DEVICE COMPRISING A TRACK SYSTEM AND A CRAWLING ROBOT, AND, METHOD FOR INSTALLING A FASTENER ON A NO

专利摘要:
crawler robot, apparatus, and, methods for installing a fastener on a surface of a structure and for moving a crawler robot and track system. a method and apparatus for installing a fastener on a surface of the structure. a crawler robot may comprise a first motion system and a second motion system. the first motion system can be configured to move the crawler robot and track system along the surface. the second motion system can be configured to move the crawler robot along the track system over the surface.
公开号:BR102015008451B1
申请号:R102015008451-0
申请日:2015-04-15
公开日:2021-07-13
发明作者:Darrell Darwin Jones；Dan Dresskell Day；Kenneth P. Zaballos；Paul C. Chang；David P. Banks；Paul G. Kostenick；Kerri L. Olson
申请人:The Boeing Company；
IPC主号:

专利说明:

1. Field:
[001] The present description refers generally to aircraft structures and, In particular, to aircraft structures manufacturing. Even more particularly, the present description relates to a method and apparatus for fabricating aircraft structures using a crawler robot and a support platform. 2. Fundamentals:
[002] Various parts can be manufactured and assembled to form different aircraft structures for an aircraft. For example, without limitation, ribs, elongate elements, and spars can be assembled together to form a wing structure for an aircraft wing. Dress panels can then be placed over the wing frame and secured to the frame to form the wing. Assembling an aircraft structure may include, for example, without limitation, drilling one or more holes through multiple parts and installing fasteners through those holes to secure the parts together.
[003] Some currently available methods for drilling holes in the final assembly of an aircraft structure may be manual and require human operators, such as aircraft mechanics. In some cases, these aircraft mechanics may need to be positioned in hard-to-reach areas around or within the structure to carry out drilling using hand-held power tools. This type of process can be more tedious, accurate, and time-consuming than desired.
[004] Other methods currently available may use automated drilling systems to carry out drilling operations. However, some of these automated drilling systems may be larger in size and heavier than desired. The larger size of these automated drilling systems can make movement of aircraft mechanics in and around the area in which these systems are positioned more difficult than desired, especially while automated drilling systems are in use. . Consequently, these aircraft mechanics may be unable to perform other tasks or operations until drilling operations have been completed for a particular area. These delays can increase the total time required to assemble an aircraft structure by more than desired. Therefore, it would be desirable to have a method and apparatus, which take into account at least some of the problems described above, as well as other possible problems. SUMMARY
[005] An illustrative embodiment of the present description can provide a crawling robot. The crawler robot can comprise a first movement system and a second movement system. The first motion system can be configured to move the crawler robot and track system along a surface. The second motion system can be configured to move the crawler robot along the track system over the surface.
[006] Another illustrative embodiment of the present description can provide an apparatus. The apparatus may comprise a treadmill system and a crawling robot. The crawler robot can comprise a first movement system and a second movement system. The first motion system can be configured to move the crawler robot and track system along a surface of the structure. The second motion system can be configured to move the crawler robot along the track system over the surface.
[007] Yet another illustrative embodiment of the present description is provided a method for installing a fastener on a surface of a structure. A crawler robot and track system can be moved along the surface to position the crawler robot within a selected region on the surface. The mat system can be attached to the surface. The crawler robot can be moved relative to the track system to precisely move the crawler robot to a desired position within the selected region.
[008] Another illustrative embodiment of the present description can provide a method. A crawler robot and a crawler system can be moved along a surface using a crawler robot first motion system. The mat system can be attached to the surface. The crawler robot's first motion system can be retracted. The crawler robot can be moved along the track system using a second crawler robot motion system.
[009] Yet another illustrative embodiment of the present description can provide a crawling robot. The crawler robot may comprise a first movement system, a second movement system, a drilling system, an inspection system, a clamping system, and a positioning system. The first motion system can be configured to move the crawler robot and a track system along a surface, the first motion system comprising retractable wheels. The second motion system can be configured to move the crawler robot along the track system over the surface. The drilling system may comprise an interchangeable tool holder. The inspection system can be configured to inspect a hole drilled by the drilling system, the inspection system comprising an interchangeable probe. The fastening system can be configured to insert a fastener into the hole drilled by the drilling system. The positioning system can be configured to identify a desired crawler robot position on the surface based on surface index characteristics.
[0010] Another illustrative embodiment of the present description may provide a method. A crawler robot and track system can be placed on a surface using a pick-and-place arm. The crawler robot and track system can be moved along the surface using a crawler robot first motion system. The belt system can be attached to the surface by pulling a vacuum in the belt system's suction cups. The crawler robot's first motion system can be retracted. The crawler robot can be moved along the track system on the surface using a second crawler robot motion system. Utility cables attached to the crawler robot can be moved using a utility arm when the crawler robot moves along the surface. A crawler robot position on the surface can be verified using a crawler robot positioning system. A hole can be drilled into the surface using a crawler robot drilling system. At least one of a diameter, a countersink depth, a countersink diameter, or a hole grip length can be inspected using a crawler robot inspection system. A fastener can be inserted into the hole using a crawler robot fastening system.
[0011] Yet another illustrative embodiment of the present description can provide an apparatus. The apparatus may comprise a treadmill system, a crawler robot, and a crawler support. The crawler robot may comprise a first motion system configured to move the crawler robot and track system along a surface of a structure and a second motion system configured to move the crawler robot along the track system over the surface. of the structure. The crawler support may comprise a movable platform, a movement system, a pick-and-place arm, and a utility arm.
[0012] Another illustrative embodiment of the present description may provide a method for managing a crawler robot and a crawler system using a crawler support. The crawler support may comprise moving the crawler support within a manufacturing environment containing the structure using a movable platform such that a pick and place arm, associated with the movable platform, is within reach of a surface of the structure. The crawler support may further comprise placing the crawler robot and the mat system on the surface of the structure using the pick and place arm associated with the mobile platform. The crawler support may further comprise moving the crawler robot and the crawler system along the surface using a first crawler robot motion system. The crawler support may further further comprise coupling the mat system to the surface. The crawler support may further comprise retracting the first crawler robot motion system and moving the crawler robot along the crawler system using a second crawler robot motion system.
[0013] Yet another illustrative embodiment of the present description can provide an apparatus. The apparatus may comprise a crawler robot configured to move along a surface of a structure and a crawler support. The crawler support may comprise a movable platform, a movement system, a pick and place arm, and a utility arm configured to support the crawler robot.
[0014] Another illustrative embodiment of the present description may provide a method of operating a crawler support. The crawler support can be moved within a manufacturing environment containing the structure using a movable platform such that a pick and place arm, associated with the movable platform, is within reach of a surface of the structure. A crawler robot can be placed on the surface of the structure using the pick and place arm associated with the mobile platform. A crawler support utility arm can be moved when the crawler robot moves along the surface of the structure.
[0015] The features and functions can be obtained independently in the various embodiments of the present description or can be combined in still other embodiments in which further details can be seen with reference to the following description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Features believed to be novel features of the illustrative embodiments are described in the appended claims. The illustrative embodiments, however, as well as a preferred mode of use, other purposes and characteristics thereof, will be better understood by reference to the following detailed description of an illustrative embodiment of the present description, when read in conjunction with the accompanying drawings, in which: Figure 1 is an illustration of an aircraft in which an illustrative modality can be implemented; Figure 2 is an illustration of a block diagram of a manufacturing environment according to an illustrative embodiment; Figure 3 is an illustration of an isometric view of a crawling robot with extended wheels and a mat, according to an illustrative embodiment; Figure 4 is an illustration of a front view of a crawler robot with extended wheels and a mat system, according to an illustrative embodiment; Figure 5 is an illustration of a side view of a crawler robot with extended wheels and a mat system, according to an illustrative embodiment; Figure 6 is an illustration of a front view of a crawler robot with retracted wheels and a mat system, according to an illustrative embodiment; Figure 7 is an illustration of a side view of a crawler robot with retracted wheels and a mat system, according to an illustrative embodiment; Figure 8 is an illustration of a top view of a crawler robot and a mat system according to an illustrative embodiment; Figure 9 is an illustration of a top view of a platform according to an illustrative embodiment; Figure 10 is an illustration of an isometric view of a platform, according to an illustrative embodiment; Figure 11 is an illustration of an isometric view of a platform and a crawling robot on the surface of the structure, according to an illustrative embodiment; Figure 12 is an illustration of a flowchart of a process for operating a crawler robot according to an illustrative embodiment; Figure 13 is an illustration of a flowchart of a process for managing a crawler robot and a crawler system using a mobile platform according to an illustrative embodiment; Figure 14 is an illustration of a flowchart of a process for operating a mobile platform, according to an illustrative embodiment; Figure 15 is an illustration of a flowchart of a process for positioning a crawler robot with respect to a surface, according to an illustrative embodiment; Figure 16 is an illustration of an aircraft manufacturing and service method in the form of a block diagram according to an illustrative embodiment; and Figure 17 is an illustration of an aircraft in the form of a block diagram, in which an illustrative embodiment can be implemented. DETAILED DESCRIPTION
[0017] The illustrative modalities recognize and take into account one or more different considerations. For example, the illustrative modalities recognize and take into account that it may be desirable to have other functionality, in addition to drilling functions, on a crawler robot. In particular, the illustrative embodiments recognize and take into account that it may be desirable to have metrology functionality, inspection functionality, fastener insertion functionality, or some combination thereof in addition to drilling functionality on a crawler robot.
[0018] Still, the illustrative modalities recognize and take into account that having a mobile platform capable of supporting a crawling robot across an aircraft wing may be desirable. The illustrative modalities recognize and take into account that it may be desirable to have a mobile platform capable of positioning a crawler robot so that the various tools on the crawler robot, used to provide the different functionalities of the crawler robot, can be positioned at a desired level of precision. Thus, the illustrative modalities provide a crawler robot having multiple functionalities and a mat system for use in moving the crawler robot.
