公开(公告)号：US20190262995A1

公开(公告)日：2019-08-29

申请号：US16270877

申请日：2019-02-08

Applicant: Rolls-Royce plc

Inventor： James KELL ,  Bilal M. Nasser ,  Amir Rabani

IPC: B25J9/16

Abstract: There is provided a method of controlling a robot within an environment comprising: i) receiving, from a 3D scanner, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least a portion of the environment; ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the robot; then iii) determining a movement trajectory for the robot based upon the determined position of the robot. Also provided is a control apparatus and a robot control system.

公开(公告)号：US20160335761A1

公开(公告)日：2016-11-17

申请号：US15219973

申请日：2016-07-26

Applicant: ROLLS-ROYCE PLC

Inventor： James KELL ,  Adriano PULISCIANO ,  Thomas Frederick DANVERS ,  Graeme Eric RIGG

IPC: G06T7/00 ,  G01M15/14 ,  F01D25/24 ,  F01D5/12 ,  F01D9/04 ,  H04N5/247 ,  G01N21/954

CPC classification number: G06T7/0008 ,  F01D5/12 ,  F01D9/041 ,  F01D21/003 ,  F01D25/24 ,  F01D25/285 ,  F05D2220/32 ,  F05D2260/80 ,  F05D2260/83 ,  G01M15/14 ,  G01N21/954 ,  G01N2021/9542 ,  G02B23/24 ,  G06T2207/30164 ,  H04N5/247 ,  H04N7/183 ,  H04N2005/2255

Abstract: An apparatus for inspecting a turbomachine includes a plurality of boroscopes, a device to rotate the rotor of the turbomachine and a processor having reference measurements of the rotor blades and/or reference measurements between the rotor blades and the boroscopes. A boroscope is inserted in a casing aperture upstream of the blades to view the leading edge and a portion of one of the surfaces of each blade as the rotor is rotated. A boroscope is inserted in a casing aperture downstream of the blades to view the trailing edge and a portion of one of the surfaces of each blade as the rotor is rotated. The boroscopes supply the images of each of the blades to the processor. The processor analyses the images of the blades and uses the reference measurements to determine the position and size of any defect on any of the rotor blades.

公开(公告)号：US20160279789A1

公开(公告)日：2016-09-29

申请号：US15062938

申请日：2016-03-07

Applicant: ROLLS-ROYCE PLC

Inventor： Dragos Aurelian AXINTE ,  Xin DONG ,  Mark Hugh RAFFLES ,  Adam NAGY ,  James KELL

IPC: B25J9/06 ,  B25J9/16

CPC classification number: B25J9/065 ,  B25J9/104 ,  B25J9/1676

Abstract: A flexible tool comprising: a plurality of rigid members spaced along a longitudinal axis; a plurality of flexible members extending between the plurality of rigid members and being arranged to enable the plurality of rigid members to diverge from the longitudinal axis and define a work volume for the flexible tool, at least some of the plurality of flexible members being unevenly spaced around the longitudinal axis, and/or a physical characteristic of at least some of the plurality of flexible members varying along the longitudinal axis, to cause the work volume and/or stiffness of the flexible tool to be asymmetric relative to the longitudinal axis.

Abstract translation: 一种柔性工具，包括：沿着纵向轴线间隔开的多个刚性构件; 多个柔性构件，其在所述多个刚性构件之间延伸并且被布置成使得所述多个刚性构件能够从所述纵向轴线分叉并且限定所述柔性工具的工作容积，所述多个柔性构件中的至少一些柔性构件不均匀地间隔开 围绕所述纵向轴线和/或所述多个柔性构件中的至少一些柔性构件的物理特性沿着所述纵向轴线变化，以使所述柔性工具的工作体积和/或刚度相对于所述纵向轴线不对称。

公开(公告)号：US20150309302A1

公开(公告)日：2015-10-29

申请号：US14675987

申请日：2015-04-01

Applicant: ROLLS-ROYCE PLC

Inventor： James KELL

IPC: G02B23/24 ,  G01N21/954

CPC classification number: G02B23/2469 ,  B23K26/0096 ,  B23K26/032 ,  B23K26/064 ,  B23K26/144 ,  B23K26/211 ,  B23K26/34 ,  B23K26/352 ,  F01D21/003 ,  G01N21/954 ,  G01N2021/9546 ,  G02B23/2423 ,  G02B27/0944

