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公开(公告)号：US10788455B2
公开(公告)日：2020-09-29
申请号：US15922509
申请日：2018-03-15
Applicant: The Boeing Company
Inventor： Nathan R. Smith , Gary E. Georgeson , Paul S. Rutherford , Jeffrey R. Kollgaard
IPC: G01N27/90 , B25J9/16 , B25J9/00 , B25J18/02 , G01N21/954 , G01N29/22 , G01N29/265 , B25J13/02
Abstract: An extended reach inspection apparatus may include a scanner device and a robotic manipulator arm. The robotic manipulator arm may include a plurality of arm segments including a distal end arm segment and a proximal end arm segment. A movable joint may couple the distal end arm segment to the robotic manipulator arm. A telescoping extension mechanism may be coupled to the distal end arm segment. The scanner device is mounted to the telescoping extension mechanism for moving the scanner device between a retracted position proximate the robotic manipulator arm and an extended position at a distance from the robotic manipulator arm. A control handle may be coupled to the proximal end arm segment of the plurality of arm segments for manipulating the robotic manipulator arm.
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公开(公告)号：US20190084148A1
公开(公告)日：2019-03-21
申请号：US16134446
申请日：2018-09-18
Applicant: The Boeing Company
Inventor： James J. Troy , Gary E. Georgeson , Paul S. Rutherford , Nathan R. Smith
CPC classification number: B25J1/02 , B23Q17/2233 , B25J1/08 , B25J15/00 , B64F5/40 , G01N21/954 , G06T19/003 , G06T19/006 , G06T19/20 , G06T2219/2004
Abstract: A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time.
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公开(公告)号：US10105837B2
公开(公告)日：2018-10-23
申请号：US15358541
申请日：2016-11-22
Applicant: The Boeing Company
Inventor： James J. Troy , Gary E. Georgeson , Paul S. Rutherford , Nathan R. Smith
Abstract: An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.
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公开(公告)号：US20140210986A1
公开(公告)日：2014-07-31
申请号：US13750565
申请日：2013-01-25
Applicant: THE BOEING COMPANY
Inventor： Nathan R. Smith , James J. Troy , Jeffrey R. Kollgaard , Gary E. Georgeson , Paul S. Rutherford
IPC: H04N7/18
CPC classification number: H04N7/18 , G01N21/954
Abstract: A multi-axis tool may include, in some embodiments, a gimbal adapted to be positioned adjacent an opening in a wall; an extended-reach device having first and second ends and an end effector adjacent the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.
Abstract translation: 在一些实施例中，多轴工具可以包括适于邻近墙壁中的开口定位的万向架; 具有第一端和第二端的延伸到达装置和与第一端相邻的端部执行器，延伸到达装置接合万向架以进行相对旋转运动，并通过开口相对可滑动地移动，使得末端执行器位于 第二端对面的墙; 传感器系统，被配置为测量所述延伸装置相对于所述万向架的线性位置，以及所述端部执行器相对于所述开口的位置和空间取向; 以及计算机控制器，其被连接以从所述传感器系统接收信号以确定所述端部执行器相对于所述开口的位置和取向中的至少一个。
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公开(公告)号：US10393680B2
公开(公告)日：2019-08-27
申请号：US15408615
申请日：2017-01-18
Applicant: The Boeing Company
Inventor： Nathan R. Smith
IPC: G01N23/00 , G01N23/20008
Abstract: Systems and methods are provided for detecting gaps in composite parts. One method includes radiating a beam of x-rays in a firing direction towards surface of a multi-layer Carbon Fiber Reinforced Polymer (CFRP) part, acquiring data indicating intensity of sidescatter radiation received at an x-ray detector that extends along the CFRP part in the firing direction, and examining the acquired data for gaps at the CFRP part based on differences in intensity indicated by the data.
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Patent Agency Ranking
公开(公告)号：US10260953B2
公开(公告)日：2019-04-16
申请号：US15235024
申请日：2016-08-11
Applicant: THE BOEING COMPANY
Inventor： Roger W. Engelbart , Nathan R. Smith , Loyal B. Shawgo
Abstract: A method of thermographic inspection includes absorbing, at an applique applied to a test area of an article, light from a testing light source. The method further includes emitting, by the applique, thermal radiation directed to a capture device, the thermal radiation corresponding to at least a portion of the light absorbed by the applique.
