mounting system for a structure, and, method for operating a mounting system

专利摘要:
ASSEMBLY SYSTEM FOR A FRAME AND METHOD FOR OPERATING A ASSEMBLY SYSTEM. A method and apparatus for performing an operation (111) on a surface (116) of a structure (106). A mounting system (102) may comprise a moving platform (122) and a moving platform (118). The movement platform (122) can be configured to be positioned below the surface (116) of the frame (106) to perform the operation (111) on the surface (116). The mobile platform (118) can be configured to transport the movement platform (122) across a floor (107) of a manufacturing environment (100) from a first location (117) to a second location (121).
公开号:BR102015008446B1
申请号:R102015008446-3
申请日:2015-04-15
公开日:2021-07-06
发明作者:Eric M. Reid；Darrell Darwin Jones；Clayton Lynn Munk；Steven A. Best；Matthew Ray Desjardien；Carlos Daniel Crespo
申请人:The Boeing Company；
IPC主号:

专利说明:

FUNDAMENTALS 1. Field:
[001] The present invention relates generally to aircraft and, in particular, to the fabrication of aircraft structures. Even more particularly, the present invention relates to a method and apparatus for performing operations on an aircraft structure using an autonomous tooling system. 2. Fundamentals:
[002] Fabricating aircraft structures can be a complex and time-consuming process. Thousands of parts can be designed and assembled to complete an aircraft structure. These parts can be progressively assembled by moving the aircraft structure to different locations in a manufacturing facility.
[003] Several assembly operations are performed on the aircraft structure at each of the locations. These operations can be performed manually by human operators using hand-held tools. For example, without limitation, drilling, reaming, fixing, coupling, sealing, covering, inspecting, or other appropriate types of operations may be performed on portions of an aircraft structure by human operators. Human operators can also move parts between locations to orient those parts in relation to the aircraft structure.
[004] To satisfy ergonomic considerations for human operators, existing solutions may require assembly to be completed while the aircraft structure is in a vertical orientation. For example, when assembling a wing, some currently used systems orient the wing with the trailing edge down and the leading edge up. Human operators maneuver around the wing to drill, inspect and install fasteners into holes in the wing.
[005] Since operations are performed on a portion of the aircraft structure, the aircraft structure must be reoriented so that human operators can reach other portions of the aircraft structure. This process may involve disconnecting the aircraft structure from accessories and holding it in place, inverting the aircraft structure, and reconnecting the aircraft structure to the accessories.
[006] This assembly process may take longer or use more resources than desired. For example, the time required to disconnect, reverse and reconnect the aircraft structure significantly decreases the facility's production rate. As another example, performing operations using human operators can take more time or increase the manufacturing cost more than desired, as countless hours of labor are required to assemble a single aircraft structure. Also, as more human operators are used, additional ergonomic considerations must be taken into account.
[007] Other existing assembly solutions employ fixed robotic devices to perform operations on the aircraft structure. These robotic devices can be doweled to the floor of the manufacturing facility. With a docked robotic device, the reach and orientation of a terminal manipulator over the robotic device can be limited. As a result, positioning and accuracy of the terminal manipulator can be more difficult than desired. Additionally, fixed robotic devices may not meet the manufacturing requirements for more flexible and reconfigurable manufacturing facilities. Consequently, there is a need for a method and apparatus that provides a more efficient process with a higher production rate for assembling aircraft structures. SUMMARY
[008] In an illustrative embodiment, an assembly system for a structure may comprise a movement platform and a mobile platform. The movement platform can be configured to be positioned below a surface of a structure to perform an operation on the surface. The mobile platform can be configured to transport the motion platform across a floor of a manufacturing environment from a first location to a second location.
[009] In another illustrative embodiment, a method for operating a mounting system can be provided. A motion platform can be transported across a floor of a manufacturing environment from a first location to a second location. The movement platform can be transported across the floor using a mobile platform. The movement platform can be positioned below a surface of a structure to perform an operation on the surface.
[0010] In another illustrative embodiment, an apparatus may comprise a mobile platform, a first movement system associated with the mobile platform, a terminal manipulator, a hexapod robot carried by the mobile platform, and a second movement system associated with the robot hexapod. The first drive system can be configured to drive the mobile platform through a floor of a manufacturing environment from a first location to a second location under a lower cladding panel of a structure. The terminal handler can be configured to hold a set of tools. The end manipulator can be further configured to install a fastener to the bottom cladding panel using the tool kit. The hexapod robot can be configured to position the end manipulator relative to a surface of the lower cladding panel. The second motion system can be configured to move the hexapod robot along a vertical geometric axis to the surface of the lower cladding panel.
[0011] In yet another illustrative embodiment, a method for installing a fastener in a lower cladding panel of a structure may be provided. A mobile platform carrying a hexapod robot can be driven across a floor of a manufacturing environment from a first location to a second location using a motion system. A terminal manipulator can be positioned on the hexapod robot under the lower cladding panel. The fastener can be installed on the bottom cladding panel.
[0012] Another illustrative embodiment can provide a method for positioning a tool on a surface. The tool can be moved relative to the surface to roughly position the tool within a selected region on the surface using a first motion system. The tool can be moved relative to the surface with at least one degree of freedom to precisely position the tool at a selected position within the selected region on the surface using a second motion system.
[0013] Yet another illustrative modality can provide a method to position a tool on a surface. The tool can be moved relative to the surface to roughly position the tool within a selected region on the surface using a first motion system. The tool can be moved relative to the surface with at least one degree of freedom to precisely position the tool at a selected position within the selected region on the surface using a second motion system. An element associated with the tool to perform an operation can be aligned at the selected position relative to the selected position using a third motion system.
[0014] In yet another illustrative embodiment, a method for positioning a mounting system relative to a surface may be provided. The mounting system can be moved relative to the surface to roughly position the mounting system within a selected region on the surface using a first motion system. A motion platform can be moved relative to the surface with at least one degree of freedom to precisely position an end manipulator on the motion platform at a selected position within the selected region on the surface using a second motion system. A tool associated with the terminal manipulator to perform an operation can be aligned at the selected position relative to the selected position using the motion platform.
[0015] Features and functions may be achieved independently in various embodiments of the present invention or may be combined in further other embodiments where further details can be seen with reference to the following description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The novelties believed to be characteristic of the illustrative modalities are defined in the attached claims. The illustrative embodiments, however, as well as a preferred mode of use, other objects and aspects thereof, will be better understood by reference to the following detailed description of an illustrative embodiment of the present invention when read in conjunction with the accompanying drawings, in which: Figure 1 is an illustration of a block diagram of a manufacturing environment according to an illustrative embodiment; Figure 2 is an illustration of a manufacturing environment according to an illustrative embodiment; Figure 3 is an illustration of an isometric view of a mounting system according to an illustrative embodiment; Figure 4 is an illustration of an end manipulator and tool kit according to an illustrative embodiment; Figure 5 is an illustration of a top view of a mounting system according to an illustrative embodiment; figures 6 to 12 are illustrations of an assembly system performing operations according to an illustrative embodiment; Figure 13 is an illustration of a tool management system according to an illustrative embodiment; Figure 14 is an illustration of another implementation for an assembly system according to an illustrative embodiment; Figure 15 is an illustration of a flowchart of a process for operating an assembly system to perform an operation on a structure according to an illustrative embodiment; Figure 16 is an illustration of a flowchart of a process for operating an assembly system for installing a fastener to a panel of a structure in accordance with an illustrative embodiment; Figure 17 is an illustration of a block diagram of an aircraft manufacturing and maintenance method according to an illustrative embodiment; Figure 18 is an illustration of a block diagram of an aircraft in which an illustrative embodiment can be implemented. DETAILED DESCRIPTION
[0017] The illustrative modalities recognize and take into account different considerations. For example, without limitation, the illustrative embodiments recognize and take into account that it may be desirable to automate the performance of manufacturing operations on an aircraft structure. The illustrative embodiments also recognize and take into account that it may be desirable to have a device capable of maneuvering under aircraft structures to carry out manufacturing operations. For example, the illustrative modalities recognize and take into account that some locations on an aircraft structure are difficult for human operators to drill holes in a desired manner.
[0018] The illustrative modalities recognize and take into account that piercing a wing trim panel from below can pose ergonomic and precision challenges. For example, without limitation, inconsistencies, such as incorrectly located ergonomic holes or delamination, can be formed in holes drilled in the bottom cladding panel. As another example, a human operator may experience fatigue when installing fasteners in the dress panel. These challenges and others can result in the need to rework, discard the panel or wing, an increase in the cost of manufacturing the wing more than desired, or some combination of these.
[0019] In addition, the illustrative modalities recognize and take into account that it may be desirable to perform fabrication operations on an aircraft structure without the use of a fixed monument-type accessory at different locations within the fabrication facility. In this example knwuVtcVkxq. wo “ceguu„tkq Vkrq oqpwogpVq fizq” fi woc guVtwVwta that is immovably connected to the installation floor, a wall or other portion of the manufacturing installation. In other words, a fixed monument-type fixture can be a structure that is not configured to be moved in its entirety from one location to another location in the manufacturing facility without unscrewing it from the facility floor, walls, or other non-movable structure. For example, without limitation, a fixed monument-type fixture can hold a structure in position as operations are performed on the structure. These fixed monument-type accessories can include robotic devices bolted to the floor of the facility, a fixed bed system, or other structures.
[0020] The illustrative modalities recognize and take into account that fixed monument-type accessories reduce flexibility within a manufacturing facility. For example, disconnecting a mount from a fixed monument fitting and moving it to the next fixed monument fitting for additional mounting can be difficult. This disconnect-move-reconnect time slows down production rates and reduces manufacturing flexibility. In addition, fixed monument-type fixtures can take up more space than desired, allow limited access to the aircraft structure being assembled, or both. Additionally, fixed monument-type fixtures can be more expensive to manufacture, reconfigure, or maintain than desired. Similar problems arise with the use of fixed tool systems.
