US 11,813,745 B2
Mobile robot for inspecting a turbomachine
Thomas Jean Michel Lepage, Moissy-Cramayel (FR)
Assigned to SAFRAN AIRCRAFT ENGINES, Paris (FR)
Appl. No. 16/973,336
Filed by SAFRAN AIRCRAFT ENGINES, Paris (FR)
PCT Filed Jun. 7, 2019, PCT No. PCT/FR2019/051391
§ 371(c)(1), (2) Date Dec. 8, 2020,
PCT Pub. No. WO2019/239046, PCT Pub. Date Dec. 19, 2019.
Claims priority of application No. 1855127 (FR), filed on Jun. 12, 2018.
Prior Publication US 2021/0245362 A1, Aug. 12, 2021
Int. Cl. G01M 15/14 (2006.01); B25J 9/06 (2006.01); B25J 5/00 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/06 (2013.01) [B25J 5/007 (2013.01); B25J 13/08 (2013.01); G01M 15/14 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A mobile robot for inspecting a turbomachine comprising:
at least one measuring device;
and a body including an assembly of at least three rigid segments each having two opposite longitudinal ends,
characterized in that the longitudinal ends of each segment are equipped with a hinge including a ball joint, each ball joint comprising a motorized wheel mounted thereon and therearound, the at least one measuring device being mounted on a ball joint located at a longitudinal end of the body, wherein the mobile robot further includes a tensioning system for tensioning the ball joints, wherein the tensioning system is configured to tension the ball joints by moving the segments and said at least one measuring device between a first configuration in which the segments and the at least one measuring device are aligned and a second configuration in which each segment has with said at least one adjacent segment or with said at least one measuring device an angle less than 180° by winding an elastic cable or by use of a shape memory spring.