[0019] With reference now to the figures, and in particular, with reference to figure 1, an illustration of an aircraft is represented, in which an illustrative modality can be implemented. In this illustrative example, aircraft 100 is manufactured in manufacturing environment 101. As shown, aircraft 100 may have wing 102 and wing 104 affixed to body 106. Aircraft 100 may include engine 108 affixed to wing 102.
[0020] The body 106 may have a tail section 112. The horizontal stabilizer 114, the horizontal stabilizer 116, and the vertical stabilizer 118 can be affixed to the tail section 112 of the body 106.
[0021] As shown, platform 120 can be positioned adjacent to wing 104. Crawler robot 122 can be positioned on skin 124 of wing 104. Platform 120 can support crawler robot 122 by providing crawler robot utilities 122. In some illustrative examples, platform 120 may be a mobile platform. The crawler robot 122 can move along the skin panel 124. The crawler robot 122 can form holes 126 in the skin panel 124 of the wing 104.
[0022] This illustration of the aircraft 100 is provided for purposes of illustrating an environment in which the different illustrative modalities can be implemented. The illustration of the aircraft 100 in Figure 1 is not intended to imply architectural limitations on the way in which the different illustrative modalities can be implemented. For example, aircraft 100 is shown as a commercial passenger aircraft. The different illustrative modalities can be applied to other types of aircraft, such as private passenger aircraft, a rotary wing aircraft, and other suitable type of aircraft.
[0023] Returning now to Figure 2, an illustration of a block diagram of a manufacturing environment is represented according to an illustrative embodiment. Manufacturing environment 101 in Figure 1 is an example of an implementation of manufacturing environment 200 in Figure 2. Manufacturing environment 200 includes flexible manufacturing system 201. Flexible manufacturing system 201 can be used to assemble components for form the product 203. The product 203 may take the form of, for example, without limitation, a wing, a fuselage, a control surface for an aerospace vehicle, a frame, a ship's hull, or some other type of product .
[0024] Flexible manufacturing system 201 may include stand-alone tooling 205, which may include a plurality of stand-alone tool systems 207. In this illustrative example, stand-alone tool system 209 can be an example of one of the plurality of stand-alone tool systems 207. The stand-alone tool system 209 may be any tool system, configured to perform one or more operations, where the tool system may be mobile. In some illustrative examples, the stand-alone tool system 209 can be at least partially stand-alone or completely stand-alone.
[0025] The standalone tool system 209 may include a number of devices configured to perform fabrication operations in this illustrative example. In particular, each of a number of devices can be used to perform one or more different operations. For example, a stand-alone tool system in the plurality of stand-alone tool systems 207 may include at least one of drilling system 220, inspection system 222, clamping system 224, or some other type of device for performing manufacturing operations. This other device may take the form of, for example, without limitation, a sealing system, a cleaning system, or some other suitable type of device configured to carry out manufacturing operations.
[0026] When used here, the phrase "at least one of", when used with a list of items, means that different combinations of one or more of the items listed may be used and only one of the items in the list may be needed. The item can be a particular structure, thing, action, process, or category. In other words, “at least one of” means that any combination of items or number of items can be used from the list, but not all of the items in the list may be required.
[0027] For example, "at least one of item A, item B, and item C" can mean item A; item A and item B; item B; item A, item B, and item C; or item B and item C. In some cases, "at least one from item A, item B, and item C" can mean, for example, without limitation, two from item A, one from item B, and ten from item C ; four from item B and seven from item C; or some other appropriate combination.
[0028] In some illustrative examples, the standalone tool system 209 may have only a single functionality. However, in other illustrative examples, the standalone tool system 209 can have multiple functionality. Depending on the implementation, the autonomous tool system 209 can be composed of multiple tools implemented on a single robot, system, or device.
[0029] In an illustrative example, the autonomous tool system 209 can take the form of an automated guided vehicle (AGV) 211. The automated guided vehicle 211 can take the form of a mobile robot, which is partially autonomous or completely autonomous. As an illustrative example, the autonomous tool system 209 may be the automated guided vehicle 211 in the form of the crawler robot 208 having multiple functionality provided by multiple tools. In other illustrative examples, crawler robot 208 can be considered to have multiple autonomous tools as part of crawler robot 208.
[0030] The crawler robot 208 can be used to perform operations on the structure 206. In some illustrative examples, the structure 206 can be referred to as an object. Structure 206 can be a product 203 during any of a number of manufacturing stages for product 203. In this way, structure 206 can be one or more components used to form product 203, a partially completed product 203, or a completed product 203. In some cases, when the number of stages includes multiple stages, the structure 206 may change from one stage to the next stage of the manufacturing process.
[0031] In an illustrative example, the structure 206 can be one of the components used to form the product 203. The structure 206 can be attached to another structure during the assembly of the product 203 by attaching the structure 206 to this other structure. Any number of fasteners can be used to secure frame 206 to this other frame. As an illustrative example, fastener 240 can be used to affix frame 206 to another structure placed below frame 206. Installation of fastener 240 may require that hole 202 be first formed in surface 204 of frame 206.
[0032] Crawler robot 208 can be used to drill hole 202 in surface 204 of structure 206, inspect hole 202, and install fastener 240 in hole 202. In this way, crawler robot 208 can provide multiple functionality.
[0033] Crawler robot 208 may use crawler system 210 on autonomous tooling 205 to move along surface 204 of structure 206. Crawler system 210 may be associated with crawler robot 208 on one side of crawler robot 208 , configured to be positioned relative to surface 204 of frame 206.
[0034] As used here, when a component is "associated" with another component, the association is a physical association in the examples shown. For example, a first component, such as the treadmill system 210, can be considered to be associated with a second component, such as the crawler robot 208, in that at least one of those is attached to the second component, connected to the second component, mounted on the second component, welded to the second component, secured to the second component, coupled to the second component, or connected to the second component in some other appropriate manner. 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 in that it is formed as part of the second component, an extension of the second component, or both.
[0035] The crawler system 210 can be separated from the crawler robot 208 in this illustrative example. However, in other illustrative examples, the track system 210 can be considered part of the crawler robot 208.
[0036] As shown, the crawler robot 208 may have the first motion system 214, the second motion system 216, and the positioning system 218. In addition, the crawler robot 208 may have a set of tools that includes the system of perforation 220, inspection system 222, and clamping system 224.
[0037] The crawler robot 208 can be moved using at least one of the first motion system 214 or the second motion system 216. For example, the crawler robot 208 can be positioned on, and moved on, the surface 204, a from one location on the surface 204 to another location on the surface 204 using one of the first motion system 214 or the second motion system 216.
[0038] When used here, "positioning" an item, such as positioning the crawler robot 208, may include grinding the item so that the item has a particular location, a particular orientation, or both. In this way, a position can include at least one of a location or an orientation. A location is a location with respect to a coordinate system. The coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system, depending on the implementation.
[0039] First motion system 214 can be configured to move crawler robot 208 and track system 210 together along surface 204. First motion system 214 can move between extended state 215 and retracted state 217 When the first motion system 214 is in the extended state 215, the mat system 210 may not extend below the first motion system 214. When the first motion system 214 is in the extended state 215, the mat system 210 may not extend below the first motion system 214. be elevated and may be unable to contact the surface 204. When the first motion system 214 is in the retracted state 217, the mat system 210 may extend to the same level as the first motion system 214 or below the first motion system. motion 214. When first motion system 214 is in the retracted state 217, mat system 210 may not be lifted and may be able to contact surface 204.
[0040] In this illustrative example, the first motion system 214 may have retractable wheels 226. When crawler robot 208 and track system 210 are positioned on surface 204, retractable wheels 226 can move between being fully extended and fully retracted to move the first motion system 214 between the extended state 215 and the retracted state 217, respectively. In this way, the first movement system 214 can be extended by extending the retractable wheels 226 and retracted by retracting the retractable wheels 226.
[0041] When the retractable wheels 226 are fully extended, the first motion system 214 may be in the extended state 215 and the retractable wheels 226 may contact the surface 204, but the mat system 210 may not contact the surface 204. However, when the retractable wheels 226 are fully retracted, the first motion system 214 may be in the retracted state 217 and the mat system 210 may contact the surface 204, but the retractable wheels 226 may not contact the surface 204.
[0042] In an illustrative example, the crawler robot 208 and the track system 210 can be positioned within the first region 231 of the surface 204 of the structure 206, with the retractable wheels 226 fully retracted, so that the track system 210 is in contact with the surface 204. The retractable wheels 226 can be extended to lift the mat system 210 away from the surface 204. With the mat system 210 raised from the surface 204, the first motion system 214 can move the robot crawler 208 and the mat system 210 along the surface 204 away from the first region 231, without causing any unwanted effects on the super 204.
[0043] For example, the crawler robot 208 and the crawler system 210 can be moved or driven from the first region 231 to the second region 232. In other illustrative examples, the first motion system 214 can move the crawler robot 208 and the treadmill system 210 can be moved or driven from second region 232 back to first region 231 or some other region. In this way, the first motion system 214 can move the crawler robot 208 and the track system 210 from one region to another region on the surface 204. In other words, the first motion system 214 can move the crawler robot 208 and the treadmill system 210 from one approximate location to another approximate location.
[0044] After moving the crawler robot 208 and the track system 210 to the second region 232, the retractable wheels 226 can be retracted so that the track system 210 is moved towards the surface 204 and placed on the surface 204. Once mat system 210 is placed on surface 204, mat system 210 can be coupled to surface 204.
[0045] Coupling mat system 210 to surface 204 may include adhering, connecting, affixing, or otherwise securing mat system 210 to surface 204. In an illustrative example, mat system 210 may be coupled to surface 204 using suction cups 228. Suction cups 228 can hold mat system 210 in a substantially fixed position within second region 232 on surface 204. Retractable wheels 226 can be retracted sufficiently to apply force sufficient to cause the suction cups 228 to latch onto the surface 204. However, sufficient force in the opposite direction can detach the suction cups 228 from the surface 204 to decouple the mat system 210 from the surface 204. , mat system 210 may be detachably coupled to surface 204.