[0021] Thus, the illustrative modalities provide a method and apparatus to perform operations on a structure. These operations may include installing a fastener to the structure. A mounting system comprises a movable platform and a moving platform. The movement platform is configured to be positioned below a surface of a structure to perform an operation on the surface. The mobile platform is configured to transport the motion platform through a floor of a manufacturing environment from a first location to a second location.
[0022] Returning now to Figure 1, an illustration of a block diagram of a manufacturing environment is represented according to an illustrative embodiment. In this illustrated example, the manufacturing environment 100 is an environment in which an assembly system 102 can be used to install a fastener 104 to a frame 106. The manufacturing environment 100 can have a floor 107.
[0023] As shown, the manufacturing environment 100 can include a frame 106, an autonomous tool system 109, and a system holder 108. In this illustrative example, the frame 106 can be an object in an aircraft 110. For example, without As a limitation, the structure 106 may be incorporated into at least one of a wing, a fuselage, a horizontal stabilizer, a door, a housing, a motor, or other suitable structures.
[0024] In this illustrative example, the frame 106 may take the form of a wing panel 112 on the aircraft 110. The panel 112 may be a skin panel 115 in this illustrative example. For example, panel 112 may be a lower trim panel 105 for wing 114. In other illustrative examples, panel 112 may be a trim panel for a vertical stabilizer on aircraft 110. Other examples for panel 112 may include panels for installation on a fuselage, horizontal stabilizer, flap, spoiler, strap, nacelle or some other aircraft structure. Panel 112 may have a surface 116. Surface 116 may include illustrative illustrative tgfetkfc eqoq wc "uwrgtfiekg fg Vtcdcnjq" go cniwpu gzgornqu.
[0025] In this illustrated example, the stand-alone tool system 109 can be configured to perform an operation 111 on the panel 112. The operation 111 can be referred to as an assembly operation in this illustrative example. For example, the mounting system 102 can be configured to perform at least one of a drilling operation, a clamping operation, an inspection operation, a measuring operation, a cleaning operation, a sealing operation, a sealing operation. data collection, or other appropriate types of operation 111.
[0026] Eqoq wucfc cswk. c htcug "rgnq ogpqu wo fg." swcpfq wucfc with a list of items, means that different combinations of one or more of the listed items can be used and only one of the items in the list may be needed. The item can be an object, thing, action, process, or category rctVkewncto Go qwVtcu rcncxtcu. “rgnq ogpqu wo fg” ukgpkl'kec swg swcnswgt combination of items or series of items can be used from the list, but not that all items in the list may be required.
[0027] Rqt gxgoplo, "rgnq ogpqu wo fg ktgo A, ktgo D. g ktgo E" may mean item A; item A and item B; item B; item A, item B, and item C; or item B and kvgo E0 Go cniwpu ecuqu. "rgnq ogpqu wo fg kvgo C. kvgo D.g kvgo E" rqfg ukiPkfiect, rqt gzgornq, ugo nkoktc>«q, fqku fg ktgo C. wo fg ktgo B, and ten of item C; four from item B and seven from item C; or some other appropriate combination.
[0028] In this illustrative example, the stand-alone tool system 109 may take the form of the mounting system 102. In this way, the mounting system 102 can be referred to as a stand-alone tool system or an automated tool system. Mounting system 102 can be configured to install fastener 104 on surface 116 of panel 112.
[0029] Mounting system 102 may include a series of eqorqpgptgu0 Eqoq wucfc cswk. woc “ufitkg fg” ktgpu rqfg ugt wo qw ocku items. In this illustrative example, a series of components can be one or more components.
[0030] One or more components in assembly system 102 can move with at least one degree of freedom up to six degrees of freedom or more. For example, each component can move with at least one translational degree of freedom or at least one rotational degree of freedom, but it can have up to three translational degrees of freedom, up to three rotational degrees of freedom, or both. Each of the components can move with at least one degree of freedom independently of other components in assembly system 102 in some examples.
[0031] Mounting system 102 can be located and positioned based on at least one of a global coordinate system 101 and an airplane coordinate system 103, or more particular coordinate systems such as wing, flap, spoiler , stabilizer, strip, fuselage, or some other structure or even component systems such as spars, ribs, frames, or some other component. The global coordinate system 101 can be a reference coordinate system for the manufacturing environment 100.
[0032] The airplane coordinate system 103 can represent a reference coordinate system in which parts of the airplane are located in three-dimensional space. Airplane coordinate system 103 may be based on a reference point or origin in aircraft 110. Using at least one of the global coordinate system 101 and airplane coordinate system 103, assembly system 102 and the components within the mounting system 102 can be approximately and precisely positioned relative to structures within manufacturing environment 100. As shown, mounting system 102 can comprise a movable platform 118, a first movement system 119, an end manipulator 120, a platform of motion 122, a second motion system 124, a tool management system 126, a fastener management system 127, a controller 128, and a power supply system 129.
[0033] In this illustrative example, the mobile platform 118 may be a mechanical device that retains the components within the assembly system 102. For example, the mobile platform 118 may be configured to carry the movement platform 122 to perform operation 111.
[0034] PguVg example knwuVtcVkxq. swcpfq wo kVgo fi “o„xgn,” gng may be able to move across floor 107 in manufacturing environment 100. In other words, the item is not fixed to a particular location in manufacturing environment 100.
[0035] A mobile item can also be actionable. As used here, wo kVgo swg fi “trigger” rqfg ugt wo kVgo swg rqfg ug trigger to different positions by moving or being guided. Triggering an item can include moving the item by at least one of the item's translation with at least one rotation degree of freedom or the item's rotation with at least one rotation degree of freedom. Also, triggering an item can include moving an entire item and all the components that make up the item together in unison. An actionable item may be able to autonomously trigger to different locations. In other words, the item may have autonomous or semi-autonomous ability to move in its entirety from one location to another location relative to floor 107 in manufacturing environment 100.
[0036] In other cases, an actionable item may be triggered by some other system. For example, a controller, a movement system, a human operator, or some other type of device or operator can trigger an item. In this way, an actionable item can be electronically actuated, mechanically actuated, electromechanically actuated, manually actuated, or actuated in some other way.
[0037] In this illustrative example, the mobile platform 118 and the components associated with the mobile platform 118 are not fixed in one location. Conversely, the entirety of mobile platform 118 may move through floor 107 of manufacturing environment 100. For example, without limitation, mobile platform 118 may use first drive system 119 to drive from first location 117 to second location 121 on floor 107 of manufacturing environment 100.
[0038] As illustrated, the first movement system 119 can be physically associated with the mobile platform 118. A first component, such as the first movement system 119, can be considered to be physically associated with a second component, such as the platform movable 118, being secured to the second component, connected to the second component, mounted to the second component, welded to the second component, secured to the second component, connected to the second component in some other suitable way, or a combination thereof. The first component can also be connected to the second component using a third component. Furthermore, the first component can be considered to be associated with the second component being formed as part of the second component, as an extension of the second component, or a combination thereof.
[0039] In this illustrated example, the first drive system 119 may comprise a series of components configured to drive the mobile platform 118 from the first location 117 to the second location 121. For example, the first drive system 119 may include wheels , a rail system, pulleys, jacks attached to the corners of the mobile platform 118, or other suitable movement devices. In this way, the first movement system 119 provides an approximate positioning for the mobile platform 118.
[0040] In an illustrative example, the first drive system 119 may include retractable wheels 131. Retractable wheels 131 can be retracted to lower mobile platform 118 to a floor of manufacturing environment 100. Lower mobile platform 118 to floor 107 of the manufacturing environment 100 can increase the stability of the mounting system 102 during installation of the fastener 104. After the installation of the fastener 104 is completed, the retractable wheels 131 can be extended to lift the mobile platform 118 from the floor 107 and move the mobile platform 118 from the first location 117 to the second location 121 on the floor 107.
[0041] In this illustrated example, the first drive system 119 may include mecanum wheels 133. Mecanum wheels 133 allow the mobile platform 118 to achieve omnidirectional movement. In other words, mechanum wheels 133 can move mobile platform 118 back and forth as well as side by side.
[0042] In some illustrative examples, the mecanum wheels 133 can also be retractable or can be locked to substantially prevent unwanted movement of the mobile platform 118. In other illustrative examples, the first drive system 119 can include holonomic wheels, another type of omni-wheels, casters, other appropriate movement devices, or a combination of these. These types of wheels may or may not be retractable in an illustrative example.
[0043] As shown, the terminal manipulator 120 may be a device to which tool sets 132 are attached. In particular, end manipulator 120 can be configured to retain tool set 132. Tool set 132 can be used to install fastener 104 on panel 112.
[0044] Eqoq wucfq cswk. wo “eqpjwpVq” fg kVgpu rqfg ugt wo qw ocku items. In this illustrative example, toolkit 132 can be one or more tools. When two or more tools are present in toolkit 132, the tools may also be referred to as a tool group, a plurality of tools, ukornguogpVg “feiTcogpVcu,” qw ukokncto
[0045] In this illustrative example, the movement platform 122 may be a device configured to position the terminal manipulator 120 at the desired position 130 relative to the surface 116. In this illustrative example, the desired position 130 may include at least one of a location or an orientation for end manipulator 120 in three-dimensional space relative to panel 112 of frame 106.
[0046] The movement platform 122 can move the tool set 132 on the end manipulator 120 to the desired position 130 relative to location 135 on the surface 116 of the panel 112 to install the fastener 104. Specifically, the movement platform 122 can be configured to position tool set 132 on end manipulator 120 relative to surface 116 of panel 112 at location 135. For example, without limitation, movement platform 122 can position tool set 132 perpendicular to location 135, parallel to location 135, collinear with a central axis of location 135 to fastener 104, or otherwise.
[0047] Movement platform 122 provides fine positioning for end manipulator 120 relative to location 135. Location 135 may be a desired location to drill hole 134 for fastener 104.
[0048] When tool sets 132 are positioned relative to location 135 on surface 116 on panel 112, fastener 104 can be installed in a desired manner. For example, positioning tool set 132 perpendicular to surface 116 at location 135 may allow tool set 132 to drill hole 134 at location 135 along a geometric axis 137.
[0049] Geometry 137 may run perpendicular to surface 116 at location 135 in some cases. Drilling hole 134 in this manner can provide a desired alignment for fastener 104 when inserted into hole 134. In another illustrative example, positioning tool set 132 perpendicular to surface 116 at location 135 may allow tool set 132 to drill. hole 134 without forming a crack, delamination, or other out-of-tolerance inconsistencies in panel 112. In other examples, axis 137 may be at an angle.
[0050] In this illustrated example, the movement platform 122 can take various forms. Motion platform 122 takes the form of a hexapod robot 141 in this illustrative example. In other illustrative examples, without limitation, the movement platform 122 may take the form of a Stewart platform or other suitable types of movement platforms.
[0051] Motion platform 122 can provide degrees of freedom 139 of motion for end manipulator 120 in this illustrative example. Degrees of freedom 139 can refer to the movement of end 120 in three-dimensional space. For example, motion platform 122 can be configured to provide seven degrees of freedom 139 for end manipulator 120.
[0052] As illustrated, the second drive system 124 can be physically associated with the movement platform 122. The second drive system 124 can comprise a series of components configured to move the movement platform 122 along the vertical axis 136 to surface 116 of panel 112.
