System for automatic non-destructive testing of rotating components

A system for inspecting test objects, comprising:

• a scanning device, including:
• an end effector, including:
• a central ultrasonic transducer extending orthogonally outwardly from a center of a bottom surface of the end effector;
• a plurality of peripheral ultrasonic transducers extending outwardly and angled inwardly from a periphery of the bottom surface of the end effector;
• wherein the plurality of peripheral ultrasonic transducers includes a first pair of angled ultrasonic transducers oriented opposite each other, wherein each of the first pair of angled ultrasonic transducers is at an angle of less than 18° relative to an axis parallel to the central ultrasonic transducer;
• wherein the plurality of peripheral ultrasonic transducers includes a second pair of angled ultrasonic transducers oriented opposite each other, wherein each of the second pair of angled ultrasonic transducers is at an angle of between about 40° and about 45° relative to an axis parallel to the central ultrasonic transducer;
• a robotic arm attached to the end effector operable to translate and rotate the end effector relative to a surface of a test object;
• and
• an axis rod, connected to an interior surface of a testing sink, extending into a hollow portion of the test object and operable to rotate the test object.

A system for inspecting test objects, comprising:

• a scanning device, including:
• an end effector, including:
• a central ultrasonic transducer extending orthogonally outwardly from a center of a bottom surface of the end effector;
• a plurality of peripheral ultrasonic transducers extending outwardly and angled inwardly from a periphery of the bottom surface of the end effector;
• a robotic arm attached to the end effector operable to translate and rotate the end effector relative to a surface of a test object;
• an axis rod, connected to an interior surface of a testing sink, extending into a hollow portion of the test object and operable to rotate the test object;
• and
• at least one LiDAR sensor, at least one stereo depth camera, at least one ultrasonic alignment sensor, and/or at least one laser alignment sensor configured to detect a position and/or angle of the robotic arm relative to the test object;
• wherein the robotic arm is operable to automatically adjust a position and/or angle of the end effector to maintain the central ultrasonic transducer as orthogonal to the surface of the test object for the duration of a scan;
• and
• wherein the automatic adjustment of the position and/or the angle of the end effector is based off sensor data from the at least one LiDAR sensor, the at least one stereo depth camera, the at least one ultrasonic alignment sensor, and/or the at least one laser alignment sensor.