[0046] In some illustrative examples, the mat system 210 may take the form of the flexible mat system 229. The flexible mat system 229 allows the mat system 210 to conform substantially to the surface 204 when the surface 204 assumes the shape of non-planar surface 230. Flexible mat system 229 may move or flex such that flexible mat system 229 can conform to contour 275 of surface 204, even when surface 204 is a non-planar surface 230. 229 flexible treadmill system may also be referred to as a flex treadmill or the flex treadmill system in some cases.
[0047] Depending on the implementation, the crawler robot 208 and the track system 210 can be moved to several over the structure 206 using the first motion system 214. The crawler robot 208 can be used to perform different types of operations at these different locations on the structure 206. The first motion system 214 may allow the crawler robot 208 to perform functions across substantially an entire surface 204 of the structure 206.
[0048] The second motion system 216 may be configured to move the crawler robot 208 relative to the mat system 210 on the surface 204. The second motion system 216 may include wheels 234. As an illustrative example, when the robot crawler 208 and mat system 210 are positioned within first region 231, crawler robot 208 may move along mat system 210 to be positioned over locations within first region 231 of surface 204. crawler robot 208 may perform one or more operations at each of these locations within the first region 231 of surface 204 after crawler robot 208 is positioned over each location.
[0049] In some illustrative examples, the first motion system 214 can be used to roughly position the crawler robot 208 with respect to the surface 204. In particular, the first motion system 214 may allow the crawler robot 208 to be roughly positioned within of some region or at some location on the surface 204. In these examples, the second motion system 216 can be considered to provide a finer level of positioning for the crawler robot 208 relative to the surface 204, compared to the first motion system. movement 214. In other words, the first movement system 214 can allow for coarse movement and positioning with respect to the surface 204, while the second movement system 216 can allow for the more accurate movement and positioning of the crawler robot 208 with respect to the surface. 204.
[0050] When the crawler robot 208 is moved to a particular position on the surface 204 using at least one of the first motion system 214 or the second motion system 216, the position of the crawler robot 208 can be identified using the system of positioning 218 of crawler robot 208. Position identification can be used to, for example, check position.
[0051] For example, after being moved to a position on the surface 204 by the first motion system 214, the crawler robot 208 can use the positioning system 218 to determine if the crawler robot 208 is within selected tolerances of the desired position 239 on surface 204 prior to retracting the retractable wheels 226 and placing the mat system 210 on the surface 204. If the crawler robot 208 is in the desired position 239 on the surface 204, the retractable wheels 226 can then be retracted. If crawler robot 208 is not in the desired position 239 on surface 204, crawler robot 208 and track system 210 can be moved to a new position using first motion system 214, and positioning system 218 can then be moved to a new position. used to verify that the new position is within selected tolerances of the desired position 239.
[0052] In some illustrative examples, position 219 on surface 204 of crawler robot 208 can be verified using positioning system 218 before an operation is performed on position 219. For example, when crawler robot 208 is moved along from the mat system 210 to the position 219 on the surface 204 to perform a particular operation 221, the positioning system 218 can be used to verify that the position 219 of the crawler robot 208 is within selected tolerances of some selected or desired position 239 to perform this particular operation 221. If the crawler robot 208 is within the selected tolerances of the desired position 239, the crawler robot 208 can then begin to perform the operation. Otherwise, crawler robot 208 may need to be moved along track system 210 to adjust the position of crawler robot 208 relative to surface 204.
[0053] In an illustrative example, the positioning system 218 can be configured to identify the desired position 239 of the crawler robot 208 on the surface 204 based on the index 235 characteristics of the surface 204. The index 235 characteristics may include, by example, without limitation, surface features, surface projections, labels, marks, painted features, illuminated features, laser dots, or some combination thereof.
[0054] In other illustrative examples, the positioning system 218 can communicate with the metrology system 236 of the crawler support 212 to identify the position of the crawler robot 208. In some illustrative examples, the metrology system 236 may be part of the system position 218 and be used to verify the position of the crawler robot 208. The metrology system 236 may comprise at least one of an internal global positioning system (iGPS), an optical positioning system, a radio frequency positioning system, a acoustic positioning system, a laser tracker, a vision system, a motion capture system, a laser radar system, or a photogrammetry system, depending on the implementation.
[0055] Once when the crawler robot 208 and the crawler system 210 are positioned in the desired position 239 with respect to the surface 204, the crawler robot 208 can perform functions, or operations, on the surface 204. The crawler robot 208 can use , for example, without limitation, drilling system 220, inspection system 222, and clamping system 224 for performing operations.
[0056] In an illustrative example, the crawler robot 208 and the track system 210 may use the drilling system 220 to drill the hole 202 at a position within the first region 231 of the surface 204. Depending on the implementation, the hole 202 may take the form of a cylindrical hole, a tapered hole, a countersunk hole, a countersunk hole, or some other type of hole 202.
[0057] The drilling system 220 can include the interchangeable tool holder 237. The interchangeable tool holder 237 can be removed to place a different tool holder in the drilling system 220. Different tool holders can be placed in the drilling system 220, so that different drilling tools can be used. In this way, a diameter of hole 202 can be changed, if necessary. For example, the interchangeable tool holder 237 can be replaced with a drill tool holder configured to hold a drilling tool of a smaller diameter so that the hole 202 has a smaller diameter. In another example, the interchangeable tool holder 237 can be replaced with a tool holder of a larger diameter so that the hole 202 has a larger diameter.
[0058] Drill holes in structure 206 and/or in other structures or parts used to form product 203 can be considered a critical path process. For example, without limitation, factors such as the placement, size, and orientation of these holes, as well as other factors, can be important in ensuring that the different structures are held together within selected tolerances. Consequently, drilled holes may need to be inspected.
[0059] After drilling the hole 202, the crawler robot 208 can inspect the hole 202. The crawler robot 208 can use the inspection system 222 to inspect the hole 202. In an illustrative example, the inspection system 222 can inspect the hole bore diameter 202. Inspection system 222 may inspect bore diameter 202 using, for example, without limitation, interchangeable probe 238. In some illustrative examples, interchangeable probe 238 may be inserted into bore 202 to determine if the bore is 202 has a desired diameter.
[0060] Depending on the type of hole 202 formed, inspection system 222 can be used to inspect other parameters for hole 202. For example, without limitation, inspection system 222 can be used to inspect at least one of a diameter , a countersink depth, a countersink diameter, a grip length, or some other parameter for hole 202.
[0061] Interchangeable probe 238 can be removed to place a different probe in inspection system 222. Different probes can be placed in inspection system 222 to inspect holes of different diameters. In some illustrative examples, interchangeable probe 238 may be replaced with a thinner probe to inspect bore 202 having a smaller diameter. In some illustrative examples, interchangeable probe 238 can be replaced with a thicker probe to inspect hole 202 having a larger diameter.
[0062] After inspection of hole 202, crawler robot 208 can use fastening system 224 to install fastener 240 in hole 202. Fastener 240 can be used to join structure 206 to another structure or part positioned below the structure 206. For example, frame 206 can be cladding panel 124 in Figure 1 and fastener 240 can be used to join frame 206 to underlying wing frame 104 in Figure 1.
[0063] Fastener 240 can be placed in hole 202 using fastener system 224. In some illustrative examples, fastener system 224 can accommodate various diameters of fasteners.
[0064] In this illustrative example, the crawler robot 208 may have the third motion system 225. The third motion system 225 may be referred to as a device motion system or a tool motion system in some illustrative examples. Third motion system 225 can be used to move and thus precisely position the one or more devices included in crawler robot 208. For example, without limitation, third motion system 225 can be used to precisely move and position each one of drilling system 220, inspection system 222, and clamping system 224, with respect to position 219 in which operation 221 is to be performed.
[0065] In an illustrative example, the third movement system 225 can be used to precisely move and position the indexable tool holder 237, and in some cases, the drilling tool or drill bit being held by the indexable tool holder 237, with respect to position 219 for carrying out the perforation. In addition, the third movement system 225 can be used to precisely move and position the interchangeable probe 238 relative to the position 219 for carrying out the inspection. Still further, the third movement system 225 can be used to precisely move and position fastener 240 relative to position 219 for carrying out fastener insertion.
[0066] Crawler 212 may be a multi-component system configured to support crawler robot 208. Crawler 212 may include at least one of mobile platform 264, metrology system 236, crawler interface 242, arm and place holders 244, fastener management system 246, storage 248, utility arm 252, cart 254, or operator interface 256. Crawler interface 242 can be configured to interface with at least one of the crawler robot controller 258 208, the metrology system 236, the pick and place arm 244, the fastener management system 246, the utility arm 252, the cart 254, or the operator interface 256, depending on the implementation .
The pick and place arm 244 may be present on the crawler bracket 212. The pick and place arm 244 may be the one with the mobile platform 264. The pick and place arm 244 can be configured to place the crawler robot 208 and mat system 210 on surface 204 of frame 206. In particular, pick and place arm 244 can place crawler robot 208 within selected region 273 on surface 204. In an illustrative example, desired position 239 to crawler robot 208 can be a selected position within selected region 273. For example, pick and place arm 244 can be configured to pick up crawler robot 208 and crawler system 210 and raise it from a floor of the manufacturing environment 200, from a platform in manufacturing environment 200, or from some other surface in manufacturing environment 200, and placing crawler robot 208 and track system 210 on surface 204. Similarly, arm d and pick and place 244 can be configured to lift crawler robot 208 and track system 210 off surface 204 of frame 206.
[0068] The pick and place arm 244 can only lift the crawler robot 208 and the track system 210 from the surface 204 after all desired functions have been performed by the crawler robot 208 on the surface 204. In some illustrative examples, pick-and-place arm 244 can lift crawler robot 208 and track system 210 from surface 204 to reposition crawler robot 208 and track system 210 some distance farther over surface 204, which may not be easily attainable using only the first motion system 214. In other illustrative examples, the pick and place arm 244 can lift the crawler robot 208 and the crawler system 210 from the surface 204 to reposition the crawler robot 208 and the crawler system. mat 210 over surface 204 when repositioning using the pick and place arm 244 would take less time than the movement of the crawler robot 208 and the mat system 210 us walk the first movement system 214.