Abstract: A boroscope has a first end and a second end and the first end of the boroscope has an optical fibre, a light source, a lens, a beam expander and a transmissive diffractive optical element. The optical fibre extends from the first end of the boroscope to the second end of the boroscope. A laser optical fibre extends from the lens at the first end of the boroscope to the second end of the boroscope and a laser source is arranged to direct a laser beam into the laser optical fibre. The beam expander is provided between the laser optical fibre and the lens and the lens is provided between the beam expander and the transmissive diffractive optical element. The transmissive diffractive optical element is arranged to produce a laser beam with a predetermined shape and a focal length probe extends from the first end of the boroscope.

Abstract translation: 硼砂具有第一端和第二端，并且该硼筒的第一端具有光纤，光源，透镜，光束扩展器和透射衍射光学元件。 该光纤从该火炬的第一端延伸到该钍光镜的第二端。 激光光纤从透镜的第一端延伸到硼鼓的第二端，并且激光源被布置成将激光束引导到激光光纤中。 光束扩展器设置在激光光纤和透镜之间，透镜设置在光束扩展器和透射衍射光学元件之间。 透射型衍射光学元件布置成产生具有预定形状的激光束，并且焦距探头从该火炬的第一端延伸。

公开(公告)号：US20130135457A1

公开(公告)日：2013-05-30

申请号：US13675689

申请日：2012-11-13

Applicant: ROLLS-ROYCE PLC

Inventor： James KELL ,  Adriano PULISCIANO ,  Thomas Frederick DANVERS ,  Graeme Eric RIGG

IPC: H04N7/18

CPC classification number: G06T7/0008 ,  F01D5/12 ,  F01D9/041 ,  F01D21/003 ,  F01D25/24 ,  F01D25/285 ,  F05D2220/32 ,  F05D2260/80 ,  F05D2260/83 ,  G01M15/14 ,  G01N21/954 ,  G01N2021/9542 ,  G02B23/24 ,  G06T2207/30164 ,  H04N5/247 ,  H04N7/183 ,  H04N2005/2255

Abstract: An apparatus for inspecting a turbomachine includes a plurality of horoscopes, a device to rotate the rotor of the turbomachine and a processor having reference measurements of the rotor blades and/or reference measurements between the rotor blades and the horoscopes. A boroscope is inserted in a casing aperture upstream of the blades to view the leading edge and a portion of one of the surfaces of each blade as the rotor is rotated. A boroscope is inserted in a casing aperture downstream of the blades to view the trailing edge and a portion of one of the surfaces of each blade as the rotor is rotated. The boroscopes supply the images of each of the blades to the processor. The processor analyses the images of the blades and uses the reference measurements to determine the position and size of any defect on any of the rotor blades.

Abstract translation: 用于检查涡轮机的装置包括多个星象，用于旋转涡轮机的转子的装置和具有转子叶片的参考测量值和/或转子叶片与星座之间的参考测量值的处理器。 在叶片上游的壳体孔中插入硼砂镜，以在转子旋转时观察每个叶片的前缘和一个表面的一部分。 在叶片下游的壳体孔中插入硼砂镜，以在转子旋转时观察每个叶片的后缘和一个表面的一部分。 硼砂镜将每个叶片的图像提供给处理器。 处理器分析刀片的图像，并使用参考测量来确定任何转子叶片上任何缺陷的位置和大小。

公开(公告)号：US20230295793A1

公开(公告)日：2023-09-21

申请号：US18176916

申请日：2023-03-01

Applicant: ROLLS-ROYCE plc

Inventor： Dmitrii I. USHMAEV ,  Zhirong LIAO ,  Dragos A. AXINTE ,  Andrew D. NORTON ,  James KELL

IPC: C23C14/22 ,  C23C14/08

CPC classification number: C23C14/228 ,  C23C14/083

Abstract: An apparatus for coating a surface of a substrate includes an evaporant source disposed within an open environment including air at atmospheric pressure. The evaporant source includes a coating material. The apparatus further includes an energy beam source disposed within the open environment and configured to emit at least one energy beam that impinges on an emission region of the evaporant source to form a vapour plume at the emission region. The vapour plume includes the coating material of the evaporant source. The apparatus further includes a fixture configured to position the evaporant source relative to the substrate within the open environment, such that a maximum distance between the emission region of the evaporant source and the surface of the substrate is less than or equal to 10 cm.

