面インターフェイスが、前記部品の前記表面の検査進行部分に適切に係合する状態を機能的に維持するように構成された関節動サブシステムと、を含む装置であって、
前記係合リップ部は、前記中継液ポートを周方向に取り囲んでおり、
前記少なくとも1つの真空ポートは、前記係合リップ部を周方向に取り囲んでおり、
前記少なくとも1つの真空ポートは、真空源に流体連結可能であり、
前記中継液チャンバーは、前記中継液ポートに流体連通しており、
前記中継液チャンバーは、中継液供給源に流体連結可能である、装置。
前記角度センサーサブシステムからの前記エンドエフェクタの前記実際の配向に基づいた配向データを受信し、前記実際の配向を所望の配向と比較し、前記ロボット装置を制御して前記エンドエフェクタの前記実際の配向を所望の配向に調節するように構成された制御装置と、をさらに含む、付記13に記載の装置。
前記部品の構造上の特徴を検出するために、前記部品の表面においてロボット制御で超音波検査プローブを移動させることを含み、前記超音波検査プローブを移動させることは、前記超音波検査プローブが連結されたエンドエフェクタを含むロボット装置を自動制御することを含み、
前記方法は、前記部品の前記表面の検査進行部分に対する前記エンドエフェクタの実際の配向を検出することをさらに含み、前記エンドエフェクタの実際の配向を検出することは、前記超音波検査プローブと前記エンドエフェクタとの間に連結された角度センサーサブシステムから、配向データを受信することを含み、
前記実際の配向を所望の配向と比較することと、
前記エンドエフェクタの前記実際の配向が前記所望の配向になるように調節すべく、前記ロボット装置を制御することと、をさらに含む方法。
Claims (7)
- 部品を検査するための装置であって、
ハウジングと、
前記ハウジングに連結された超音波アレイと、
中継液ポート、前記部品の表面と係合可能な係合リップ部、及び、少なくとも1つの真空ポートを含む、前記ハウジングの部品表面インターフェイスと、
前記超音波アレイと前記部品表面インターフェイスの前記中継液ポートとの間に配置された中継液チャンバーと、
前記ハウジングに連結されており、前記部品表面インターフェイスが、前記部品の前記表面の検査進行部分に適切に係合する状態を機能的に維持するように構成された関節動サブシステムと、を含む装置であって、
前記係合リップ部は、前記中継液ポートを周方向に取り囲んでおり、
前記少なくとも1つの真空ポートは、前記係合リップ部を周方向に取り囲んでおり、
前記少なくとも1つの真空ポートは、前記係合リップ部と前記部品の前記表面との間に漏出する中継液を吸い込むように、真空源に流体連結可能であり、
前記中継液チャンバーは、前記中継液ポートに流体連通しており、
前記中継液チャンバーは、中継液供給源に流体連結可能であり、
前記関節動サブシステムは、前記ハウジングとロボット装置のエンドエフェクタとの間に連結された二軸ジンバル構造体を含み、前記二軸ジンバル構造体は、角度センサーサブシステムに連結されるとともに、前記ハウジングのピッチ及びロール動作を受動的に吸収するように構成されており、
前記角度センサーサブシステムは、前記二軸ジンバル構造体に連結された複数のトランスデューサーを含んでおり、
前記複数のトランスデューサーは、前記二軸ジンバル構造体の各軸に連結された回転式可変作動変圧器(RVDT)を含む、装置。 - 前記超音波アレイから、前記中継液チャンバー及び前記中継液ポートを通って延びる中心軸をさらに含み、前記関節動サブシステムは、機能的に、前記中心軸を、前記部品の前記表面の前記検査進行部分に実質的に垂直に維持するように構成されている、請求項1に記載の装置。
- 前記部品表面インターフェイスの前記係合リップ部は、前記少なくとも1つの真空ポートに対して突出していることによって、前記少なくとも1つの真空ポートよりも、前記部品の前記表面のより近くに位置することができる、請求項1又は2に記載の装置。
- 前記ハウジングは、前記ロボット装置の前記エンドエフェクタに連結されており、前記ロボット装置は、前記部品の前記表面で前記装置を移動させるべく、自動制御可能である、請求項1〜3のいずれかに記載の装置。
- 前記関節動サブシステムは、前記二軸ジンバル構造体と前記エンドエフェクタとの間に連結された空圧アクチュエータをさらに含み、前記空圧アクチュエータは、前記二軸ジンバル構造体を介して、前記部品の前記表面の前記検査進行部分に実質的に垂直な軸に沿って、前記ハウジングの動きを受動的に吸収するように構成されている、請求項1〜4のいずれかに記載の装置。
- 前記角度センサーサブシステムは、前記部品の前記表面の前記検査進行部分に対する前記エンドエフェクタの実際の配向を検出するように構成されており、
前記角度センサーサブシステムからの前記エンドエフェクタの前記実際の配向に基づいた配向データを受信し、前記実際の配向を所望の配向と比較し、前記ロボット装置を制御して前記エンドエフェクタの前記実際の配向を所望の配向に調節するように構成された制御装置を、さらに含む、請求項1〜5のいずれかに記載の装置。 - 前記所望の配向は、前記エンドエフェクタの長軸が、前記部品の前記表面の前記検査進
行部分に対して垂直な状態である、請求項6に記載の装置。
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US14/528,897 US9664652B2 (en) | 2014-10-30 | 2014-10-30 | Non-destructive ultrasonic inspection apparatus, systems, and methods |
US14/528,897 | 2014-10-30 |
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EP3021113B1 (en) | 2019-03-06 |
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US20160123933A1 (en) | 2016-05-05 |
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