US 11,774,325 B2
Articulated non-destructive testing device having a plurality of actuation systems and a method of articulating the device
Andrew Tang, Camillus, NY (US); and James Delmonico, Baldwinsville, NY (US)
Assigned to Baker Hughes Oilfield Operations LLC, Houston, TX (US)
Filed by Baker Hughes Oilfield Operations LLC, Houston, TX (US)
Filed on Feb. 10, 2022, as Appl. No. 17/668,740.
Application 17/668,740 is a continuation of application No. 16/805,690, filed on Feb. 28, 2020, granted, now 11,300,480.
Prior Publication US 2022/0163427 A1, May 26, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01M 15/02 (2006.01)
CPC G01M 15/02 (2013.01) 19 Claims
OG exemplary drawing
 
1. A non-destructive testing device, comprising:
a tubular housing including a proximal end and a distal end, including:
a conduit section arranged at the proximal end; and
a bendable articulation section secured to the conduit section and arranged at the distal end, wherein the bendable articulation section includes a bendable neck covered in a non-porous material and a plurality of wobble washers configured to maintain a shape of the bended articulation section; and
a plurality of actuation systems, each actuation system including:
a control cable extending along the tubular housing within a sheath extending along the conduit section, the control cable arranged at a respective circumferential position within the bendable articulation section; and
an actuator disposed at the proximal end of the tubular housing and secured to the control cable, and
a force sensor configured to measure a tension of each control cable;
wherein each control cable of the plurality of actuation systems extends within channels formed between an outer wall and an inner wall of the bendable articulation section.