Systems, methods, and apparatus for inspection of a surface using sensor holder with dual linear phased array of ultra-sonic elements

A payload for an inspection robot having a mounting rail to inspect an inspection surface, the payload comprising:

• a wedge element;
• and
• a probe holder, including:
• a mounting rail connection member structured to connect to the mounting rail;
• a wedge element holder structured to hold the wedge element;
• a spring-loaded member structured to connect to the mounting rail connection member and to provide a selected vertical force on the wedge element holder;
• and
• an extended member structured to connect to the spring-loaded member between a first end and a second end, and to connect to the wedge element holder at the second end,
• the extended member including a linear rail, wherein the extended member is structured to connect to the spring-loaded member via the linear rail, and the spring-loaded member travels along the linear rail between the first end and the second end.

A payload for an inspection robot having a mounting rail to inspect an inspection surface, the payload comprising:

• a wedge element;
• and
• a probe holder, including:
• a mounting rail connection member structured to connect to the mounting rail;
• a wedge element holder structured to hold the wedge element;
• a spring-loaded member structured to connect to the mounting rail connection member and to provide a selected vertical force on the wedge element holder,
• the spring-loaded member including a Hirth joint structured to set a skew axis relative to the inspection surface;
• and
• an extended member structured to connect to the spring-loaded member between a first end and a second end, and to connect to the wedge element holder at the second end.

A payload for an inspection robot having a mounting rail to inspect an inspection surface, the payload comprising:

• a wedge element;
• and
• a probe holder, including:
• a mounting rail connection member structured to connect to the mounting rail,
• wherein the mounting rail connection member includes a dovetail joint;
• a wedge element holder structured to hold the wedge element;
• a spring-loaded member structured to connect to the mounting rail connection member and to provide a selected vertical force on the wedge element holder;
• and
• an extended member structured to connect to the spring-loaded member between a first end and a second end, and to connect to the wedge element holder at the second end.