The vertical geometry axis 136 may be a geometry axis substantially perpendicular to the surface 116 at location 135 in this illustrative example. Tool set 132 on end manipulator 120 may move along vertical axis 136 as movement platform 122 moves.
[0054] In this illustrative example, the toolkit 132 may comprise a number of different types of tools. Tool set 132 may include a sensor system 138, a punch system 140, an inspection system 142 and a fastener installer 144.
[0055] In an illustrative example, the tool set 132 may be positioned on an alternate table 146 over the end manipulator 120. The alternate table 146 may retain the tool set 132 and move the tool set 132.
[0056] Alternate table 146 may be configured to move tool set 132 relative to surface 116 of panel 112 along a rail system 147. As an example, alternate table 146 may move tool set 132 to back and forth along a geometric axis parallel to surface 116 of panel 112 using rail system 147.
[0057] As illustrated, sensor system 138 may comprise a plurality of sensor devices configured to identify at least one of panel 112, a position 148 of end manipulator 120 relative to location 135 on surface 116 of panel 112 or location 135 on surface 116 of panel 112 for drilling hole 134 for fastener 104. For example, without limitation, sensor system 138 may include a camera, a proximity sensor, a skin-passing magnetic sensor, or some other suitable type of sensor. .
[0058] After using at least one of the first movement system 119 and the second movement system 124, the position 148 of the end manipulator 120 can be verified using the sensor system 138 in the tool set 132. In this illustrative example, the position 148 may include a current location, an orientation, or both for end manipulator 120 relative to surface 116 of panel 112. Position 148 may be compared with desired position 130 and adjustments may be made.
[0059] In some illustrative examples, sensor system 138 may be configured to identify position 148 of end manipulator 120 relative to location 135 on surface 116 based on index 150 aspects of surface 116. Index 150 aspects may be predetermined reference points on the surface 116. These index aspects 150 may take the form of at least one of a magnet, a sensor, a graphic indicator, a radio frequency identification tag, a target, or some other suitable type of index aspect. End manipulator 120 can be moved along surface 116 with the position of index features 150. Index features 150 can also be used to identify where to drill hole 134 in surface 116.
[0060] In some other illustrative examples, the sensor system 138 can communicate with a metrology system 152 in support of the system 108 to identify the position 148 of the terminal manipulator 120. The metrology system 152 can be one or more measurement devices in this illustrative example.
[0061] System support 108 with metrology system 152 can be configured to support mounting system 102 operation. Specifically, system support 108 can provide navigation, utilities, position information, task assignment and other types appropriate resources.
[0062] As an example, system support 108 can provide navigation for mounting system 102. As another example, metrology system 152 can be configured to take measurements regarding the position of structure 106 in some illustrative examples. In some cases, system support 108 can provide electricity, air, hydraulic fluid, water, vacuum, or other utilities to mounting system 102. System support 108 can be configured to provide these resources to various other devices located on the mounting system. 100 manufacturing environment as well.
[0063] In this illustrative example, a pressure pedal 151 can be connected to the terminal manipulator 120. The pressure pedal 151 can be a pressure sensing device in this illustrative example. Pressure pedal 151 may be the first end manipulator portion 120 for contacting surface 116 of panel 112.
[0064] In this illustrative example, pressure pedal 151 may be configured to identify a contact force 153 between pressure pedal 151 and surface 116 of panel 112. Contact force 153 may be an amount of force exerted on the surface 116 by the terminal manipulator 120.
[0065] Pressure pedal 151 can detect contact force 153 using a load cell or some other type of load sensor. An indication of contact force 153 may be desirable to reduce the risk of damage to at least one of surface 116, end manipulator 120, or both.
[0066] Pressure pedal 151 can be manually or automatically removed and replaced to optimize the contact area with panel 112. For example, pressure pedal 151 can be interchanged with a pressure pedal having a different diameter, shape, or another element. In some illustrative examples, pressure pedal 151 may be designed to safely break in the event of an unwanted encounter with panel 112 to prevent damage to panel 112, components within mounting system 102, or both.
[0067] The desired contact force 153 may be required in this illustrative example. For example, contact force 153 may be used to secure panel 112 to the subframe for panel 112 before installing fastener 104. As an example, panel 112 may need to be pressed against a rib, spar, or bearing joint. of load for proper installation of fastener 104. Thus, a desired contact force 153 may be required to achieve these results.
[0068] Once the end manipulator 120 and the tool set 132 are in position, the mounting system 102 can drill the hole 134 at the location 135 on the surface 116 of the panel 112. The mounting system 102 can drill the hole 134 at location 135 on surface 116 using perforation system 140 in this illustrative example.
[0069] The drilling system 140 can be configured to drill different types of holes in place 135 on the surface 116. For example, without limitation, the hole 134 can take the form of a cylindrical hole, a conical hole, a countersunk hole , a counter-drilled hole, a point face, a blind hole, or some other type of hole in this illustrative example.
[0070] The drilling system 140 may include a spindle 154 and a feed axis 156. In this illustrative example, the spindle 154 may comprise a series of mechanical parts configured to rotate to drill the hole 134. As an example, the spindle 154 may comprise 154 may include a drill bit over one end of spindle 154. Spindle 154 may rotate the drill bit to drill hole 134 to a depth 155 and a diameter 158 in a desired manner. In another example, spindle 154 can rotate a cutter. Spindle 154 may be operated using hydraulic power, pneumatic power, electricity, or some other source of energy.
[0071] In some cases, the mechanical parts in spindle 154 can be changed based on the requirements for hole 134. For example, the drill bit on spindle 154 can be changed to vary at least one of the depth 155 or the diameter 158 of hole 134. For example, a thinner drill can be used to decrease the diameter 158 of hole 134. In other illustrative examples, a longer cutter can be used to increase the depth 155 of hole 134.
[0072] As shown, feed geometry axis 156 may be perpendicular to surface 116 at location 135. In other examples, depending on the particular implementation, feed geometry axis 156 may not be perpendicular to surface 116.
[0073] Feed geometry axis 156 may include a number of mechanical parts configured to move spindle 154 relative to surface 116 at location 135 to drill hole 134. For example, without limitation, feed geometry axis 156 may include a platform , a rail system, a load cell, a roller bearing and other mechanical parts. Feed geometry axis 156 can move spindle 154 to location 135 to drill hole 134. When hole 134 is completed, feed geometry axis 156 can move spindle 154 in the opposite direction.
[0074] After drilling hole 134, mounting system 102 can inspect hole 134. Mounting system 102 can use inspection system 142 to inspect hole 134. Inspection system 142 can inspect at least one of the depth 155 or diameter 158 of hole 134. Inspection system 142 can inspect diameter 158 of hole 134 using hole probe 160.
[0075] In this illustrative example, bore probe 160 may be an elongated device configured to measure the diameter 158 of bore 134. In some illustrative examples, bore probe 160 may be inserted into bore 134 to determine whether bore 134 has a desired diameter. Depending on the type of hole 134 formed, inspection system 142 can be used to inspect other parameters for hole 134. For example, without limitation, inspection system 142 can be used to inspect at least one of a countersunk depth, angle countersink, countersunk normality to location 135, the normality of hole 134 to location 135, a countersunk diameter, a grip length, or some other parameter for hole 134.
[0076] Hole probe 160 can be removed to place a different probe in inspection system 142. Different probes can be placed in inspection system 142 to inspect different diameters. In some illustrative examples, bore probe 160 can be replaced with a thinner probe to inspect bore 134 having a smaller diameter. In other illustrative examples, bore probe 160 may be replaced with a thicker probe to inspect bore 134 having a larger diameter.
[0077] After inspecting hole 134, mounting system 102 can place fastener 104 into hole 134. Fastener 104 can join panel 112 to a portion positioned against panel 112. For example, without limitation, fastener 104 may joining panel 112 to a rib, spar, or some other wing structural member 114. In another illustrative example, fastener 104 can join a skin panel to panel 112.
[0078] In this illustrated example, fastener 104 may take the form of one of a rivet, a locking pin, a pin, a hex gear mechanism and other suitable types of fasteners. Fastener 104 can be placed in bore 134 using fastener installer 144. In this illustrative example, fastener installer 144 may be a mechanical device configured to apply a force to fastener 104 to insert fastener 104 into bore 134. In some examples illustratively, the fastener installer 144 can accommodate various diameters of fasteners.
[0079] Fastener management system 127 can hold fasteners 162 and other parts for fastener installer 144. Fastener management system 127 can be configured to retain several different diameters and grip lengths of fasteners 162. fastener management 127 can also perform other functions. For example, fastener management system 127 can perform at least one of wash fasteners 162 to remove any residue, applying sealant 164 to fasteners 162, inspect fastener and apply sealant, feeding one of fasteners 162 having sealant 164 to the installer of fixative 144 or other desirable actions.
[0080] In this illustrative example, the seal 164 may take the form of a polymeric material, a dielectric material, paint, or some other type of covering material. Seal 164 can be configured to provide electromagnetic protection for fasteners 162, seal hole 134, or perform various other functions.
[0081] As illustrated, the tool management system 126 may include a series of parts configured to exchange a tool 170 between a storage shelf 172 and the end handler 120. The tool 170 may be one of the set of tools 132 configured to use over terminal manipulator 120. In this illustrative example, storage shelf 172 may be a structure used to hold tool 170 and other tools when not used by terminal manipulator 120.
[0082] Fastener management system 126 can place tool 170 over end manipulator 120 when tool 170 is required. In a similar manner, tool management system 126 can take a tool that is no longer needed from terminal manipulator 120 and place it in storage shelf 172.
[0083] In this illustrative example, controller 128 may be a device configured to control the operation of assembly system 102. Controller 128 may be in communication with the various components in assembly system 102, as well as system controller 166 and the metrology system 152 in support of the system 108.
[0084] Swcpfq wo eqorqpgpVg guVá “go eqowpkec>«q” eqo wo other component, the two components can be configured to send signals back and forth over a communications medium. For example, without limitation, controller 128 can communicate with system controller 166 wirelessly over a network. In another illustrative example, controller 128 can communicate with motion platform 122 via a wired or wireless connection.
[0085] Controller 128 can be further configured to prevent unwanted encounters with human operators 188, standalone tool system 190, or both in manufacturing environment 100. In this illustrative example, standalone tool system 190 can be other devices configured to operate about panel 112. In some examples, the standalone tool system 190 may be referred to as automated tools.
[0086] Controller 128 may use system support 108 to determine the location of human operators 188 and maneuver mounting system 102 around human operators 188. Controller 128 may also be configured to turn off mounting system 102 if human operators 188 are too close to mounting system 102. In yet another illustrative example, controller 128 can use system support 108 to determine the location of stand-alone tool system 190 within manufacturing environment 100 to avoid unwanted encounters between mounting system 102 and stand-alone tool system 190.
[0087] In this illustrative example, at least one of controller 128 and system controller 166 can be implemented in software, hardware, firmware, or a combination thereof. When software is used, the operations performed by the controller can be implemented using, for example, without limitation, program code configured to run on a processor unit. When firmware is used, the operations performed by the controller can be implemented using, for example, without limitation, program code and data stored in persistent memory to run on a processor unit.
