Ultrasonic inspection probe, system, and method

An ultrasonic inspection system for inspecting parts, the ultrasonic inspection system comprising:

• a robot;
• and
• an end effector, coupled to and movable by the robot, wherein the end effector comprises:
• a compliance interface assembly, directly coupled to the robot;
• and
• an ultrasonic inspection probe, coupled to the compliance interface assembly such that the compliance interface assembly couples the ultrasonic inspection probe to the robot, wherein the ultrasonic inspection probe comprises:
• a probe body, comprising an ultrasonic array and a plate attachment surface, wherein the ultrasonic array comprises a plurality of ultrasound elements, each selectively operable to generate an ultrasonic beam and each fixed relative to the plate attachment surface;
• and
• an interface plate, comprising a body attachment surface, removably attachable to the plate attachment surface of the probe body, and a part inspection surface, shaped to complement a shape of one of the parts.

A method of inspecting parts, the method comprising:

• removably attaching a first interface plate to a probe body;
• riding a first part inspection surface of the first interface plate along a first one of the parts;
• and
• while riding the part inspection surface of the interface plate along the first one of the parts, directing ultrasonic beams, generated from an ultrasonic array of the probe body and fixed relative to the probe body, toward the first one of the parts.