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    Apparatus for automated rastering of an end effector over an airfoil-shaped body
    41.
    发明授权
    Apparatus for automated rastering of an end effector over an airfoil-shaped body 有权
    一种用于在翼型体上自动扫视端部执行器的装置

    公开(公告)号：US09334066B2

    公开(公告)日：2016-05-10

    申请号：US13861934

    申请日：2013-04-12

    申请人： The Boeing Company

    发明人： William Joseph Tapia ,  Michael D. Fogarty ,  Joseph L. Hafenrichter ,  Gary E. Georgeson

    IPC分类号： B64F5/00 ,  G01N29/04 ,  G01N29/265 ,  G01N27/90 ,  G01N29/22

    CPC分类号： B64F5/0045 ,  B64F5/60 ,  G01N27/9013 ,  G01N29/04 ,  G01N29/225 ,  G01N29/265 ,  G01N2291/0289 ,  G01N2291/044 ,  G01N2291/102 ,  G01N2291/2694 ,  Y10S901/44

    摘要： A mechanism for adjusting the orientation of an end effector (e.g., a non-destructive inspection sensor) during movement over a contoured surface, comprising: (1) a pneumatic or spring-loaded plunger shaft that facilitates positioning of an end effector onto a highly contoured surface by allowing a wide range of vertical motion; (2) a rocker pivotably coupled to a distal end of the plunger shaft, the rocker being pivotable about a horizontal axis to allow a pair of follower wheels coupled to distal ends of the rocker arms to follow the contoured surface and keep the end effector oriented correctly relative to the surface without tipping over; and (3) a hozzle (i.e., an end effector holder) attached to the rocker for rotation therewith, the end effector being coupled to the hozzle by an elastomeric gasket or a plurality of springs which allow the orientation of the end effector relative to the hozzle to change in response to contact forces.

    摘要翻译： 一种用于在移动超过轮廓表面的情况下调节末端执行器（例如，非破坏性检查传感器）的定向的机构，包括：（1）气动或弹簧加载的柱塞轴，其有助于将末端执行器定位在高度 通过允许宽范围的垂直运动来形成轮廓; （2）摇杆，其可枢转地联接到所述柱塞轴的远端，所述摇杆可围绕水平轴线枢转，以允许与所述摇臂的远端相连的一对从动轮跟随所述轮廓表面并保持所述末端执行器定向 正确地相对于表面而不倾翻; 和（3）附接到摇杆上用于与其一起旋转的一个（即端部执行器保持器），该端部执行器通过一个弹性衬垫或多个弹簧联接到该孔，这些弹簧允许末端执行器相对于 嗡嗡响应联系力量改变。

    System and Method for Automated Crack Inspection and Repair
    42.
    发明申请
    System and Method for Automated Crack Inspection and Repair 有权
    自动破裂检测和修理的系统和方法

    公开(公告)号：US20140210997A1

    公开(公告)日：2014-07-31

    申请号：US13749843

    申请日：2013-01-25

    申请人： The Boeing Company

    发明人： Steven D. Blanchard ,  Gary E. Georgeson ,  Joseph L. Hafenrichter ,  Karl E. Nelson ,  Thomas T. McCleave

    IPC分类号： H04N7/18

    CPC分类号： H04N7/18 ,  G01M5/0016 ,  G01M5/0033 ,  G01M5/005 ,  G01M5/0075 ,  G01M5/0091 ,  G01M11/0278

    摘要： A system for automated inspection of a surface; the system may include a self-propelled, steerable carriage capable of traversing the surface, the carriage having a camera positioned to view an object on the surface, and at least of one of a sensor capable of detecting a defect in the surface, a tool for treating the defect, and a sensor for inspecting a repair of the defect; and a computer controller connected to receive image data from the camera, communicate with and selectively actuate the at least of one of a sensor capable of detecting a defect in the surface, a tool for treating the defect, and a sensor for inspecting a repair of the defect, and control the carriage to move on the surface along one or more of a pre-set path and a path to one or more pre-set locations.