[0088] When hardware is employed, this hardware may include one or more circuits that operate to perform operations on the controller. Depending on the implementation, the hardware may take the form of a system circuit, an integrated circuit, an application-specific integrated circuit (ASIC), a programmable logic device, or some other appropriate type of hardware device configured to perform any series of operations.
[0089] With a programmable logic device, the device can be configured to perform the series of operations. The device can be reconfigured at a later time or it can be permanently configured to perform the series of operations. Examples of programmable logic devices include, for example, a programmable logic group, a programmable group logic, a field-programmable logic group, a field-programmable gate group, and other appropriate hardware devices. Additionally, processes can be implemented on organic components integrated with inorganic components and can be composed entirely of organic components excluding a human being. For example, processes can be implemented as circuits in organic semiconductors.
[0090] In some illustrative examples, the operations, processes or both performed by controller 128 and system controller 166 can be performed using organic components integrated with inorganic components. In some cases, operations, processes, or both can be performed entirely by organic components, excluding a human. As an illustrative example, circuits in organic semiconductors can be used to perform these operations, processes, or both.
[0091] As illustrated, the mounting system 102 may also have a power supply system 129. The power supply system 129 may include a power source configured to supply power to the mounting system 102. This power source may take the form of a battery, a solar cell, a pressurized air generator, a fuel cell, a combustion engine, a cable for an external power source, or some other suitable device. Power supply system 129 may be configured to supply power 168 to mounting system 102 such that power company cables or other connections may not be needed to move mounting system 102 relative to surface 116 of panel 112.
[0092] In this illustrative example, an orientation direction 199 may be provided for the mounting system 102. As an example, the orientation direction 199 may be provided for the mobile platform 118 as the mobile platform 118 moves through the manufacturing environment 100. Guidance direction 199 may take the form of commands, instructions, path generation, physically changing the direction of movement of mobile platform 118, and other guidance methods for mobile platform 118. In this illustrative example, a orientation direction 199 can dynamically change as conditions within manufacturing environment 100 change.
[0093] Guidance direction 199 may be provided by at least one of controller 128, system controller 166, human operators 188, or some other appropriate device. As an example, system controller 166 may send commands to orient mobile platform 118. In yet another example, one or more human operators 188 may orient mobile platform 118 by physically changing its direction. In other illustrative examples, the mobile platform 118 can orient itself, not under the direction of a controller.
[0094] The illustration of the manufacturing environment 100 in Figure 1 is not meant to imply physical or architectural limitations in the way in which an illustrative modality can be implemented. Components other than or in place of those illustrated may be used. Some components may be unnecessary. Also, blocks are presented to illustrate some functional components. One or more of these blocks can be combined, split or combined and split into different blocks when implemented in an illustrative modality.
[0095] For example, in some cases, the first drive system 119 may include at least one of an air system, retractable rails, or other devices in addition to or in place of retractable wheels 131, mechanum wheels 133, or both. In some illustrative examples, a locking mechanism may also be included. In another illustrative example, gravity can hold the mobile platform 118 in place.
[0096] In still other illustrative examples, the tool set 132 may include tools in addition to or in place of those shown in Figure 1. For example, a display system may be positioned over the terminal manipulator 120. The display system may be used to find aspects of index 150 in some illustrative examples. In still other illustrative examples, a cleaning system, cooling system, or other device can also be positioned over the end manipulator 120.
[0097] Returning then to Figure 2, an illustration of a manufacturing environment is represented according to an illustrative mode. Manufacturing environment 200 can be an example of a physical implementation for manufacturing environment 100 in Figure 1.
[0098] In this depicted example, the manufacturing environment 200 may include a wing assembly 202. The wing assembly 202 may be an example of a physical implementation for the wing 114 shown and shape in the block in Figure 1 as the wing 114 is being assembled.
[0099] As shown, the mounting system 204 may be positioned below the wing assembly 202. In this illustrative example, a mounting system 204 may be positioned below a surface 206 of a panel 208 of the wing assembly 202. For example , panel 208 may be a lower skin panel for mounting wing 202. Surface 206 and panel 208 may be examples of physical implementations for surface 116 and panel 112, respectively, shown in Figure 1.
[00100] In Figure 3, an illustration of an isometric view of the mounting system 204, shown in the direction of lines 3-3 in Figure 2, is represented according to an illustrative embodiment. In this illustrated example, an enlarged view of mounting system 204 is shown such that components within mounting system 204 can be seen in more detail.
[00101] As shown, the mounting system 204 may include a mobile platform 300, a terminal manipulator 302 and a motion platform 304. The mobile platform 300, the terminal manipulator 302 and the motion platform 304 may be examples of physical implementations for the mobile platform 118, the end manipulator 120 and the movement platform 122, respectively, shown in block form in Figure 1.
[00102] In this illustrative example, the mobile platform 300 can move relative to the wing assembly 202 shown in Figure 2 using a first drive system 306. The first drive system 306 can take the form of retractable wheels 307 in this illustrative example . Retractable wheels 307 retract to temporarily plant mounting system 204 in place while installing a fastener (not shown in this view) on surface 206 of panel 208 in Figure 2. First drive system 306 with retractable wheels 307 may be an example of a physical implementation for the first drive system 119 with retractable wheels 131 shown in block form in figure 1.
[00103] As illustrated, the terminal manipulator 302 can be connected to the movement platform 304. The movement platform 304 can move the terminal manipulator 302 with respect to the surface 206 of the panel 208. The terminal manipulator 302 can retain the tool set 308 Tool set 308 can be used to install the fastener on panel 208. Tool set 308 can be an example of a physical implementation for tool set 132 in Figure 1.
[00104] In this illustrative example, a second motion system 310 may move the motion platform 304 and end manipulator 302 along a vertical axis 312. The second motion system 310 may include a platform 314 in this illustrative example. Platform 314 can move motion platform 304 back and forth along vertical geometry axis 312. Second motion system 310 and vertical geometry axis 312 may be examples of physical implementations for second motion system 124 and vertical geometric axis 136, respectively, shown in figure 1.
[00105] As shown, assembly system 204 may also include a fastener management system 316, a tool management system 318, and a controller 320. The fastener management system 316, the tool management system 318, and the controller 320 may be examples of physical implementations for the fastener management system 127, the tool management system 126 and the controller 128, respectively, shown in block form in Figure 1.
[00106] In this illustrative example, fastener management system 316 and tool management system 318 can be configured to assist tooling 308 in installing the fastener. For example, without limitation, fastener management system 316 can feed the fastener to tooling 308 for installation. In another illustrative example, tool management system 318 can feed a drill bit of a desired diameter to tool set 308 for use. Tool management system 318 is shown in section 311.
[00107] In this depicted example, controller 320 may be configured to control the operation of each of the components in assembly system 204. For example, controller 320 may be configured to retract and extend retractable wheels 307. As another example , controller 320 may send commands to move platform 314 along vertical axis 312 in a desired manner. In another illustrative example, controller 320 may communicate with tool management system 318 to provide a desired tool for use on terminal manipulator 302.
[00108] In some cases, controller 320 may receive commands from a system controller (not shown in this view) to navigate assembly system 204 through manufacturing environment 200. Alternatively, controller 320 may autonomously drive the system mounting system 204. In yet another illustrative example, mounting system 204 may be driven non-autonomous from one location to another location.
[00109] The orientation direction can be provided as the assembly system 204 moves through the manufacturing environment 200. The orientation direction can be provided by at least one of the controller 320, the system controller, an operator human, or some other appropriate device. In other illustrative examples, the mobile platform 300 can orient itself, not under the direction of a controller.
[00110] Referring now to figure 4, an illustration of the terminal manipulator 302 and the tool set 308 shown in the direction of lines 4-4 in figure 3 is represented according to an illustrative embodiment. In this view, an enlarged view of the end-handler 302 is shown such that the components within the tool set 308 and the end-handler 302 are seen in more detail.
[00111] As shown, the tool set 308 may include a sensor system 400, a drilling system 402, an inspection system 404 and a fastener installer 406. The sensor system 400, the drilling system 402, the drilling system inspection 404 and fastener installer 406 can be examples of physical implementations for sensor system 138, drilling system 140, inspection system 142 and fastener installer 144, respectively, shown in block form in figure 1.
[00112] A 408 pressure pedal can also be seen in this view. In an illustrative example, pressure pedal 408 may be the first point of contact with surface 206 of panel 208 in Figure 2. Pressure pedal 408 may be an example of a physical implementation for pressure pedal 151 in Figure 1 .
[00113] In this illustrated example, pressure pedal 408 may include a channel 409. Channel 409 may be an opening in pressure pedal 408. Each tool in tooling 308 can be extended and retracted through channel 409 to perform operations about panel 208.
[00114] A tool in tooling 308 may move to align with channel 409 of pressure pedal 408 before being extended. Operations are performed on panel 208, pressure pedal 408 may remain in contact with surface 206 of panel 208 to provide a desired clamping and alignment force.
[00115] As illustrated, the terminal manipulator 302 may include an alternate table 410 and a connector 412. The alternate table 410 may provide structural support for the tool set 308. The alternate table 410 may also move the tool set 308 along of the 414 rail system.
[00116] In this illustrative example, alternate table 410 can move tool set 308 back and forth in the direction of arrow 416 using rail system 414. Alternate table 410 and rail system 414 can be examples of implementations for the alternate table 146 and rail system 147 shown in Figure 1. Connector 412 may be an umbilical cable configured to connect tool set 308 with various uses in this illustrative example.
[00117] In Figure 5, an illustration of a top view of the mounting system 204 shown along lines 5-5 in Figure 3 is represented according to an illustrative embodiment. In this illustrative example, motion platform 304 may include linear actuators 500 and a disk actuator 502. Disk actuator 502 is connected to terminal manipulator 302 in this illustrative example. Movement of linear actuators 500 or disk actuator 502 may result in movement of terminal manipulator 302.
[00118] The 500 linear actuators can be configured to extend and retract individually to move the 502 disc actuator with six degrees of freedom in this illustrative example. Specifically, linear actuators 500 can be configured to translate the disk actuator 502 about a geometry axis x 504, a geometry axis 505, and a axis z 506 and rotate the disk actuator 502 about the geometry axis x 504 , y axis 505 and z axis 506.
[00119] In this illustrative example, disk actuator 502 can be configured to rotate in the direction of arrow 508 to move end manipulator 302 around the circumference of disk actuator 502. In this way, motion platform 304 provides a degree of additional freedom of movement for the terminal manipulator 302. In other words, the linear actuators 500 with the disk actuator 502 can provide a total of seven degrees of freedom of movement for the terminal manipulator 302. The linear actuators 500, the disk actuator 502 or both can move individually or simultaneously to place the terminal manipulator 302 in a desired position relative to the surface 206 of the panel 208 shown in Figure 2.