[0069] Additionally, the take and place arm 244 can be used to supply parts to the crawler robot 208, while the crawler robot 208 is on the surface 204. In some illustrative examples, the take and place arm 244 can be used to replace the interchangeable tool holder 237 of the drilling system 220, the interchangeable probe 238 of the inspection system 222, or both.
[0070] For example, the pick and place arm 244 can remove the interchangeable tool holder 237 from the drilling system 220 of the crawler robot 208 while the crawler robot 208 is on the surface 204. The pick and place arm 244 can place the interchangeable tool holder 237 in the storage 248 of the creeper 212. The pick and place arm 244 can select the different tool holder 245 from the storage 248. The pick and place arm 244 can position this different holder tool 245 in drilling system 220 of crawler robot 208 on surface 204 of structure 206.
[0071] As another illustrative example, the take and place arm 244 can remove interchangeable probe 238 from the inspection system 222 of the crawler robot 208, while the crawler robot 208 is on the surface 204. The take and place arm 244 can place interchangeable probe 238 in storage 248 of crawler holder 212 and then select a different sample from storage 248. Pick-and-place arm 244 can position this different probe in inspection system 222 of crawler robot 208 on surface 204 of structure 206.
[0072] In some illustrative examples, the pick and place arm 244 can provide the fastener 240 for the fastener system 224 of the crawler robot 208 on the surface 204 of the structure 206. The pick and place arm 244 can retrieve the fastener 240 from, for example, without limitation, fastener management system 246, before providing fastener 240 to fastener system 224.
[0073] Fastener management system 246 can store fasteners and other parts in a fastener system 224. Fastener management system 246 can include storage of several different diameters and grip lengths of the fasteners. Fastener management system 246 may also perform other functions. For example, the fastener management system 246 can perform at least one of washing the fasteners to remove any unwanted residue, apply seal to the fasteners, or other desirable actions.
The crawler bracket 212 may have the utility arm 252. The utility arm 252 can move the utility cables 255 affixed to the crawler robot 208, when the crawler robot 208 moves along the surface 204. The utility cables 255 can provide utilities 257 to crawler robot 208. Specifically, utility cables 255 can provide utilities 257 to at least one of inspection system 222, clamping system 224, drilling system 220, or positioning system 218 Utilities 257 may include at least one of electricity 259, air supply 260, communications 262, or other desirable utilities.
[0075] In some illustrative examples, the crawler support 212 may include the mobile platform 264. The mobile platform 264 may include the movement system 266. The movement system 266 may include the wheels 268 and the locking mechanism 270. The wheels 268 can be used to position mobile platform 264 relative to frame 206. Locking mechanism 270 can be used to hold mobile platform 264 in position relative to frame 206 while crawler robot 208 performs functions on the surface 204 of structure 206.
[0076] The movement system 266 of the mobile platform 264 may allow the mobile platform 264 to be driven from the first position 267 to the second position 269. In this way, the mobile platform 264 can be referred to as the actionable platform 265.
[0077] The mobile platform 264 can provide support for the crawler robot 208, regardless of the size or shape of the structure 206. In other words, the mobile platform 264 can provide more flexibility in the manufacturing environment 200 than platforms that are permanently affixed or bolted into the 200 manufacturing environment.
[0078] In this illustrative example, the orientation direction 299 can be provided for the components within the flexible manufacturing system 201. As an example, the orientation direction 299 can be provided for the crawler robot 208, the mobile platform 264, and other mobile devices in flexible manufacturing system 201. Orientation direction 299 can be provided when these devices move through manufacturing environment 200.
[0079] Guidance direction 299 can take the form of commands, instructions, path generation, physically changing the direction of motion, and other guidance methods. In this illustrative example, orientation direction 299 can dynamically change conditions when manufacturing environment 200 changes.
[0080] Guidance direction 299 may be provided by at least one of an internal controller, a system controller, a human operator, or some other suitable device. As an example, a system controller can send commands to guide the crawler robot 208. In yet another example, one or more of the human operators can guide the mobile platform 264 by physically changing its direction. In other illustrative examples, crawler robot 208, mobile platform 264, or both, can orient itself, not under the direction of a controller.
[0081] The illustration of the manufacturing environment 200 in Figure 2 is not intended to imply physical or architectural limitations to the way in which an illustrative modality can be implemented. Other components in addition to 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.
[0082] Although the first motion system 214, the second motion system 216, and the motion system 266 are described as having retractable wheels 226, wheels 234, and wheels 268, respectively, such motion systems can be implemented using any number or type of motion devices. For example, without limitation, each of these motion systems can be implemented using at least one of rollers, gliders, air supports, a holonomic system, a track system, sliders, the holonomic wheels, the mecanum wheels, omni wheels, poly wheels, rails, or some other type of motion device.
[0083] In an illustrative example, the motion system 266 may include an air system, in addition to or in place of wheels 268. The air system may include, for example, without limitation, air supports that can be used to form air cushions that can be used to move the movable platform 264. In some illustrative examples, the locking mechanism 270 may not be needed. However, gravity can be used to hold the 264 mobile platform in place. In other illustrative examples, an internal global positioning system (iGPS) or some other type of system can be used to position crawler robot 208 on surface 204, in place of positioning system 218 of crawler robot 208.
[0084] In some illustrative examples, the stand-alone tooling 205 may include the balance system 272, which may also be referred to as a counterweight system. Balancing system 272 can be associated with at least one of a manufacturing environment ceiling 200, crawler support 212, utility arm 252, mobile platform 264, or pick-and-place arm 244, depending on the implementation. The balance system 272 can be used to balance the weight of the crawler robot 208 to reduce unwanted loads placed on the structure 206 by the crawler robot 208. The balance system 272 can use, for example, without limitation, an item that has a weight less than or substantially equal to the weight of the crawler robot 208.
[0085] The balance system 272 can take the form of a cable with one end affixed to the crawler robot 208 and the other end running over a pulley affixed to some upper structure, such as a manufacturing environment roof or grip arm and placement 244. In another illustrative example, balance system 272 may take the form of an arm associated with crawler support 212, having an item having a weight less than or substantially equal to the weight of crawler robot 208 affixed.
[0086] Of course, in other illustrative examples, the balancing system 272 can be implemented in some other way that allows the weight of crawler robot 208 to be balanced to reduce unwanted loads placed on structure 206 by crawler robot 208. , the balancing system 272 can take a number of different forms. For example, without limitation, balance system 272 can include any number of cables, slings, pulley devices, bearings, wheels, hooks, weights, or other types of elements or devices.
[0087] In other illustrative examples, the crawler support 212 can be used to support the stand-alone tool system 209 having some form other than the crawler robot 208. In these examples, the crawler support 212 may be referred to as the system support of standalone tool 271.
[0088] Returning now to Figure 3, an illustration of an isometric view of a crawler robot with extended wheels and a mat is represented according to an illustrative embodiment. The crawler robot 300 may be a physical implementation of the crawler robot 208, shown in block form in Figure 2. The crawler robot 300 may be an example of a crawler robot working on an aircraft, such as the crawler robot 122 on the aircraft 100 of figure 1.
The crawler robot 300 can be associated with the crawler system 302. The crawler robot 300 can be positioned on the surface 303 of the structure 304. The crawler robot 300 can include the first motion system 305, configured to move the robot crawler 300 and mat system 302 along surface 303 of structure 304. First motion system 305 may be an example of an implementation for first motion system 214 in Figure 2.
[0090] The first motion system 305 may include wheel 306, wheel 308, wheel 310, and a fourth wheel not visible in this view. Each of these wheels can be collapsible in this illustrative example. In this way, wheel 306, wheel 308, wheel 310, and fourth wheel (not shown) may be an example of an implementation for retractable wheels 226 in Figure 2. For example, first motion system 305 may include the extension system 312 and extension system 314 for extending and retracting wheel 306 and wheel 308. First motion system 305 may also include two other extension systems (not shown in this view) for extending and retracting wheel 310 and the fourth wheel (not shown in this view).
[0091] As shown, to move crawler robot 300 and track system 302 along surface 303 of structure 304, extension system 312 and extension system 314 can extend wheel 306 and wheel 308. 306 and wheel 308 are extended, crawler robot 300 can lift track system 302 off surface 303 of structure 304. With track system 302 raised, wheel 306 and wheel 308 can be used to move the robot crawler 300 and track system 302 along surface 303 of structure 304. In this way, crawler robot 300 and track system 302 can move along surface 303 of structure 304, without track system 302 causing any unwanted effects on the surface 303.
[0092] The belt system 302 can include the belt 316 and the belt 318. As illustrated, the belt 316 and the belt 318 can be raised above the surface 303 of the structure 304 when the wheel 306 and the wheel 308 are fully extended .
[0093] Crawler robot 300 may also include drilling system 322, inspection system 324, positioning system 326, and clamping system 328. Drilling system 322, inspection system 324, positioning system 326, and clamping system 328 may be examples of physical implementations for drilling 220, inspection system 222, positioning system 218, and clamping system 224, respectively, in Figure 2.
[0094] The crawler robot 300 may use the drilling system 322 to drill a hole in the surface 303 of the structure 304. In some illustrative examples, the drilling system 322 may include an interchangeable tool holder, such as the interchangeable tool holder 237 depicted in Figure 2. Crawler robot 300 can use inspection system 324 to inspect a drilled hole using drilling system 322.
[0095] Utilities 330 may be provided for at least one of the drilling system 322, the inspection system 324, the positioning system 326, and the clamping system 328. The utilities 330 may provide at least one of electricity, supply of electricity. air, communications, or other desirable utilities. Utilities 330 can be an example of an implementation for Utilities 257 in Figure 2.