公开(公告)号：US20200182744A1

公开(公告)日：2020-06-11

申请号：US16701786

申请日：2019-12-03

Applicant: ROLLS-ROYCE plc

Inventor： Dragos A AXINTE ,  James KELL ,  Xin DONG ,  David ALATORRE TRONCOSO

IPC: G01M15/14 ,  H04N7/18 ,  F02C7/00

Abstract: A hand-mounted inspection system, configured to be mounted on a user's hand, comprising: an imaging unit, configured to provide images from at least one point of view located on the user's hand; and a measuring unit, configured to provide data relating to a physical property measured at a measurement location on the user's hand. The measuring unit includes a sensor configured to provide a measurement between two measurement locations, each of the two measurement locations being located on a digit of the user's hand, a tip of a digit of the user's hand, on the phalanges of a digit of a user's hand, on the palm of the user's hand or on the back of the user's hand.

公开(公告)号：US20180147720A1

公开(公告)日：2018-05-31

申请号：US15813590

申请日：2017-11-15

Applicant: ROLLS-ROYCE plc

Inventor： James KELL ,  Dragos A. AXINTE ,  David I. PALMER ,  John BILLINGHAM

IPC: B25J9/06 ,  B25J9/16

CPC classification number: B25J9/065 ,  B25J9/1602 ,  B25J9/1625 ,  B25J9/1674 ,  Y10S901/02

Abstract: Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more sections.

公开(公告)号：US20180009109A1

公开(公告)日：2018-01-11

申请号：US15617512

申请日：2017-06-08

Applicant: ROLLS-ROYCE plc

Inventor： Andrew D NORTON ,  James KELL ,  Dragos A. AXINTE

IPC: B25J9/16

CPC classification number: B25J9/1682 ,  B25J9/1625 ,  B25J9/1697 ,  G05B2219/39146 ,  G05B2219/40039

Abstract: A method of controlling at least one of a first robot and a second robot to collaborate within a system, the first robot and the second robot being physically separate to one another, the method including: receiving sensed data associated with the second robot; determining position and/or orientation of the second robot using the received sensed data; determining an action for the second robot using the determined position and/or orientation of the second robot; and providing a control signal to the second robot to cause the second robot to perform the determined action to collaborate with the first robot.

公开(公告)号：US20160279750A1

公开(公告)日：2016-09-29

申请号：US15073054

申请日：2016-03-17

Applicant: ROLLS-ROYCE plc

Inventor： Dragos Aurelian AXINTE ,  Xin DONG ,  James KELL

IPC: B23Q1/48 ,  G05B19/19 ,  B25H1/00

CPC classification number: B23Q1/48 ,  B23Q1/5462 ,  B23Q9/0007 ,  B23Q9/0014 ,  B25H1/0042 ,  B25J9/0057 ,  B62D57/032 ,  G05B19/19 ,  G05B2219/49361

Abstract: A machine tool comprising: a first body; a first leg, a second leg, and a third leg coupled to the first body via first joints and configured to support at least the first body; a second body including a tool holder; a fourth leg, a fifth leg, and a sixth leg coupled to the second body via second joints and configured to support at least the second body; and a first actuator coupled to the first body and to the second body, the first actuator being configured to cause rotational motion between the first body and the second body to enable a change in walking direction of the machine tool and/or to enable a change in machining stiffness and a change in work volume of the machine tool.

Abstract translation: 一种机床，包括：第一主体; 第一腿，第二腿和第三腿，经由第一关节联接到第一体，并且构造成至少支撑第一体; 包括工具架的第二主体; 第四腿，第五腿和第六腿，经由第二接头联接到第二体，并且构造成至少支撑第二体; 以及耦合到所述第一主体和所述第二主体的第一致动器，所述第一致动器构造成使得所述第一主体和所述第二主体之间的旋转运动能够使所述机床的行进方向改变和/或使得能够改变 在加工刚度和机床工作量的变化。