[00120] Figures 6 to 12 show illustrations of the assembly system 204 performing operations according to an illustrative modality. Specifically, Figures 6 to 12 show mounting system 204 installing a fastener on surface 206 of panel 208 in the direction of lines 66 in Figure 2.
[00121] Returning to Figure 6, mobile platform 300 has been placed in a desired position relative to location 601 on surface 206 of panel 208 using first movement system 306. Location 601 may be a location for a hole (not shown in this view) and is an example of a physical implementation for location 135 on surface 116 in Figure 1. Second drive system 310 can move movement platform 304 in the direction of arrow 600 along vertical axis 312 to surface 206.
[00122] In figure 7, movement platform 304 has moved in the direction of arrow 600 in figure 6. Sensor system 400 can be used to determine a location 601 for a hole to be drilled (not shown in this view). Motion platform 304 can then be used to position end manipulator 302 with tool set 308 perpendicular to location 601 on surface 206 of panel 208 in this illustrative example.
[00123] As shown, a portion of the linear actuators 500 can be extended to position the terminal manipulator 302. In addition, the disk actuator 502 can rotate the terminal manipulator 302 in the direction of the arrow 508.
[00124] Returning next to Figure 8, pressure pedal 408 can contact surface 206 of panel 208. Pressure pedal 408 can identify a contact force between pressure pedal 408 and surface 206 of panel 208. Movement of end manipulator 302 may be delayed in response to contact until end manipulator 302 is in a desired position against surface 206.
[00125] In this illustrative example, sensor system 400 can then be used to confirm a desired position for terminal manipulator 302 with respect to surface 206. Sensor system 400 can confirm that terminal manipulator 302 and tool set 308 are positioned perpendicular to surface 206 at location 601. Tool set 308 is shown at section 800 in this illustrative example. Tool set 308 can be moved in the direction of arrow direction 802 on rail system 414 to move drilling system 402 into a position to drill the hole.
[00126] In figure 9, the drilling system 402 can be used to drill a hole 900 in the surface 206 of the panel 208 at location 601. In particular, a spindle 902 with a drill bit 903 can extend in the direction of arrow 600 along a feed geometry axis 904. Spindle 902 and feed geometry axis 904 may be examples of spindle 154 and feed geometry axis 156, respectively, in the drilling system 140 shown in Figure 1.
[00127] After drilling hole 900, spindle 902 may retract down to its previous position. Tool set 308 can then move in the direction of arrow 906 along rail system 414 to a position to inspect hole 900.
[00128] Referring to figure 10, inspection system 404 can be extended in the direction of arrow 600 to inspect hole 900. In this illustrative example, a hole probe 1000 can be used to measure a diameter of hole 900. hole 1000 may be an example of the hole probe 160 shown in block form in figure 1.
[00129] After inspection of hole 900, hole probe 1000 retracts down to its previous position. A fastener (not shown in this view) can then be installed in hole 900. End manipulator 302 and tool set 308 can be moved to position fastener installer 406 with respect to hole 900.
[00130] In figure 11, fastener installer 406 can insert fastener 1100 into hole 900. Fastener installer 406 can move from side to side using rail system 414 and then extend vertically to insert fastener 1100 into the 900 hole.
[00131] Referring now to Figure 12, fastener installer 406 installed fastener 1100 in hole 900. End manipulator 302 can now be repositioned with respect to a nearby location to drill a hole.
[00132] In this illustrative example, the mounting system 204 can be configured to provide “oqpVcigo wo rqt ekoc” fg fizcfqtgu pq rckpgn 208. As wucfq cswk. oqpVcigo “wo rqt ekoc” rqfg ug tehetkt cq rtqeguuq to drill and fix joints without having to drill holes, disassemble parts for cleaning and/or deburring before reassembling to install fasteners. This one-over mount can increase the rate at which fasteners can be installed on the 208 panel and can also increase wing mounting rates.
[00133] In other illustrative examples, the mounting system 204 may not install the fastener 1100. Instead, the mounting system 204 can only drill and measure holes in the panel 208. Various fasteners can be subsequently installed by the mounting system 204, by a human operator, by some other type of device, or a combination of these.
[00134] In another illustrative example, the mounting system 204 can be used in a not one-over mounting situation. For example, mounting system 204 may first drill hole 900 and inspect the diameter of hole 900, before being pulled away from panel 208. Panel 208 may then be lowered, cleaned, deburred and reinstalled. Mounting system 204 can then be brought back into place for fastener insertion.
[00135] Referring next to figure 13, an illustration of tool management system 318 in section 311 from figure 3 is represented according to an illustrative embodiment. In this example, tool management system 318 is shown with no other components in assembly system 204 to better show elements of tool management system 318.
[00136] In this depicted example, the tool management system 318 may include a number of components. As shown, tool management system 318 may include a robot arm 1300, a storage shelf 1302 and tools 1304.
[00137] As shown, the robot arm 1300 may have a terminal manipulator 1306. The terminal manipulator 1306 is configured to hold a portion of tools 1304 to exchange tools 1304 with the terminal manipulator 302 shown in Figure 3. For example, the manipulator The terminal 1306 can exchange a probe, a drill bit, a removable pressure pedal or other tools with the terminal manipulator 302, depending on the operations that are performed by the terminal manipulator 302.
[00138] In this illustrative example, storage shelf 1302 can also hold a portion of tools 1304. Robot arm 1300 can use terminal manipulator 1306 to withdraw a tool from storage shelf 1302. robot 1300 can use terminal manipulator 1306 to capture a tool stored in storage shelf 1302. In this way, tool management system 318 can provide various tools 1304 for use on panel 208 shown in figure 2.
[00139] In Figure 14, an illustration of another implementation for an assembly system is represented according to an illustrative modality. In this illustrated example, the mounting system 1400 can be an example of a physical implementation for the mounting system 102 shown in block form in Figure 1.
[00140] As shown, mounting system 1400 may include the same or different components relative to mounting system 204 shown in Figure 2. In this illustrative example, mounting system 1400 may include a movable platform 1402, a handling system 1403, an end handler 1404, a motion platform 1406, a controller 1408, a tool management system 1410, and a fastener management system 1412. The mobile platform 1402, the movement system 1403, the end handler 1404, motion platform 1406, controller 1408, tool management system 1410, and fastener management system 1412 may be examples of physical implementations for mobile platform 118, first motion system 119, terminal manipulator 120, platform of motion 122, controller 128, tool management system 126 and fastener management system 127, respectively, shown in block form in Fig. 1.
[00141] In this illustrated example, the movement system 1403 may include mecanum wheels 1414 attached to the mobile platform 1402. The mecanum wheels 1414 are used to move the mobile platform 1402. The mecanum wheels 1414 can be an example of a physical implementation for wheels mecanum 133 shown in block form in figure 1.
[00142] A second movement system (not shown in this view) can move the movement platform 1406 along a vertical geometric axis 1416. The movement platform 1406 can move the end manipulator 1404 with respect to a surface of a structure ( not shown in this view). This movement may include rotation in the direction of arrow 1418.
[00143] As illustrated, terminal manipulator 1404 may hold a set of tools 1420 that perform operations on the structure. Tooling 1420 can perform these operations under the control of controller 1408. Fastener management system 1412 and tool management system 1410 feed components to tooling 1420 in this illustrative example.
[00144] The illustrations of the assembly system 204 in figures 2 to 13 and of the assembly system 1400 in figure 14 are not meant to imply physical or architectural limitations in the way in which an illustrative modality can be implemented. Components other than or in place of those illustrated may be used. Some components may be optional.
[00145] The different components shown in figures 2 to 14 can be illustrative examples of how the components shown in block form in figure 1 can be implemented as physical structures. Additionally, some of the components in figures 2 to 14 can be combined with components in figure 1, used with components in figure 1, or a combination of the two.
[00146] Although illustrative embodiments are shown and described with reference to panel 208 of a wing, mounting system 204 is not so limited. Mounting system 204 can be used to perform operations on lower sections of fuselage panels, lower wing-to-body joints, and other types of structures.
[00147] The illustrative embodiments can be used with various configurations of structures that retain the wing assembly 202. For example, without limitation, the assembly system 204 can be used with immobile or semi-mobile accessories where there is access from below. Alternatively, the mounting system 204 can be moved relative to driveable supports configured to retain the wing assembly 202. These driveable supports can take the form of automated guided vehicles. In this way, the assembly system 204 is versatile in its use within the 200 manufacturing environment.
[00148] Referring now to figure 15, an illustration of a flowchart of a process for operating the assembly system 102 to perform operation 111 on the structure 106 from figure 1 is represented according to an illustrative embodiment. In particular, the process illustrated in Fig. 15 can be implemented to install the fastener 104 on the panel 112. Control of the different operations can be performed by the controller 128 in the mounting system 102.
[00149] The process can begin by loading the movement platform 122 through the floor 107 of the manufacturing environment 100 from the first location 117 to the second location 121 using the mobile platform 118 (operation 1500). Then, the process can roughly position the movement platform 122 below the surface 116 of the frame 106 (step 1502).
[00150] Thereafter, the process precisely positions the end manipulator 120 relative to the location 135 on the surface 116 using the movement platform 122 (operation 1504). End manipulator 120 may retain tool set 132 to perform operation 111 on frame 106. The process then can perform operation 111 on surface 116 at location 135 using tool set 132 on end manipulator 120 (operation 1506 ), with the process ending after that.
[00151] Turning next to Figure 16, an illustration of a flowchart of a process for operating the mounting system 102 to install the fastener 104 on the panel 112 of the frame 106 from Figure 1 is shown according to an illustrative embodiment. The process illustrated in this figure can also be implemented after the mobile platform 118 has reached the second location 121. The process can begin by moving the movement platform 122 along the vertical axis 136 to the surface 116 using the second movement system 124 ( operation 1600).
[00152] The process can position end manipulator 120 perpendicular to surface 116 at location 135 using movement platform 122 (operation 1602). In some illustrative examples, end manipulator 120 is not positioned perpendicular to location 135, as described with reference to Figure 1, above.
[00153] In operation 1602, the sensor system 138 can identify the position 148 of the terminal manipulator 120 and compare that position with the desired position 130 for the terminal manipulator 120. The terminal manipulator 120 can then be moved using a combination of components on the platform of movement 122.
[00154] Next, the process may move end manipulator 120 along vertical axis 136 to contact surface 116 at location 135 (operation 1604). The process identifies the contact force 153 between the pressure pedal 151 on the end manipulator 120 and the surface 116 (operation 1606).
[00155] In this illustrative example, contact force 153 can be identified using a load cell or other load sensing device. Contact force 153 can be identified to reduce unwanted encounters between end manipulator 120 and surface 116 to determine whether the desired contact force 153 has been achieved, or both.
[00156] A determination can be made as to whether the desired contact force 153 has been reached (operation 1608). Desired contact force 153 provides clamping force for panel 112 and its substructure. In some cases, no clamping force is required.