[0096] Returning now to Figure 4, an illustration of a front view of a crawling robot with extended wheels and a mat system is represented according to an illustrative embodiment. Specifically, Figure 4 can be a view of the crawler robot 300 from view 4-4 of Figure 3. In this view, the wheel 402 of the first motion system 305 is visible. As shown, the first motion system 305 is extended. In the illustrative examples, in which the first motion system 305 is retracted, the extension system 312 and the extension system 314 of the crawler robot 300 can move in the direction 404 relative to the surface 303.
[0097] Returning now to Figure 5, an illustration of a side view of a crawler robot with extended wheels and a mat system is represented according to an illustrative embodiment. Specifically, Figure 5 can be a view of the crawler robot 300 from view 5-5 of Figure 3.
[0098] In this view, the extension system 502 associated with the wheel 402 is visible. Extension system 502 can be configured to extend or retract wheel 402. In this view, second movement system 504 is also visible. Second motion system 504 may be an example of an implementation for second motion system 216 in Figure 2. Second motion system 504 may be configured to move crawler robot 300 along track system 302 over surface 303 when the first motion system 305 is retracted.
[0099] In this way, the first movement system 305 can allow the crawler robot 300 and the crawler system 302 to be roughly positioned within a region in which operations are to be performed. Second motion system 504 can allow precise movement of crawler robot 300 along track system 302 so that crawler robot 300 can be precisely positioned in a desired position relative to surface 303.
[00100] Turning now to Figure 6, an illustration of a front view of a crawling robot with retracted wheels and a treadmill system is represented, according to an illustrative embodiment. Specifically, Figure 6 may be another view of crawler robot 300 from view 4-4 of Figure 3 with wheel 306, wheel 308, wheel 310, and wheel 402 retracted. In other words, the first motion system 305 is retracted in Figure 6. When wheel 306, wheel 308, wheel 310, and wheel 402 are retracted, wheel 306, wheel 308, wheel 310, and wheel wheel 402 do not contact surface 303 of frame 304.
[00101] As shown, the mat system 302 is positioned on the surface 303 of the structure 304. The retraction of the first movement system 305 can place the mat system 302 on the surface 303 of the structure 304.
[00102] When track system 302 is positioned on surface 303 of structure 304, second motion system 504 can move crawler robot 300 along track system 302. Crawler robot 300 can move along track system track 302 in at least one of direction 602 and direction 604. Crawler robot 300 can move along track system 302 to position at least one of drilling system 322, inspection system 324, positioning system 326, or the fastening system 328 to perform a function on the surface 303 of the structure 304.
[00103] Returning now to figure 7, an illustration of a side view of a crawling robot with the wheels retracted and a mat system is represented according to an illustrative embodiment. Specifically, Figure 7 may be another view of the crawler robot 300 from view 5-5 of Figure 3 with wheel 306, wheel 308, wheel 310, and wheel 402 retracted.
[00104] Returning now to figure 8, an illustration of a top view of a crawler robot and a treadmill system is represented according to an illustrative embodiment. Crawler robot 800 may be a physical implementation of crawler robot 208 shown in block form in Figure 2. Crawler robot 800 may be an example of a crawler robot working on an aircraft, such as crawler robot 122 on aircraft 100 of the figure 1.
[00105] Crawler robot 800 can be associated with track system 802. As shown, track system 802 can include track 804 and track 806. Crawler robot 800 can move along track system 802 at at least one of direction 808 and direction 810. by moving crawler robot 800 along at least one of direction 808 and direction 810, at least one of the fastening system 816, the positioning system 818, the inspection system 820, and perforation system 822 can be precisely positioned relative to surface 824 of structure 826 at a desired position within selected tolerances.
[00106] At least one of the fastening system 816, the positioning system 818, the inspection system 820, and the drilling system 822 can be positioned so that a function can be performed in the desired position on the surface 824 of the structure 826. In an illustrative example, the drilling system 822 can form a plurality of holes 828. Electronic components 830 and the body 832 of the crawler robot 800 can support at least one of the fastening system 816, the positioning system 818, the inspection system 820, and the drilling system 822 of the crawler robot 800.
[00107] Turning now to figure 9, an illustration of a top view of a platform is represented according to an illustrative embodiment. Platform 900 may be a physical implementation of the crawler 212 shown in block form in Figure 2. Specifically, platform 900 may be a physical implementation of mobile platform 264 shown in block form in Figure 2. Platform 900 may be a example of a mobile platform to support a crawling robot working on an aircraft, such as platform 120 in figure 1.
[00108] Platform 900 may include trolley 902, utility arm 904, pick and place arm 906, operator interface 908, crawler controller 910, clamp management system 912, robot controller 914, and chip and dust collection system 916. Cart 902 can be a base for platform 900. Cart 902 can support the remaining portion of platform 900.
[00109] The 904 utility arm can move the utility cables, air supply, chip and dust collection tubing, and a fastener transport tube, attached to a crawler robot when the crawler robot moves along the surface of the structure. The pick and place arm 906 can place a crawler robot on the surface of the structure. The pick and place arm 906 can move the fasteners from the fastener management system 912 to the crawler robot. The pick and place arm 906 can move the components to and from storage. For example, pick and place arm 906 can be used to replace a tool holder with another tool holder positioned in storage.
[00110] Operator interface 908 can allow an operator to interact with one of platform 900 and crawler robot. The metrology system is a separate system, not attached to this platform. Targets for the metrology system are affixed to this platform, but nothing on this platform communicates directly with them. In some illustrative examples, the metrology system can interact with the crawler robot to determine the location of the crawler robot.
[00111] Returning now to Figure 10, an illustration of an isometric view of a platform is represented according to an illustrative embodiment. As shown, motion system 1002 of platform 900 is shown from view 10-10 in Figure 9. Motion system 1002 may include wheels 1004 and locking mechanism 1006. wheels 1004, motion system 1002 can be implemented using at least one of a number of wheels, a number of rails, a number of tracks, a number of sliders, a number of gliders, a number of air supports, a number from holonomic wheels, to mecanum wheels, omni wheels, poly wheels, or a number of some other type of motion device.
[00112] Platform 900 can be moved within a manufacturing system using wheels 1004 of motion system 1002. Locking mechanism 1006 can restrict movement of platform 900 when desirable. In one example, it may be desirable to restrict the movement of platform 900 when a crawler robot is performing functions on the surface. In another example, it may be desirable to restrict the movement of platform 900 when a crawler robot and associated track system is moving along the surface.
[00113] Returning now to Figure 11, an illustration of an isometric view of a platform and a crawling robot on the surface of the structure is represented according to an illustrative embodiment. Manufacturing environment 1100 may be a physical implementation of manufacturing environment 200 shown in block form in Figure 2. Manufacturing environment 1100 may have wing 1101, mobile platform 1102, and crawler robot 1104. Mobile platform 1102 may be a physical implementation of the mobile platform 264 shown in block form in Figure 2. The crawler robot 1104 may be a physical implementation of the crawler robot 208 of Figure 2. The crawler robot 1104 may move along the surface 1105 of the wing 1101 Mobile platform 1102 can have pick-and-place arm 1106 and utility arm 1108. Pick-and-place arm 1106 can place crawler robot 1104 on surface 1105 of wing 1101. Utility arm 1108 can move handles of utility, affixed to the crawler 1104.
[00114] The different components shown in figures 1 and 3-11 can be combined with the components in figure 2, used with the components in figure 2, or a combination of the two. Additionally, some of the components in Figures 1 and 3-11 can be illustrative examples of how the components shown in block form in Figure 2 can be implemented as physical structures.
[00115] Returning now to Figure 12, an illustration of a flowchart of a process to operate a crawling robot is represented according to an illustrative embodiment. The process illustrated in Figure 12 can be implemented to operate the crawler robot 208 of Figure 2. In some illustrative examples, the process illustrated in Figure 12 can be implemented to operate the crawler robot 300 of Figures 3-7.
[00116] The process can begin by placing crawler robot 208 and track system 210 on surface 204 using pick and place arm 244 (operation 1202). In operation 1202, the first motion system 214 of the crawler robot 208 may be in the extended state 215, so that when the crawler robot 208 and the track system 210 are placed on the surface 204, the track system 210 does not contact the surface 204.
[00117] The process can then move the crawler robot 208 and the track system 210 along the surface 204 using the first motion system 214 of the crawler robot 208, while the first motion system 214 is in the extended state 215 (operation 1204). In operation 1204, crawler robot 208 can be moved until it is within a selected region on surface 204. Operation 1204 can be performed to roughly move and position crawler robot 208 with respect to surface 204.
[00118] The process can then retract the first motion system 214 of the crawler robot 208 to move the first motion system 214 to the retracted state 217 and to place the mat system 210 on the surface 204 (operation 1206). by retracting the first motion system 214 of the crawler robot 208 in operation 1206, the mat system 210 can be brought into contact with the surface 204.
[00119] The process can then couple the mat system 210 to the surface 204 by pulling a vacuum in the suction cups 228 of the mat system 210 (operation 1208). The process can then move crawler robot 208 along track system 210 to a desired position 239 with selected region 273 using second motion system 216 of crawler robot 208 (operation 1210). Operation 1210 can be performed to more precisely move and position crawler robot 208 to the desired position 239 with respect to surface 204. In operation 1210, crawler robot 208 can be moved until it is within selected tolerances of desired position 239 over the surface 204.
[00120] In an illustrative example, the desired position 239 in operation 1210 may be a position that is selected such that at least one of the positioning system 218, the drilling system 220, the fastening system 224, and the system inspection 222 can perform a function on the surface 204 in the desired position. Thereafter, crawler robot 208 can use third motion system 225 to precisely move and position crawler robot device 208 relative to a desired position 239 (operation 1211). In operation 1211, the device can be, for example, without limitation, the drilling system 220, the clamping system 224, or the inspection system 222. The device can be precisely positioned using the third movement system 225 so that the device can perform a selected function or operation.
