Apparatus for Automated Rastering of an End Effector Over an Airfoil-Shaped Body

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.

主权项

1. A mechanism comprising:
a support member; a plunger shaft that is supported by and has a range of vertical motion relative to said support member; a rocker pivotably coupled to a distal end of said plunger shaft, said rocker being pivotable about a horizontal axis and comprising first and second arms, and first and second follower wheels pivotably coupled to respective distal ends of said first and second arms; an end effector holder attached to or integrally formed with said rocker for rotation therewith; an end effector; and means for coupling said end effector to said end effector holder in a manner that allows said end effector to tilt relative to said end effector holder in any direction in response to forces exerted on said end effector and then urges said end effector toward an untilted position when said forces are removed.