Articulated Robot for Airfoil Root and Tip Inspection
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Solution Overview
Problem
Current automated non-destructive inspection (NDI) methods for airfoil-shaped bodies, such as rotorcraft blades, are inefficient due to the need for costly removal, rebalancing, and reinstallation, and struggle to adequately inspect the complex root end and tip areas without part-specific scanning hardware.
Innovation Solution
A robotic apparatus with an articulated arm mounted to a chassis, equipped with an end effector for inspecting the root, tip, and length of airfoil-shaped bodies, capable of propelling along the surface using suction cups and rolling elements, allowing for scanning without repositioning the chassis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual removal and inspection of blade components is performed, then inspection can be done, but it is cost intensive and reduces mission capability
Solution Approach 1:
The robotic inspection system performs self-propelled inspection along the blade component, eliminating the need for manual removal and reinstallation. The robot autonomously navigates the blade surface using suction cups and rolling elements, conducting comprehensive inspection while the blade remains installed on the aircraft, thus maintaining mission capability.
Solution Approach 2:
The patent replaces manual mechanical inspection with an automated robotic system. The robot uses suction cups for attachment, rolling elements for propulsion, and articulated arms with sensors for inspection, substituting human labor with automated mechanical and sensing systems that operate while the blade remains installed.
2Extent of automation
If scanning bridge is used for automated inspection, then inspection is automated, but it cannot adequately inspect the root end and tip areas
Solution Approach 1:
The robotic system segments the inspection task by using multiple articulated arms with different functions. One articulated arm inspects the root end area while another inspects the tip area, allowing comprehensive coverage of complex geometries that a single scanning bridge cannot accommodate.
Solution Approach 2:
The patent employs dynamic articulated arms that can adjust their positions and orientations independently. The articulated arms can extend, retract, and position sensors precisely at complex areas like root ends and tips, providing adaptability to various blade geometries while maintaining automated inspection.
3Adaptability or versatility
If hand-held NDI is used for root and tip inspection, then complex areas are covered, but it is labor-intensive and slow
Solution Approach 1:
The robotic system performs self-propelled inspection along the entire blade including root and tip areas, eliminating manual labor. The robot autonomously navigates using suction cups and rolling elements while articulated arms conduct inspection, significantly increasing productivity compared to hand-held methods.
Solution Approach 2:
The patent replaces hand-held mechanical inspection with automated robotic arms equipped with sensors. The articulated arms automatically position and move sensors along complex root and tip geometries, maintaining adaptability while dramatically increasing inspection speed and reducing labor intensity.
4Area of stationary object
If scanning bridge is used for automated inspection, then large airfoil section is covered, but the scanning mechanism gets in the way near the root end
Solution Approach 1:
The robotic system segments the inspection apparatus into a compact chassis with articulated arms that can independently position sensors. This segmentation allows the inspection system to access root end areas without the scanning bridge structure interfering, as only the necessary articulated arm and sensor components are positioned near the root.
Solution Approach 2:
The patent uses articulated arms that operate in three-dimensional space, allowing sensors to reach root end areas from multiple angles and positions. This dimensional flexibility enables inspection of root areas without requiring a large scanning bridge structure that would obstruct access.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient, repeatable, and comprehensive non-destructive inspection of airfoil-shaped bodies, including complex root and tip areas, reducing labor and time costs while maintaining aircraft mission capability.
Implementation Method 1
at least one suction cup coupled to the base of the chassis
Data Source
AI summary
A robotic apparatus comprising an articulated arm mounted to a chassis and having an end effector capable of inspecting the root and tip, as well as the length between the root and tip, of an airfoil-shaped body (such as a rotorblade). The robotic apparatus has means for propelling the chassis in a spanwise direction. The chassis-mounted articulated arm facilitates the scanning of sensors over the root or tip of the airfoil-shaped body without repositioning the chassis.