[00121] The process can move utility cables 255 affixed to crawler robot 208 using utility arm 252 as crawler robot 208 moves along surface 204 (operation 1212). In this illustrative example, operation 1212 can be performed while at least one of operation 1204 or operation 1210 is being performed. The process can then verify the position of the crawler robot 208 on the surface 204 using the crawler robot 208 positioning system 218 and make any necessary position corrections (operation 1214). In some cases, operation 1214 may be performed as part of operation 1210 described above.
[00122] The process can then drill hole 202 into surface 204 using drilling system 220 of crawler robot 208 (operation 1216). In operation 1216, hole 202 may take the form of a tapered hole, a cylindrical hole, a countersink, a countersunk hole, or some other type of hole.
[00123] The process can then inspect a hole diameter 202 using the crawler robot 208 inspection system 222 (operation 1218). In some cases, when hole 202 takes the form of a countersink, inspection system 222 can be used to inspect at least one of a diameter, a countersink depth, a countersink diameter, a grip length, or some other parameter for hole 202.
[00124] The process can then install the fastener 240 into the hole 202 using the fastener system 224 of the crawler robot 208 (operation 1220). In operation 1220, fastening system 224 may insert fastener 240 into hole 202 to install fastener 240, in an illustrative example. The process can then capture crawler robot 208 and track system 210 by lifting it off surface 204 using pick and place arm 244 (operation 1222), with the process ending thereafter.
[00125] Returning now to Figure 13, an illustration of a flowchart of a process for managing a crawler robot and a treadmill system using a mobile platform is represented according to an illustrative embodiment. The process illustrated in Figure 13 can be implemented to operate crawler robot 208 using mobile platform 264 of Figure 2. In some illustrative examples, the process illustrated in Figure 13 can be implemented to operate crawler robot 1104 using mobile platform 1102 of figure 11.
[00126] The process can begin by moving the mobile platform 264 within the manufacturing environment 200 containing the structure 206 so that the pick and place arm 244 of the mobile platform 264 is within reach of the surface 204 of the structure 206 (operation 1302) . The process can then place crawler robot 208 and track system 210 onto surface 204 of frame 206 using pick-and-place arm 244 of movable platform 264 (operation 1304).
[00127] The process can then move crawler robot 208 and track system 210 along surface 204 to roughly position crawler robot 208 within a selected region using first motion system 214 of crawler robot 208, with first system of movement 214 in the extended state 215 (operation 1306). The process can then retract the first motion system 214 to bring the mat system 210 into contact with the surface 204 (operation 1308).
[00128] Then, mat system 210 can be coupled to surface 204 such that mat system 210 substantially conforms to surface 204 (operation 1310). In some illustrative examples, coupling mat system 210 to surface 204 comprises adhering mat system 210 to surface 204 by pulling a vacuum in suction cups 228 of mat system 210. The process can then move crawler robot 208 along the crawler system 210 using the second motion system 216 of crawler robot 208 to more precisely move crawler robot 208 to the desired position 239 (operation 1312).
[00129] The process can then deliver the utilities 257 through the utility cables 255 connected to the crawler robot 208 and extending through the utility arm 252 of the mobile platform 264 (operation 1314). The process can remove a first drilling tool holder from the drilling system 220 of the crawler robot 208 using the grip arm and place 244 and install a second drilling tool holder on the drilling system 220 on the crawler robot 208 using the pick and place arm 244 (operation 1316).
[00130] The process can then store the first drilling tool holder in storage 248 on mobile platform 264 and retrieve the second drilling tool holder from storage 248 on mobile platform 264 (operation 1318). The process can then remove a first probe from inspection system 222 of crawler robot 208 using grip arm and place 244 and install a second probe from inspection system 222 on crawler robot 208 using grip and place arm 244 ( operation 1320). The process can then store the first probe in storage 248 on mobile platform 264 and retrieve the second probe from storage 248 on mobile platform 264 (operation 1322).
[00131] The process can then vary the position of the crawler robot 208 on the surface 204 as the desired position 239 for drilling using the crawler robot 208 positioning system 218 and perform any necessary position corrections to move the crawler robot 208 to the desired position 239 within the selected tolerances (operation 1324). Operation 1324 may include, for example, without limitation, repeating the steps of using metrology system 236 to determine if crawler robot 208 is positioned within selected tolerances of desired position 239 and moving crawler robot 208 with respect to the system. crawler 210 using second motion system 216 in direction to desired position 239 until crawler robot 208 is positioned within selected tolerances of desired position 239.
[00132] The process can then drill hole 202 in surface 204 using drilling system 220 of crawler robot 208 (operation 1326). Then, the process can inspect a diameter of hole 202 using inspection system 222 of crawler robot 208 (operation 1328). The process can then insert fastener 240 into hole 202 using fastener system 224 of crawler robot 208 (operation 1330). The process can move utility cables 255 affixed to crawler robot 208 using utility arm 252 as crawler robot 208 moves along surface 204 (operation 1332). Operation 1332 can be performed during at least one of operation 1306, 1312, or 1324. Further, operation 1324 can be repeated between operation 1326 and operation 1328 and between operation 1328 and operation 1330, in some illustrative examples. The process ends after that.
[00133] Returning now to Figure 14, an illustration of a flowchart of a process to operate a mobile platform is represented according to an illustrative embodiment. The process may begin by moving the mobile platform 264 within the manufacturing environment 200 containing the frame 206 such that the pick and place arm 244 of the mobile platform 264 is within reach of the surface 204 of the frame 206 (operation 1402). The process can then place crawler robot 208 onto surface 204 of frame 206 using pick-and-place arm 244 of mobile platform 264 (operation 1404). The process can then move utility arm 252 of mobile platform 264 as crawler robot 208 moves along surface 204 of frame 206 (operation 1406). The process can then deliver utilities 257 through utility cables 255 connected to crawler robot 208 and extending through utility arm 252 of mobile platform 264 (operation 1408).
[00134] The process can then remove a first drilling tool holder from the drilling system 220 of the crawler robot 208 using the pick and place arm 244 and install a second drilling tool holder in the drilling system 220 in the robot crawler 208 using the pick and place arm 244 (operation 1410). The process can then store the first drilling tool holder in storage 248 on mobile platform 264 and retrieve the second drilling tool holder from storage 248 on mobile platform 264 (operation 1412). The process can then remove a first probe from inspection system 222 of crawler robot 208 using pick and place arm 244 and install the second probe into inspection system 222 on crawler robot 208 using pick and place arm 244 ( operation 1414). The process may store the first probe in storage 248 on mobile platform 264 (operation 1416). The process can then retrieve the second probe from storage 248 on mobile platform 264 (operation 1418). The process ends after that.
[00135] Referring now to Figure 15, an illustration of a flowchart of a process for positioning a crawling robot in relation to a surface is represented according to an illustrative embodiment. The process illustrated in Figure 15 can be performed to position the crawler robot 208 with respect to surface 204 of the frame 206 of Figure 6.
[00136] The process can begin by placing the crawler robot 208 on the non-planar surface 230 with the first motion system 214 of the crawler robot 208 in extended state 215 (operation 1500). Then, crawler robot 208 and flexible mat system 229 associated with crawler robot 208 can be moved along non-planar surface 230 into a selected region using first motion system 214 in extended state 215 ( operation 1502). Operation 1502 may include performing any position checks and corrections for the position of crawler robot 208 relative to a non-planar surface 230 necessary to position crawler robot 208 within the selected region.
[00137] Thereafter, the first motion system 214 is moved to the retracted state 217 so that the flexible mat system 229 is brought into contact with the non-planar surface 230 (operation 1504). Flexible mat system 229 is coupled to non-planar surface 230 such that flexible mat system 229 substantially conforms to non-planar surface 230 (operation 1506). The crawler robot 208 is then moved relative to the flexible mat system 229 using the second motion system 216 to position the crawler robot 208 at the desired position 239 within the selected region on the non-planar surface 230, with a desired level of accuracy (operation 1508), with the process ending thereafter.
[00138] 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 flowcharts or block diagrams can represent a module, a segment, a function, and/or a portion of an operation or step.
[00139] In some alternative implementations of an illustrative modality, the function or functions observed in the blocks may occur outside the order observed in the figures. For example, in some cases, two blocks shown in succession can be performed substantially simultaneously, or blocks may sometimes be performed 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. Also, some blocks may not be implemented. For example, crawler robot 208 may be placed on surface 204 other than in operation 1202. For example, crawler robot 208 may be placed on surface 204 by an operator.
[00140] The illustrative embodiments of the description can be described in the context of the manufacturing and service method of aircraft 1600, as shown in figure 16, and aircraft 1700, as shown in figure 17. Returning first to figure 16, an illustration of a Aircraft manufacturing and service method is represented in the form of a block diagram according to an illustrative modality. During pre-production, manufacturing method and service of 1600 aircraft may include 1602 specification and design of 1700 aircraft in Figure 17 and 1604 material procurement.
[00141] During production, the fabrication of 1606 components and sub-assemblies and the 1608 systems integration of the 1700 aircraft in Figure 17 takes place. Thereafter, aircraft 1700 in figure 17 may go through certification and provision 1610 in order to be placed in service 1612. While in service 1612 by a customer, aircraft 1700 in figure 17 is scheduled for routine maintenance and service1614, which may include modification, reconfiguration, refurbishment, and other maintenance or service.
[00142] Each of the processes of the 1600 aircraft manufacturing and service method may be performed or performed by a system integrator, a third party, and/or an operator. In these examples, the operator can be a customer. For the purposes of the description, a system integrator may include, without limitation, any number of aircraft manufacturers and subcontractors for the main systems; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator may be an air transport company, a leasing company, a military organization, a service organization, and others.
[00143] Referring now to figure 17, 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 1700 is produced by aircraft manufacturing and service method 1600 in Figure 16 and may include fuselage 1702 with a plurality of systems 1704 and interior 1706. Examples of systems 1704 include one or more of the 1708 propulsion system , electrical system 1710, hydraulic system 1712, and environmental system 1714. Any number of other systems may be included. Although an aerospace example is shown, different illustrative modalities can be applied to other industries, such as the automotive industry.