    摘要翻译： 一种用于表面自动检查的系统; 该系统可以包括能够横过该表面的自推进的可转向滑架，滑架具有定位成观察表面上的物体的照相机，以及能够检测表面中的缺陷的传感器中的至少一个，工具 以及用于检查缺陷的修复的传感器; 以及计算机控制器，其连接以从所述照相机接收图像数据，与能够检测所述表面中的缺陷的传感器中的至少一个通信并选择性地致动，用于处理所述缺陷的工具，以及用于检查所述缺陷的修复的传感器 并且控制滑架沿着一个或多个预定路径和到一个或多个预设位置的路径在表面上移动。

    Vacuum Adhering Apparatus for Automated Maintenance of Airfoil-Shaped Bodies
    43.
    发明申请
    Vacuum Adhering Apparatus for Automated Maintenance of Airfoil-Shaped Bodies 有权
    用于机翼自动维护的真空附着装置

    公开(公告)号：US20140182479A1

    公开(公告)日：2014-07-03

    申请号：US14197306

    申请日：2014-03-05

    申请人： THE BOEING COMPANY

    发明人： Joseph L. Hafenrichter ,  Karl Edward Nelson ,  Gary E. Georgeson

    IPC分类号： B25J5/02

    CPC分类号： B64F5/0018 ,  B64F5/30 ,  B64F5/60

    摘要： Devices for enabling navigation of a crawler vehicle along an airfoil-shaped body, such as a helicopter blade, in a low-cost fashion with high reliability, especially for swept configuration blades. Using the natural tendency of vacuum adherence devices to adhere to changing surface contours, the crawler vehicle can adhere itself to airfoil-shaped structures in a way that allows the crawler vehicle to easily translate along an airfoil-shaped body while accommodating extreme variations along the surface of the airfoil-shaped body. The crawler vehicle can be designed to eliminate any trailing edge follower wheel, which simplifies the crawler's ability to accommodate trailing edge protrusions, such as trim tabs.

    摘要翻译： 特别是对于扫掠配置的刀片，能够以低成本的方式使得爬行器车辆沿着诸如直升机叶片的机翼形体进行导航的装置。 使用真空附着装置的自然趋势来附着在变化的表面轮廓上，履带车辆可以将其自身粘附到翼型结构上，使得履带车辆能够容易地沿翼型体平移，同时容纳沿着表面的极端变化 的翼型体。 履带车辆可以被设计成消除任何后缘从动轮，这简化了爬行器适应后缘突起的能力，例如修剪突片。

    Methods for through-structure power and data transfer between mobile robots and sensor nodes
    48.
    发明授权
    Methods for through-structure power and data transfer between mobile robots and sensor nodes 有权

    公开(公告)号：US11502729B1

    公开(公告)日：2022-11-15

    申请号：US17398892

    申请日：2021-08-10

    申请人： The Boeing Company

    发明人： Gary E. Georgeson ,  Joseph L. Hafenrichter ,  James J. Troy ,  Gregory J. Sweers ,  Jeong-Beom Ihn

    IPC分类号： G01C9/00 ,  G05D1/00 ,  G01S17/08 ,  H04N7/18 ,  H04B5/00 ,  H02J50/80

    摘要： A method for wirelessly coupling respective transducers of an automated motion platform and a sub-surface sensor node through a skin of a limited-access structure for the purpose of wireless power and data transfer. Coordinates of an as-designed position of the transducer of the sensor node in a local coordinate system of the limited-access structure are retrieved from a non-transitory tangible computer-readable storage medium. Then coordinates of a target position on an external surface of the skin of the limited-access structure are estimated. The target position is calculated to be aligned with the as-designed position of the transducer of the sensor node. The motion platform is moved under computer control so that the transducer onboard the motion platform moves toward the target position. Movement ceases when the transducer onboard the motion platform is at the target position. Then wave energy is transferred between the aligned transducers.

    Systems and Methods for Joining a First Structure and a Second Structure with a Choreographed Adhesive De-Aeration Process
    49.
    发明申请
    Systems and Methods for Joining a First Structure and a Second Structure with a Choreographed Adhesive De-Aeration Process 有权

    公开(公告)号：US20220194628A1

    公开(公告)日：2022-06-23

    申请号：US17502270

    申请日：2021-10-15

    申请人： The Boeing Company

    发明人： Joseph L. Hafenrichter ,  Gary E. Georgeson

    IPC分类号： B64F5/10 ,  B29C65/48 ,  B29C65/54

    摘要： An example method of joining a first structure and a second structure is described that includes placing an adhesive within a bond cavity for bonding a first structure to a second structure, securing a vacuum bag to the first structure and the second structure so as to surround a portion of the first structure and the second structure, evacuating the bond cavity via a vacuum port to deaerate the adhesive within the bond cavity, after deaerating the adhesive, moving the first structure and the second structure relative to one another such that deaerated adhesive is disposed between the first structure and the second structure, and curing, via one or more heaters, the deaerated adhesive disposed between the first structure and the second structure to bond the first structure to the second structure.