[00157] Controller 128 can compare the contact force 153 identified by the load cell to a predetermined contact force. If the desired contact force 153 has been achieved, the process drills hole 134 in surface 116 of panel 112 using punch system 140 in tool set 132 (operation 1610).
[00158] Thereafter, the process can inspect at least one of depth 155 or diameter 158 of hole 134 using inspection system 142 in tooling set 132 (operation 1612). For example, hole probe 160 can be inserted into hole 134 to inspect hole 134. In other illustrative examples, inspection system 142 can inspect countersunk depth, countersunk angle, countersunk normality to location 135, normality of hole 134 to location 135, countersunk diameter, grip length or some other parameter for hole 134 likewise.
[00159] The process can then insert fastener 104 into hole 134 using fastener installer 144 in tool set 132 (operation 1614). In operation 1614, fastener management system 127 can assist fastener installer 144 by applying sealant 164 to fastener 104 and supplying fastener installer 144 with fastener 104 for insertion. The process may inspect the fastener 104 (run 1616) with the process ending thereafter.
[00160] Returning to operation 1608, if the desired contact force 153 has not been achieved between surface 116 and terminal manipulator 120, the process returns to operation 1604 as described above. In this illustrative example, as tool set 132 performs these operations, tool set 132 can be moved along track system 147 on alternate table 146 over end manipulator 120 to position each tool with respect to hole 134. If further adjustment is required, at least one of the second movement system 124 and the movement platform 122 can be used. In addition, tool management system 126 can exchange tools in tooling 132 as needed.
[00161] The flowcharts and block diagrams in the different modalities represented illustrate the architecture, functionality and operation of some possible implementations of devices and methods in an illustrative modality. In this regard, each block in the flowcharts or block diagram may represent a module, a segment, a function, a portion or step of an operation, and some combination thereof.
[00162] In some alternative implementations of an illustrative modality, the function or functions indicated in the blocks may occur outside the order indicated in the figures. For example, in some cases, two blocks shown in succession can be played at substantially the same time, or the blocks can sometimes be played in reverse order, depending on the functionality involved. Also, other blocks can be added in addition to the blocks illustrated in a flowchart or block diagram.
[00163] The illustrative embodiments of the invention can be described in the context of the method of manufacturing and maintaining aircraft 1700 as shown in figure 17 and aircraft 1800 as shown in figure 18. Returning first to figure 17, an illustration of a block diagram of an aircraft manufacturing and maintenance method is represented according to an illustrative modality. During pre-production, the manufacturing and maintenance method for 1700 aircraft may include specification and design 1702 of the 1800 aircraft in Figure 18 and material acquisition 1704.
[00164] During production, fabrication of 1706 components and sub-assemblies and 1708 system integration of the 1800 aircraft in figure 18 take place. The 1800 aircraft in figure 18 can then pass certification and 1710 delivery in order to be placed in 1712 service. While in 1712 service by a customer, the 1800 aircraft in figure 18 is scheduled for routine maintenance and service 1714, which may include modification, reconfiguration, refurbishment, and other maintenance or service.
[00165] Each of the 1700 aircraft manufacturing method and service processes may be performed or driven out by at least one of a system integrator, a third party, or an operator. In these examples, the operator can be a customer. For purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and large system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator can be an airline, a leasing company, a military entity, a service organization, and so on.
[00166] Referring now to figure 18, an illustration of an aircraft is represented in the form of a block diagram in which an illustrative modality can be implemented. In this example, aircraft 1800 is produced by aircraft manufacturing and service method 1700 in Figure 17 and may include an 1802 fuselage with a plurality of 1804 systems and an 1806 interior. Examples of 1804 systems include one or more of 1808 propulsion systems , 1810 electrical system, 1812 hydraulic system, and 1817 environmental system. Any series of other systems can be included. Although an aerospace example is shown, different illustrative modalities can be applied to other industries, such as the automotive industry.
[00167] The apparatus and methods carried out here can be employed during at least one of the stages of the aircraft fabrication method and service 1700 in figure 17. In particular, the assembly system 102 of figure 1 can be used to fabricate aircraft structures during various stages of the 1700 aircraft manufacturing and maintenance method. For example, without limitation, the location for holes in the fuselage 1802 can be determined during specification and design 1702. In addition, the mounting system 102 can be used to install the fastener 104 in fuselage 1802 of aircraft 1800 during component and subassembly 1706 fabrication. In another illustrative example, assembly system 102 can be used to perform drilling and inspection operations on fuselage 1802 during routine maintenance and service 1714 or some other 1700 aircraft manufacturing and maintenance method stage.
[00168] In an illustrative example, components or subassemblies produced in component and subassembly and fabrication 1706 in figure 17 may be fabricated or manufactured in a similar manner to components or subassemblies produced while aircraft 1800 is in service 1712 in figure 17. As yet in another example, one or more apparatus modalities, method modalities, or a combination thereof may be used during the production stages, such as component and subassembly 1706 fabrication and system integration 1708 in Figure 17. One or more modalities of apparatus, method modalities, or a combination thereof may be used while the aircraft 1800 is in service 1712, during maintenance and service 1714 in Figure 17, or a combination thereof. The use of a number of different illustrative modalities can substantially speed up assembly and reduce the cost of the 1800 aircraft or both.
Thus, illustrative embodiments may provide a method and apparatus for performing operation 111 on frame 106. In particular, operation 111 may include installing fastener 104. Frame 106 may take the form of panel 112 of wing 114 for aircraft 110 in this illustrative example. Mounting system 102 may comprise mobile platform 118, first drive system 119 associated with mobile platform 118, end manipulator 120 and movement platform 122. First drive system 119 may be configured to drive the mobile platform 118 to the desired position 130 relative to panel 112 to frame 106. End manipulator 120 can be configured to retain tool set 132 and install fastener 104 to panel 112 using tool set 132. it can be configured to position the tool set 132 on the end manipulator 120 relative to the surface 116 of the panel 112 to install the fastener 104.
[00170] With the use of mounting system 102, operations can be performed on panel 112 without the need for manual drilling by human operators. The illustrative modalities provide an autonomous, self-energized system that is capable of navigating under panel 112 without human intervention.
[00171] Even when used in conjunction with human operators, the assembly system 102 can reduce the number of assembly operations performed by human operators. For example, mounting system 102 can use manually drilled holes in panel 112 as guides to install fasteners using fastener installer 144. In another illustrative example, mounting system 102 can drill and inspect the holes using fastener installer 144. drilling 140 and inspection system 142, and human operators can install the fasteners.
[00172] In both cases, performing operations on panel 112 can be done more efficiently and in less time than with some currently used systems. As a result, the time, cost or both the time and cost required to manufacture the aircraft 110 can be reduced.
[00173] The illustrative modalities also provide a mounting system with precision positioning and alignment. Once under panel 112, end manipulator 120 may move with seven degrees of freedom to move tool set 132 to desired position 130. Desired position 130 may be perpendicular to surface 116 in some illustrative examples. Sensor system 138 can continuously monitor the position of end manipulator 120. As a result, normality to surface 116 can be achieved by increasing consistency and alignment of holes drilled in surface 116.
[00174] In addition, sensor system 138, inspection system 142, or both can be used to assess the performance of mounting system 102. For example, without limitation, sensor system 138 can measure the leveling of fastener 104 installed on panel 112. Subsequent installations can be modified based on this information to more accurately install the fasteners. As another example, inspection system 142 can be used to ensure consistency between holes drilled in panel 112. As a result, less rework may be required, which further reduces manufacturing time for wing 114.
[00175] The illustrative embodiments also provide the ability to contribute various heights of panel 112 above the floor. For example, in some cases, the desired height of the wing during assembly may be too close to the ground for human operators to access. Mounting system 102 can be configured to fit between the floor and panel 112 to perform operations.
[00176] The illustrative modalities also allow operations to be performed on the panel 112 without the need for fixed monument-type accessories or fixed tool systems in the manufacturing environment 100. Instead, the mounting system 102 moves around the manufacturing environment using retractable wheels 131. In this way, manufacturing environment 100 can be reconfigured as needed. Additionally, fewer steps may be required to establish manufacturing environment 100. For example, concrete work to secure fixed monument-type fixtures can be reduced or eliminated. Monument constructions or fixed tool system installation can also be reduced or eliminated. Consequently, cost savings can be obtained.
[00177] The description of the different illustrative modalities has been presented for illustration and description purposes and is not intended to be exhaustive or limited to the modalities as described. Many modifications and variations will be apparent to those of ordinary skill in the art. Furthermore, different illustrative embodiments may provide different aspects compared to other desirable embodiments. The selected modality or modalities are chosen and described in order to better explain the principles of the modalities, the practical application, and to enable others of ordinary skill in the art to understand the description for various modalities with various modifications as are suitable for the particular use contemplated.
Thus, in summary, according to a first aspect of the present invention there is provided: A1. A mounting system for a structure comprising: a movement platform configured to be positioned below a surface of a structure to perform an on-surface operation; and a mobile platform configured to transport the motion platform across a floor of a manufacturing environment from a first location to a second location.
[00179] A2. The mounting system of paragraph A1 is also provided, further comprising: an end manipulator on the movement platform, wherein the end manipulator is configured to retain a tool set and perform the operation using the tool set.
[00180] A3. The mounting system of paragraph A2 is also provided, wherein the movement platform is configured to position the tool set on the end manipulator in a desired position relative to the surface of the frame to perform the operation on the frame.
[00181] A4. The mounting system of paragraph A2 is also provided, wherein the movement platform is configured to position the tooling perpendicular to a location on the surface of the frame.
[00182] A5. The mounting system of paragraph A2 is also provided, wherein the movement platform is configured to position the tooling parallel to a location on the surface of the structure.
[00183] A6. The mounting system of paragraph A2 is also provided, in which the movement platform is configured to position the tool set collinear with a central axis of a location for a fastener.
[00184] A7. The mounting system of paragraph A2 is also provided, wherein the tool kit comprises: a sensor system configured to identify at least one of the surface of the structure, a position of the end manipulator relative to the surface of the structure, or a location on the structure. the surface of the structure to drill a hole for a fastener.
[00185] A8. The mounting system of paragraph A7 is also provided, wherein the sensor system is configured to identify the position of the end manipulator based on index aspects on the surface of the structure.
[00186] A9. The mounting system of paragraph A7 is also provided, in which the sensor system is configured to measure a flatness of the fastener inserted in the drilled hole in the surface of the structure.
