Inspection robot with couplant chamber disposed within sled for acoustic coupling
A system includes an inspection robot having a number of payloads, a number of arms mounted to the payloads, and a number of sleds mounted to the arms. The system includes a number of sensors, each mounted to a corresponding sled, such that the sensor is operationally coupleable to an inspection surface in contact with a bottom surface of the corresponding sled. A couplant chamber is provided within at least two of the sleds, the couplant chamber between a transducer of a sensor and the inspection surface. The system includes a biasing member for each of the arms, where the biasing member provides a down force on the corresponding sled.
1. A system, comprising:
an inspection robot comprising a plurality of payloads;
a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads;
a plurality of sleds, wherein each sled is mounted to one of the plurality of arms;
a plurality of sensors, wherein each sensor is mounted to a corresponding one of the sleds such that the sensor is operationally couplable to an inspection surface in contact with a bottom surface of the corresponding one of the sleds;
a couplant chamber disposed within each of at least two of the plurality of sleds, each couplant chamber interposed between a transducer of the sensor mounted to the sled and the inspection surface;
wherein the bottom surface of the corresponding one of the sleds is contoured in response to a shape of the inspection surface; and
wherein the inspection surface comprises an outer wall having a convex shape, and
wherein the bottom surface of the corresponding one of the sleds comprises a concave shape; and
a biasing member coupled to each one of the plurality of arms, and wherein the biasing member provides a biasing force to corresponding one of the plurality of sleds, wherein the biasing force is directed toward the inspection surface.
2. The system of claim 1 , wherein each couplant chamber comprises a cone, the cone comprising a cone tip portion at an inspection surface end of the cone, and a sensor mounting end opposite the cone tip portion, and wherein the cone tip portion defines a couplant exit opening.
3. The system of claim 2 , further comprising a couplant entry for the couplant chamber, wherein the couplant entry is positioned between the cone tip portion and the sensor mounting end.
4. The system of claim 3 , wherein the couplant entry is positioned at a vertically upper side of the cone when the inspection robot is positioned on the inspection surface.
5. The system of claim 4 , wherein the couplant exit opening comprises one of flush with the bottom surface and extending through the bottom surface.
6. The system of claim 5 , wherein each payload comprises a single couplant connection to the inspection robot.
7. The system of claim 1 , further comprising a means for configuring the inspection robot to perform an inspection on the inspection surface at a resolution at least equal to an inspection resolution.
8. The system of claim 7 , wherein the means for configuring the inspection robot further comprises:
each of the payloads comprising at least two of the plurality of arms such that the each of the corresponding sleds mounted to the at least two of the plurality of arms are horizontally distributed.
9. The system of claim 1 , wherein the plurality of sleds are horizontally distributed on the inspection surface at selected horizontal positions.
10. The system of claim 9 , wherein each of the plurality of sleds is pivotally mounted to one of the plurality of arms by at least one of a plurality of selectable pivot points.
11. The system of claim 1 , wherein the inspection surface comprises one of a pipe or a tube.
12. The system of claim 1 , wherein the inspection surface comprises a cylinder.
13. A system, comprising:
an inspection robot, and a plurality of sleds mounted to the inspection robot;
wherein the inspection robot further comprises a plurality of payloads;
a plurality of arms, wherein each of the plurality of arms is pivotally mounted to one of the plurality of payloads;
wherein each of the plurality of sleds is pivotally mounted to one of the plurality of arms;
a plurality of sensors, wherein each sensor is mounted to a corresponding one of the sleds such that the sensor is operationally couplable to an inspection surface in contact with a bottom surface of the corresponding one of the sleds; and
a couplant chamber disposed within each of the plurality of sleds, each couplant chamber interposed between a transducer of the sensor mounted to the sled and the inspection surface,
wherein the bottom surface of the corresponding one of the sleds is contoured in response to a shape of the inspection surface; and
wherein the inspection surface comprises an outer wall having a convex shape, and
wherein the bottom surface of the corresponding one of the sleds comprises a concave shape.
14. The system of claim 13 , further comprising a means for configuring the inspection robot to perform an inspection on the inspection surface at a resolution at least equal to an inspection resolution.
15. The system of claim 14 , wherein the means for configuring the inspection robot further comprises:
each of the plurality of payloads comprising at least two of the plurality of arms such that the each of the corresponding sleds mounted to the at least two of the plurality of arms are horizontally distributed.
16. The system of claim 15 , wherein a spacing of the inspection resolution is smaller than a spacing of the sleds mounted on the at least two of the plurality of arms.
17. The system of claim 13 , wherein each couplant chamber comprises a cone, the cone comprising a cone tip portion at an inspection surface end of the cone, and a sensor mounting end opposite the cone tip portion, and wherein the cone tip portion defines a couplant exit opening.
18. The system of claim 17 , further comprising a couplant entry for the couplant chamber, wherein the couplant entry is positioned between the cone tip portion and the sensor mounting end, and wherein the couplant entry is positioned at a vertically upper side of the cone when the inspection robot is positioned on the inspection surface.
19. The system of claim 13 , wherein the plurality of sleds are horizontally distributed on the inspection surface.
20. The system of claim 13 , wherein the plurality of sleds are horizontally distributed at selected horizontal positions.
21. The system of claim 13 , wherein each of the plurality of sleds is pivotally mounted to one of the plurality of arms by at least one of a plurality of selectable pivot points.
22. The system of claim 21 , wherein the bottom surface of the corresponding one of the sleds is contoured in response to a shape of the inspection surface.
23. The system of claim 21 , wherein the plurality of sleds are horizontally distributed on the inspection surface.
24. The system of claim 23 , wherein the bottom surface of the corresponding one of the sleds is contoured in response to a shape of the inspection surface.
25. The system of claim 13 , wherein each of the plurality of sleds is pivotally mounted to one of the plurality of arms by a plurality of pivot points.
26. The system of claim 25 , wherein the bottom surface of the corresponding one of the sleds is contoured in response to a shape of the inspection surface.