[00144] The apparatus and methods incorporated herein may be employed during at least one of the stages of the aircraft manufacturing and service method 1600 in figure 16. One or more illustrative modalities may be used during the manufacture of 1606 components and subassemblies. , crawler robot 208 in Figure 2 can be used during component and subassembly 1606 fabrication. In addition, crawler robot 208 can also be used to perform replacements during maintenance and service 1614. For example, aircraft 1700 may have crawler robot 208 drilling holes during maintenance and service 1614 for 1700 aircraft.
[00145] The present description can provide a crawling robot. The crawler robot can comprise a first movement system and a second movement system. The first motion system can be configured to move the crawler robot and track system along the surface. The second motion system can be configured to move the crawler robot along the track system over the surface.
[00146] The crawler robot can provide drilling processes without operator placement. The crawler robot can be initially placed by a pick-and-place arm. the first motion system can then move the crawler robot and track system. This can result in drilling operations, which can use at least one of less time and less resources. Furthermore, the crawler robot can perform a plurality of functions. For example, the crawler robot can perform at least one of drilling, inspection, positioning, and fastener placement.
[00147] The description of the different illustrative embodiments has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments as described. Many modifications and variations will be apparent to those of common knowledge in the art. Furthermore, different illustrative embodiments may provide different features compared to other illustrative 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 allow others of common knowledge in the art to understand the description for the various modalities with the various modifications where appropriate for the particular use contemplated.
[00148] Thus, in short, according to a first aspect of the present invention is provided:
[00149] A1. A crawler robot comprising: a first motion system, configured to move the crawler robot, and a crawler system along the surface; and a second motion system, configured to move the crawler robot along the track system over the surface.
[00150] A2. The crawler robot according to paragraph A1 is also provided, further comprising: a drilling system.
[00151] A3. The crawler robot in accordance with paragraph A2 is also provided, further comprising: an inspection system configured to inspect a hole drilled by the drilling system.
[00152] A4. The crawler robot in accordance with paragraph A2 is also provided, further comprising: a clamping system configured to insert a clamp into a hole drilled by the drilling system.
[00153] A5. The crawler robot according to paragraph A2 is also provided, wherein the drilling system comprises an interchangeable tool holder.
[00154] A6. The crawler robot according to paragraph A3 is also provided, wherein the inspection system comprises an interchangeable probe.
[00155] A7. The crawler robot in accordance with paragraph A1 is also provided, further comprising: a positioning system configured to identify a desired position of the crawler robot on the surface.
[00156] A8. Also provided is the crawler robot in accordance with paragraph A7, wherein the positioning system is configured to identify the desired position of the crawler robot based on surface index characteristics.
[00157] A9. The crawler robot in accordance with paragraph A1 is also provided, wherein each of the first movement system and the second movement system comprises at least one of retractable wheels, rollers, gliders, air supports, holonomic wheels, rails, or mats.
[00158] A10. The crawler robot according to paragraph A1 is also provided, wherein the orientation direction for the crawler robot is provided by at least one of a human operator, a controller associated with the crawler robot, or a system controller.
[00159] A11. The crawler robot according to paragraph A10 is also provided, where the crawler robot is configured to orient itself.
[00160] According to another aspect of the present invention, there is provided:
[00161] B1. An apparatus comprising: a treadmill system; and a crawler robot comprising a first motion system, configured to move the crawler robot, and the crawler system along the surface of a structure, and a second motion system, configured to move the crawler robot along the crawler system over the surface.
[00162] B2. Apparatus in accordance with paragraph 81 is also provided, wherein the mat system is a flexible mat system configured to flex to substantially conform to a surface contour when the surface is a non-planar surface.
[00163] B3. Apparatus in accordance with paragraph 82 is also provided, further comprising: a crawler support, configured to provide utilities for the crawler robot.
[00164] B4. The apparatus according to paragraph 83 is also provided, wherein the crawler support comprises: a mobile platform; a motion system configured to move the mobile platform relative to the structure within a manufacturing environment; a pick-and-place arm for at least one of placing the crawler robot and the mat system on the surface of the structure or removing the crawler robot and the mat system from the surface of the structure; and a utility arm configured to provide utilities to the crawling robot.
[00165] B5. The apparatus according to paragraph 84 is also provided, wherein the guidance direction for the mobile platform is provided by at least one of a human operator, a controller associated with the mobile platform, or a system controller.
[00166] B6. The apparatus according to paragraph 85 is also provided, wherein the mobile platform is configured to orient itself.
[00167] B7. The apparatus according to paragraph 81 is also provided, wherein the crawler robot further comprises: a drilling system; an inspection system configured to inspect a hole drilled by the drilling system; and a fastening system configured to insert a fastener into the hole drilled by the drilling system.
[00168] According to another aspect of the present invention, there is provided:
[00169] C1. A method for installing a fastener on a surface of the structure, the method comprising: moving a crawler robot and a track system along the surface to position the crawler robot within a selected region on the surface; attach the mat system to the surface; and moving the crawler robot relative to the track system to precisely move the crawler robot to a desired position within the selected region.
[00170] C2. The method according to paragraph C1 is also provided, further comprising: placing the crawler robot and the mat system on the surface of the structure using a pick-and-place arm.
[00171] C3. The method according to paragraph C1 is also provided, wherein coupling the mat system to the surface comprises: coupling the mat system to the surface, wherein the surface is a non-planar surface, and the mat system is a system of flexible mat, configured to flex to substantially conform to a contour of the non-planar surface.
[00172] C4. The method according to paragraph C1 is also provided, wherein moving the crawler robot and the crawler system along the surface comprises: moving the crawler robot and the crawler system along the surface using a first motion system, while the first motion system is in an extended state.
[00173] C5. The method according to paragraph C4 is also provided, further comprising: moving the first motion system to a retracted state to bring the mat system into contact with the surface.
[00174] C6. The method according to paragraph C4 is also provided, wherein moving the crawler robot relative to the mat system comprises: moving the crawler robot relative to the mat system using a second motion system, which provides a finer level of positioning compared to the first movement system.
[00175] C7. The method according to paragraph C1 is also provided, further comprising: performing at least one of drilling a hole, inspecting the hole, and installing the fastener in the hole, while the crawler robot is positioned in the desired position on the surface of the structure.
[00176] According to another aspect of the present invention, there is provided:
[00177] D1. A method for moving a crawler robot and a crawler system, the method comprising: moving the crawler robot and a crawler system along the surface using a first crawler robot motion system; attach the mat system to the surface; retract the crawler robot's first motion system; and moving the crawler robot along the track system using a second crawler robot motion system.
[00178] D2. The method according to paragraph D1 is also provided, further comprising: positioning the crawler robot on the surface using a crawler robot positioning system.
[00179] D3. The method according to paragraph D1 is also provided, further comprising: drilling a hole in the surface using a crawler robot drilling system.
[00180] D4. The method according to paragraph D3 is also provided, further comprising: inspecting a hole diameter using a crawler robot inspection system.
[00181] D5. The method according to paragraph D4 is also provided, further comprising: inserting a fastener into the hole using a crawler robot fastening system.
[00182] D6. The method according to paragraph D1 is also provided, wherein coupling the mat system to the surface comprises drawing a vacuum in the suction cups of the mat system.
[00183] D7. The method according to paragraph D1 is also provided, further comprising: placing the crawler robot and the mat system on the surface using a pick-and-place arm.
[00184] D8. The method according to paragraph D1 is also provided, further comprising: moving utility cables affixed to the crawler robot using a utility arm when the crawler robot moves along the surface.
[00185] D9. The method according to paragraph D1 is also provided, further comprising: guiding the crawling robot.
[00186] According to another aspect of the present invention, it is provided:
[00187] E1. A crawler robot comprising: a first motion system, configured to move the crawler robot, and a track system along the surface, the first motion system comprising retractable wheels; a second motion system, configured to move the crawler robot along the track system over the surface; a drilling system comprising an interchangeable tool holder; an inspection system configured to inspect a hole drilled by the drilling system, the inspection system comprising an interchangeable probe; a fastening system configured to insert a fastener into the hole drilled by the drilling system; and a positioning system, configured to identify a desired crawler robot position on the surface based on surface index characteristics.
[00188] According to another aspect of the present invention, there is provided:
[00189] F1. A method for managing a crawler robot and a crawler system, the method comprising: placing the crawler robot and a crawler system on a surface using a pick-and-place arm; move the crawler robot and track system along the surface using a first crawler robot motion system; attach the mat system to the surface by pulling a vacuum in the mat system suction cups; retract the crawler robot's first motion system; move the crawler robot along the mat system on the surface using a second crawler robot motion system; moving utility cables attached to the crawler robot using a utility arm when the crawler robot moves along the surface; verify the position of the crawler robot on the surface using a crawler robot positioning system; drill a hole in the surface using a crawler robot drilling system; inspect at least one of a diameter, a countersink depth, a countersink diameter, or a grip length of the hole using a crawler robot inspection system; and inserting a fastener into the hole using a crawler robot fastener system.
[00190] According to another aspect of the present invention, there is provided:
[00191] G1. An apparatus comprising: a treadmill system; a crawler robot comprising a first motion system, configured to move the crawler robot, and the track system along the surface of a structure, and a second motion system, configured to move the crawler robot along the track system over the surface of the structure; and a crawler support comprising a movable platform, the movement system, a pick-and-place arm, and a utility arm.
[00192] G2. The apparatus according to paragraph G1 is also provided, wherein the movement system comprises at least one of wheels, rollers, gliders, air supports, holonomic wheels, rails, or tracks, configured to move the mobile platform within a manufacturing environment containing the structure.
[00193] G3. The apparatus according to paragraph G1 is also provided, wherein the movement system additionally uses at least one of a locking or gravity mechanism to retain the mobile platform.
[00194] G4. The apparatus according to paragraph G1 is also provided, wherein the pick and place arm is configured to place the crawling robot on the surface of the structure.
[00195] G5. The apparatus according to paragraph G1 is also provided, wherein the pick and place arm is configured to interchange an interchangeable tool holder of a crawler robot drilling system.