[00187] A10. The mounting system of paragraph A2 is also provided, further comprising: a pressure pedal connected to the terminal manipulator and configured to identify a contact force between the pressure pedal and the surface of the structure.
[00188] A11. The mounting system of paragraph A2 is also provided, wherein the tool kit comprises: a drilling system configured to drill a hole in the surface of the structure.
[00189] A12. The mounting system of paragraph A11 is also provided, wherein the drilling system comprises a spindle and a feed axis.
[00190] A13. The mounting system of paragraph A11 is also provided, the tool kit comprising: an inspection system configured to inspect the drilled hole in the surface of the structure.
[00191] A14. The mounting system of paragraph A13 is also provided, wherein the inspection system comprises a bore probe.
[00192] A15. The mounting system of paragraph A13 is also provided, wherein the inspection system is configured to inspect a seal applied to a fastener.
[00193] A16. The mounting system of paragraph A13 is also provided, in which the inspection system is configured to inspect a fastener installed in the hole.
[00194] A17. The mounting system of paragraph A11 is also provided, wherein the tool kit comprises: a fastener installer configured to insert a fastener into the hole drilled in the surface of the frame.
[00195] A18. The assembly system of paragraph A17 is also provided, further comprising: a fastener management system configured to retain fasteners, apply a fastener sealant to the fasteners, and supply the fastener to the fastener installer.
[00196] A19. The mounting system of paragraph A2 is also provided, wherein the end manipulator comprises an alternate table configured to move the tool set along a rail system on the alternate table.
[00197] A20. The assembly system of paragraph A2 is also provided, further comprising: a tool management system configured to exchange a tool between a storage shelf and the terminal manipulator.
[00198] A21. The mounting system of paragraph A1 is also provided, further comprising: a power supply system configured to supply power to the mounting system.
[00199] A22 The mounting system of paragraph A1 is also provided, further comprising: a movement system associated with the mobile platform and configured to drive the mobile platform from the first location to the second location.
[00200] A23. The assembly system of paragraph A22 is also provided, wherein the movement system is a first movement system and further comprising: a second movement system associated with the movement platform and configured to move the movement platform along a vertical geometric axis for the surface of the structure.
[00201] A24. The mounting system of paragraph A22 is also provided, wherein the drive system comprises retractable wheels configured to retract when the mobile platform reaches a desired position on the floor of the manufacturing environment.
[00202] A25. The mounting system of paragraph A1 is also provided, wherein the frame is incorporated into at least one of a wing, a fuselage, a horizontal stabilizer, a door, a panel, a housing, or an engine.
[00203] A26. The mounting system of paragraph A22 is also provided, in which the movement system is configured to drive the mobile platform under a panel of the structure.
[00204] A27. The mounting system of paragraph A26 is also provided, wherein the panel is a cladding panel.
[00205] A28. The mounting system of paragraph A27 is also provided, wherein the cladding panel is a bottom cladding panel.
[00206] A29. The assembly system of paragraph A1 is also provided, wherein the guidance direction for the mobile platform to orient from the first location to the second location is provided by at least one of human operators, a controller associated with the mobile platform or a system controller.
[00207] A30. The mounting system of paragraph A1 is also provided, in which the mobile platform is configured to self-orient itself.
[00208] According to another aspect of the present invention there is provided: B1. A method of operating an assembly system, the method comprising: transporting a motion platform across a floor of a manufacturing environment from a first location to a second location using a moving platform; and positioning the movement platform below a surface of a structure to perform an operation on the surface.
[00209] B2. The method of paragraph B1 is also provided further comprising: positioning an end manipulator relative to the surface of the structure using the movement platform, wherein the end manipulator is configured to retain a tool set and perform the operation on the structure using the assembly of tools.
[00210] B3. The method of paragraph B2 is also provided further comprising: performing the operation on the structure using the toolkit.
[00211] B4. The method of paragraph B2 is also provided further comprising: installing a fastener to the frame using the tool kit.
[00212] B5. The method of paragraph B2 is also provided, further comprising: positioning the end manipulator perpendicular to a location on the surface of the structure using the movement platform.
[00213] B6. The method of paragraph B2 is also provided further comprising: positioning the tooling with respect to a location on the surface of the structure using the motion platform.
[00214] B7. The method of paragraph B2 is also provided further comprising: positioning the tool set parallel to a location on the surface of the structure using the movement platform.
[00215] B8. The method of paragraph B2 is also provided further comprising: positioning the tool set collinear with a central axis of a location for a fastener using the motion platform.
[00216] B9. The method of paragraph B2 is also provided, further comprising: positioning the tool set perpendicular to a location on the surface of the structure using the movement platform.
[00217] B10. The method of paragraph B2 is also provided, further comprising: drilling a hole in the surface of the structure using a drilling system in the tool kit.
[00218] B11. The method of paragraph B10 is also provided, further comprising: inspecting at least one of a hole depth or diameter using an inspection system in the tooling.
[00219] B12. The method of paragraph B11 is also provided further comprising: inserting a fastener into the hole using a fastener installer in the tool kit.
[00220] B13. Also provided is the method of paragraph B12 further comprising applying a seal to the fastener using a fastener management system; and receiving the fastener from the fastener management system using the fastener installer, wherein the fastener is received prior to inserting the fastener with the sealant into the hole.
[00221] B14. The method of paragraph B13 further comprising: inspecting the seal applied to the fastener using the inspection system is also provided.
[00222] B15. The method of paragraph B13 is also provided, further comprising: inspecting the fastener installed in the hole using the inspection system.
[00223] B16. The method of paragraph B15 is also provided, further comprising: measuring a flatness of the fastener inserted into the hole drilled in the surface of the structure using a sensor system.
[00224] B17. The method of paragraph B2 is also provided, further comprising: identifying a contact force between a pressure pedal connected to the end manipulator and the surface of the structure.
[00225] B18. The method of paragraph B1 is also provided further comprising: driving the mobile platform through the floor of the manufacturing environment from the first location to the second location using a drive system.
[00226] B19. The method of paragraph B1 is also provided, in which the operation is selected from one of a drilling operation, a clamping operation, an inspection operation, a measuring operation, a cleaning operation, a sealing operation and an operation of data collection.
[00227] B20. The method of paragraph B1 is also provided further comprising: guiding the mobile platform from the first location to the second location.
[00228] B21. The method of paragraph B20 is also provided, further comprising: providing an orientation direction for the mobile platform.
[00229] B22. The method of paragraph B21 is also provided, wherein the guidance direction is provided by at least one of human operators, a controller associated with the mobile platform or a system controller.
[00230] According to another aspect of the present invention there is provided: C1. An apparatus comprising: a mobile platform; a first drive system associated with the mobile platform, wherein the first drive system is configured to drive the mobile platform through a floor of a manufacturing environment from a first location to a second location under a lower cladding panel of a structure; an end manipulator configured to retain a set of tools and install a fastener to the lower trim panel using the set of tools; a hexapod robot carried by the mobile platform and configured to position the terminal manipulator relative to a surface of the lower cladding panel; and a second motion system associated with the hexapod robot, wherein the second motion system is configured to move the hexapod robot along a vertical axis to the surface of the lower cladding panel.
[00231] C2. The apparatus of paragraph C1 is also provided, wherein the tool kit comprises at least one of a drilling system, an inspection system, a fastener installer or a sensor system.
[00232] C3. The apparatus of paragraph C1 is also provided, wherein the end manipulator comprises an alternate table configured to move the tooling along a rail system in relation to the surface of the lower cladding panel.
[00233] C4. The apparatus of paragraph C1 is also provided, further comprising: a tool management system configured to exchange a tool between a storage shelf and the terminal manipulator.
[00234] C5. The apparatus of paragraph C1 is also provided, wherein the first drive system comprises mechanum wheels.
[00235] According to another aspect of the present invention there is provided: D1. A method of installing a fastener in a lower cladding panel of a structure, the method comprising: driving a mobile platform carrying a hexapod robot through a floor of a manufacturing environment from a first location to a second location using a system of movement; position a terminal manipulator over the hexapod robot under the lower cladding panel; and install the fastener on the bottom cladding panel.
[00236] D2. The method of paragraph D1 is also provided, wherein the end manipulator is configured to retain a tooling and a movement platform is configured to position the tooling with respect to a surface of the lower cladding panel.
[00237] D3. The method of paragraph D2 is also provided, further comprising: drilling a hole in the surface of the bottom cladding panel using a perforation system in the tool kit.
[00238] D4. The method of paragraph D3 is also provided, further comprising: inspecting the drilled hole in the surface of the bottom cladding panel using an inspection system in the tooling.
[00239] D5. The method of paragraph D4 is also provided, further comprising: inserting the fastener into the hole in the surface of the bottom cladding panel using a fastener installer in the tool kit.
[00240] According to another aspect of the present invention there is provided: E1. A method of positioning a tool on a surface, the method comprising: moving the tool relative to the surface to roughly position the tool within a selected region on the surface using a first motion system; and moving the tool relative to the surface with at least one degree of freedom to precisely position the tool to a selected position within the selected region on the surface using a second motion system.
[00241] E2. The method of paragraph E1 is also provided, wherein moving the tool relative to the surface with at least one degree of freedom to precisely position the tool at the selected position comprises: moving the tool relative to the surface with at least one degree of freedom. freedom to selected position using second movement system; and aligning an element associated with the tool to perform an operation at the selected position relative to the selected position using a third motion system.
[00242] According to another aspect of the present invention there is provided: F1. A method of positioning a tool on a surface, the method comprising: moving the tool relative to the surface to roughly position the tool within a selected region on the surface using a first motion system; move the tool relative to the surface with at least one degree of freedom to precisely position the tool at a selected position within the selected region on the surface using a second motion system; and aligning an element associated with the tool to perform an operation at the selected position relative to the selected position using a third motion system.
[00243] According to another aspect of the present invention there is provided: G1. A method of positioning a mounting system with respect to a surface, the method comprising: moving the mounting system with respect to the surface to roughly position the mounting system within a selected region on the surface using a first movement system; moving a motion platform relative to the surface with at least one degree of freedom to precisely position an end manipulator on the motion platform at a selected position within the selected region on the surface using a second motion system; and aligning a tool associated with the end manipulator to perform an operation at the selected position relative to the selected position using the motion platform.