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公开(公告)号：US09513231B2
公开(公告)日：2016-12-06
申请号：US13750565
申请日：2013-01-25
Applicant: The Boeing Company
Inventor： Nathan R. Smith , James J. Troy , Jeffrey R. Kollgaard , Gary E. Georgeson , Paul S. Rutherford
IPC: H04N7/18 , G01N21/954
CPC classification number: H04N7/18 , G01N21/954
Abstract: A multi-axis tool may include, in some embodiments, a gimbal adapted to be positioned adjacent an opening in a wall; an extended-reach device having first and second ends and an end effector adjacent the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.
Abstract translation: 在一些实施例中，多轴工具可以包括适于邻近墙壁中的开口定位的万向架; 具有第一端和第二端的延伸到达装置和与第一端相邻的端部执行器，延伸到达装置接合万向架以进行相对旋转运动，并通过开口相对可滑动地移动，使得末端执行器位于 第二端对面的墙; 传感器系统，被配置为测量延伸到达装置相对于万向架的线性位置，以及端部执行器相对于开口的位置和空间取向; 以及计算机控制器，其被连接以从所述传感器系统接收信号以确定所述端部执行器相对于所述开口的位置和取向中的至少一个。
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公开(公告)号：US20180045574A1
公开(公告)日：2018-02-15
申请号：US15235024
申请日：2016-08-11
Applicant: THE BOEING COMPANY
Inventor： Roger W. Engelbart , Nathan R. Smith , Loyal B. Shawgo
CPC classification number: G01J5/0066 , G01J5/0887 , G01J5/0896 , G01J2005/0077 , G01N21/8806
Abstract: A method of thermographic inspection includes absorbing, at an applique applied to a test area of an article, light from a testing light source. The method further includes emitting, by the applique, thermal radiation directed to a capture device, the thermal radiation corresponding to at least a portion of the light absorbed by the applique.
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公开(公告)号：US20170248549A1
公开(公告)日：2017-08-31
申请号：US15056261
申请日：2016-02-29
Applicant: The Boeing Company
Inventor： Nathan R. Smith
CPC classification number: G01N29/36 , G01N29/11 , G01N29/348 , G01N29/40 , G01N29/42 , G01N2291/015 , G01N2291/0231
Abstract: A system for nondestructive testing of a composite includes a emitter that transmits a plurality of sound signals to a composite at over a range of frequencies and receives sound signals from the composite, and generates electric signals in response to the received signals; a computer control for receiving the electric signals from the emitter, wherein the computer control programmed to apply a different, preset gain setting to at least one of the plurality of frequencies for a selected display image such that the display image shows a plot of received signal amplitude for the plurality of frequencies that is at least partially flattened, so that the amplitude of the signal from material without defects is the same at all frequencies, and changes in the amplitude of the signal are visually perceptible on the display for all of the plurality of signals.
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公开(公告)号：US20150323501A1
公开(公告)日：2015-11-12
申请号：US14803758
申请日：2015-07-20
Applicant: The Boeing Company
Inventor： Nathan R. Smith , Gary E. Georgeson , Paul S. Rutherford , Jeffrey R. Kollgaard
CPC classification number: G01N27/902 , B25J9/0027 , B25J9/0096 , B25J9/1697 , B25J13/02 , B25J18/025 , G01N21/954 , G01N29/225 , G01N29/265 , G01N2291/0289 , G01N2291/2694
Abstract: An extended reach inspection apparatus may include a scanner device and a robotic manipulator arm. The robotic manipulator arm may include a plurality of arm segments including a distal end arm segment and a proximal end arm segment. A movable joint may couple the distal end arm segment to the robotic manipulator arm. A telescoping extension mechanism may be coupled to the distal end arm segment. The scanner device is mounted to the telescoping extension mechanism for moving the scanner device between a retracted position proximate the robotic manipulator arm and an extended position at a distance from the robotic manipulator arm. A control handle may be coupled to the proximal end arm segment of the plurality of arm segments for manipulating the robotic manipulator arm.
Abstract translation: 延伸到达检测装置可以包括扫描仪装置和机器人操纵臂。 机器人操纵臂可以包括多个臂段，其包括远端臂段和近端臂段。 可动接头可以将远端臂段联接到机器人操纵臂。 伸缩式延伸机构可以联接到远端臂段。 扫描仪装置安装到伸缩式延伸机构，用于在靠近机器人操纵臂的缩回位置与离机器人操纵臂相距一定距离的延伸位置移动扫描仪装置。 控制手柄可以联接到多个臂段的近端臂段，用于操纵机器人操纵臂。
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