权利要求:
Claims (15)
[0001]
1. Mounting system (102) for a frame (106), characterized in that it comprises: a movement platform (122) configured to be positioned below a surface (116) of a frame (106) to perform an operation ( 111) on the surface (116); a mobile platform (118) configured to transport the movement platform (122) across a floor (107) of a manufacturing environment (100) from a first location (117) to a second location (121); an end manipulator (120) on the movement platform (122), wherein the end manipulator (120) is configured to retain a tool set (132) and perform the operation (111) using the tool set (132); and a pressure pedal (151) connected to the terminal manipulator (120) and configured to identify a contact force (153) between the pressure pedal (151) and the surface (116) of the frame (106).
[0002]
2. Mounting system (102) according to claim 1, characterized in that the movement platform (122) is configured to position the tool set (132) on the terminal manipulator (120) in a desired position (130 ) with respect to the surface (116) of the frame (106) to perform the operation (111) on the frame (106).
[0003]
3. Mounting system (102) according to claim 1, characterized in that the movement platform (122) is configured to position the tool set (132) perpendicular to a location (135) on the surface (116) of the structure (106).
[0004]
4. Mounting system (102) according to claim 1, characterized in that the movement platform (122) is configured to position the tool set (132) parallel to a location (135) on the surface (116) of the structure (106).
[0005]
5. Mounting system (102) according to claim 1, characterized in that the set of tools (132) comprises: a sensor system (138) configured to identify at least one of the surface (116) of the structure ( 106), a position of the end manipulator (120) with respect to the surface (116) of the frame (106), or a location (135) on the surface (116) of the frame (106) for drilling a hole (134) for a fastener (104).
[0006]
6. Mounting system (102) according to claim 1, characterized in that the end manipulator (120) comprises an alternative table (410) configured to move the tool set (132) along a rail system (414) on the alternate table (410).
[0007]
7. Mounting system (102) according to claim 1, characterized in that it further comprises: a movement system (1403) associated with the mobile platform (118) and configured to drive the mobile platform (118) from from the first location (117) to the second location (121).
[0008]
8. Mounting system (102) according to claim 1, characterized in that the orientation direction (199) for the mobile platform (118) is oriented from the first location (117) to the second location (121) is provided by at least one of human operators, a controller associated with the mobile platform (118), or a system controller (166).
[0009]
9. Method for operating an assembly system (102), the method characterized in that it comprises transporting a moving platform (122) across a floor (107) of a manufacturing environment (100) from a first location (117) to a second location (121) using a mobile platform (118); positioning the movement platform (122) below a surface (116) of a frame (106) to perform an operation (111) on the surface (116); positioning an end manipulator (120) with respect to the surface (116) of the frame (106) using the movement platform (122), wherein the end manipulator (120) is configured to retain a tool set (132) and perform the operating (111) on the frame (106) using the set of tools (132); and identifying a contact force (153) between a pressure pedal (151) connected to the terminal manipulator (120) and the surface (116).
[0010]
10. Method according to claim 9, characterized in that it further comprises: performing the operation (111) on the structure (106) using the set of tools (132).
[0011]
11. Method according to claim 9, characterized in that it further comprises: installing a fastener (104) on the frame (106) using the set of tools (132).
[0012]
12. Method according to claim 9, characterized in that it further comprises: positioning the terminal manipulator (120) perpendicular to a location (135) on the surface (116) of the structure (106) using the movement platform (122 ).
[0013]
13. Method according to claim 9, characterized in that it further comprises: positioning the tool set (132) with respect to a location (135) on the surface (116) of the frame (106) using the movement platform (122).
[0014]
14. Method according to claim 9, characterized in that it further comprises: driving the mobile platform (118) through the floor (107) of the manufacturing environment (100) from the first location (117) to the second location (121) using a movement system (1403).
[0015]
15. Method according to claim 9, characterized in that it further comprises: guiding the mobile platform (118) from the first location (117) to the second location (121).

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同族专利:

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公开号 | 公开日

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CN105173110B|2019-08-16|

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KR102341528B1|2021-12-21|

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US9486917B2|2016-11-08|

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EP2939795A2|2015-11-04|

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CA2883046A1|2015-10-30|

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CN105173110A|2015-12-23|

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CN110435920A|2019-11-12|

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JP6690895B2|2020-04-28|

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CA3010058C|2020-03-24|

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JP2016064494A|2016-04-28|

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EP2939795A3|2016-06-01|

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BR102015008446A2|2016-04-05|

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CA3010058A1|2015-10-30|

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US20150314436A1|2015-11-05|

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CA2883046C|2018-08-07|

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KR20150125562A|2015-11-09|

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法律状态:
2016-04-05| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

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2018-10-30| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2020-04-07| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-05-04| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-07-06| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 15/04/2015, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US201461986756P| true| 2014-04-30|2014-04-30|

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US61/986,756|2014-04-30|

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US14/558,859|US9486917B2|2014-04-30|2014-12-03|Mobile automated assembly tool for aircraft structures|

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US14/558,859|2014-12-03|

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