[00196] G6. The apparatus according to paragraph G1 is also provided, wherein the pick and place arm is configured to exchange an interchangeable probe of a crawler robot inspection system.
[00197] G7. The apparatus according to paragraph G1 is also provided, wherein the utility arm is configured to move the utility cables connected to the crawler robot when the crawler robot moves along the surface of the structure.
[00198] G8. The apparatus according to paragraph G1 is also provided, wherein the trailing support further comprises an operator interface.
[00199] G9. The apparatus according to paragraph G1 is also provided, wherein the crawler robot further comprises a clamping system configured to insert a clamp into a hole drilled by a crawler robot piercing system.
[00200] G10. The apparatus according to paragraph G1 is also provided, wherein the crawler robot further comprises a positioning system, configured to identify a desired position of the crawler robot on the surface.
[00201] G11. The apparatus according to paragraph G10 is also provided, wherein the positioning system is configured to identify the desired position of the crawling robot based on surface index characteristics.
[00202] G12. The apparatus according to paragraph G1 is also provided, wherein the first movement system comprises retractable wheels.
[00203] According to another aspect of the present invention, there is provided:
[00204] H1. A method for managing a crawler robot and track system using a crawler support comprising: moving the crawler support within a manufacturing environment containing the structure using a movable platform such that a pick and place arm associated with the movable platform , is within range of a surface of the structure; place the crawler robot and track system on the surface of the structure using the pick and place arm associated with the mobile platform; move the crawler robot and track system along the surface using a first crawler robot motion system; attach the mat system to the surface; retract the crawler robot's first motion system; and moving the crawler robot along the track system using a second crawler robot motion system.
[00205] H2. The method according to paragraph H1 is also provided, further comprising: guiding the crawling robot.
[00206] H3. The method according to paragraph H1 is also provided, further comprising: guiding the mobile platform through a manufacturing environment.
[00207] H4. The method according to paragraph H1 is also provided, further comprising: providing utilities through the utility cables connected to the crawler robot and extending through a utility arm of the crawler support.
[00208] H5. The method according to paragraph H1 is also provided, further comprising: removing a first drilling tool holder from a crawler robot drilling system using the pick and place arm; and installing a second drilling tool holder in the drilling system on the crawler robot using the pick and place arm.
[00209] H6. The method according to paragraph H5 is also provided, further comprising: storing the first drilling tool holder in storage in the creeper; and retrieving the second drilling tool holder from storage in the creeper.
[00210] H7. The method according to paragraph H1 is also provided, further comprising: removing a first probe from a crawler robot inspection system using the pick-and-place arm; and installing a second probe in the inspection system on the crawler robot using the pick and place arm.
[00211] H8. The method according to paragraph H7 is also provided, further comprising: storing the first probe in storage in the creeper; and retrieving the second probe from storage in the creeper.
[00212] H9. The method according to paragraph H1 is also provided, further comprising: positioning the crawler robot on the surface using a crawler robot positioning system.
[00213] H10. The method according to paragraph H1 is also provided, further comprising: drilling a hole in the surface using a crawler robot drilling system.
[00214] H11. The method according to paragraph H10 is also provided, further comprising: inspecting at least one of a diameter, a countersink depth, a countersink diameter, or a hole grip length using a crawler robot inspection system.
[00215] H12. The method according to paragraph H10 is also provided, further comprising: inserting a fastener into the hole using a crawler robot fastening system.
[00216] H13. The method according to paragraph H1 is also provided, wherein coupling the mat system to the surface comprises drawing a vacuum in the suction cups of the mat system.
[00217] H14. The method according to paragraph H1 is also provided, further comprising: moving utility cables affixed to the crawler robot using a utility arm when the crawler robot moves along the surface.
[00218] According to another aspect of the present invention, there is provided:
[00219] I1. An apparatus comprising: a crawler robot configured to move along the surface of the structure; and a crawler support comprising a movable platform, the movement system, a pick and place arm, and a utility arm configured to support the crawler robot.
[00220] I2. The apparatus according to paragraph II is also provided, wherein the movement system comprises at least one of wheels or air supports configured to move the mobile platform within a manufacturing environment containing the structure.
[00221] I3. The apparatus according to paragraph 12 is also provided, wherein the movement system additionally uses at least one of a locking or gravity mechanism to retain the mobile platform.
[00222] I4. The apparatus according to paragraph I2 is also provided, wherein the pick and place arm is configured to place the crawler robot on the surface of the structure.
[00223] I5. The apparatus according to paragraph I2 is also provided, wherein the pick and place arm is configured to interchange an interchangeable tool holder of a crawler robot drilling system.
[00224] I6. The apparatus according to paragraph I1 is also provided, wherein the utility arm is configured to move the utility cables connected to the crawler robot when the crawler robot moves along the surface of the structure.
[00225] I7. The apparatus according to paragraph II is also provided, wherein the trailing support further comprises an operator interface.
[00226] According to another aspect of the present invention, it is provided:
[00227] J1. A method of operating a crawler support comprising: moving the crawler support within a manufacturing environment containing the structure using a movable platform such that a pick-and-place arm associated with the movable platform is within reach of a surface of the structure; placing a crawler robot on the surface of the structure using the pick and place arm associated with the mobile platform; and moving a crawler support utility arm when the crawler robot moves along the surface of the structure.
[00228] J2. The method according to paragraph J1 is also provided, further comprising: providing utilities through the utility cables connected to the crawler robot and extending through the utility arm of the crawler support.
[00229] J3. The method according to paragraph J1 is also provided, further comprising: removing a first drilling tool holder from a crawler robot drilling system using the pick and place arm; and installing a second drilling tool holder in the drilling system on the crawler robot using the pick and place arm.
[00230] J4. The method according to paragraph J3 is also provided, further comprising: storing the first drilling tool holder in storage on the creeper; and retrieving the second drilling tool holder from storage in the creeper.
[00231] J5. The method according to paragraph J1 is also provided, further comprising: removing a first probe from a crawler robot inspection system using the pick-and-place arm; and installing a second probe in the inspection system on the crawler robot using the pick and place arm.
[00232] J6. The method according to paragraph J5 is also provided, further comprising: storing the first probe in storage in the creeper; and retrieving the second probe from storage in the creeper.

权利要求:
Claims (15)
[0001]
1. Device comprising a mat system (210) and a crawler robot (208), the crawler robot (208) characterized in that it comprises: a first movement system (214), configured to move the crawler robot (208) and the mat system (210) along a non-planar surface (230), wherein the mat system (210) is a flexible mat system (229) configured to flex to fit a contour (275) of the non-planar surface (230); and a second motion system (216), configured to move the crawler robot (208) along the flexible mat system (229) over the surface (230), wherein: the first motion system (214) is movable between an extended state (215) and a retracted state (217); when the first motion system (214) is in the extended state (215), the flexible mat system (229) cannot extend below the first motion system (214); when the first motion system (214) is in the retracted state (217), the flexible mat system (229) may extend at the same level as the first motion system (214) or below the first motion system (214) ; and the apparatus is arranged to move the mat robot (208) and the flexible mat system (229) along the non-planar surface (230) into a selected region (273) using the first motion system (214) in the extended state (215).
[0002]
2. Device according to claim 1, characterized in that the crawler robot (208) further comprises: a drilling system (220).
[0003]
3. Device according to claim 2, characterized in that the crawler robot (208) further comprises: an inspection system (222) configured to inspect a hole (202) drilled by the drilling system (220).
[0004]
4. Device according to claim 2, characterized in that the crawler robot (208) further comprises: a fastening system (224), configured to insert a fastener (240) in a hole (202) drilled by the perforation (220).
[0005]
5. Device according to claim 2, characterized in that the perforation system (220) comprises an interchangeable tool holder (237).
[0006]
6. Device according to claim 3, characterized in that the inspection system (222) comprises an interchangeable probe (238).
[0007]
7. Device according to claim 1, characterized in that the crawler robot (208) further comprises: a positioning system (218) configured to identify a desired position (239) of the crawler robot (208) on the surface ( 204).
[0008]
8. Device according to claim 7, characterized in that the positioning system (218) is configured to identify the desired position (239) of the crawler robot (208) based on index characteristics (235) of the surface ( 204).
[0009]
9. Device according to claim 1, characterized in that each of the first movement system (214) and the second movement system (216) comprises at least one of retractable wheels (226), rollers, gliders, supports air, holonomic wheels, rails or mats.
[0010]
10. Device according to claim 1, characterized in that the orientation direction (299) for the crawler robot (208) is provided by at least one of a human operator, a controller associated with the crawler robot (208) , or a system controller.
[0011]
11. Device according to claim 10, characterized in that the crawler robot (208) is configured to drive itself.
[0012]
12. Method for installing a fastener (240) on a non-planar surface (230) of a structure (206) using the device as defined in any one of claims 1 to 11, the method characterized in that it comprises: moving the crawler robot (208) and the mat system (210) along the surface (204) to position the crawler robot (208) within a selected region (273) on the surface (204); adhering the mat system (229) to the surface (204); moving the crawler robot (208) relative to the track system (229) to precisely move the crawler robot (208) to a desired position (239) within the selected region (273); and installing the fastener (240), wherein moving the crawler robot (208) and the mat system (210) along the surface (230) comprises: placing the crawler robot (208) on the non-planar surface (230) with the first movement system (214) of the crawler robot (208) in the extended state (215); moving the crawler robot (208) and the flexible mat system (229) along the non-planar surface (230) into the selected region (273) using the first movement system (214) in the extended state (215); and moving the first motion system (214) to a retracted state (217) to bring the mat system (210) into contact with the surface (230).
[0013]
13. Method according to claim 12, characterized in that placing the crawler robot (208) on the non-planar surface (230) comprises: placing the crawler robot (208) and the mat system (210) on the surface (204) of the frame (206) using a pick-and-place arm (244).
[0014]
14. Method according to claim 12, characterized in that moving the crawler robot (208) relative to the mat system (210) comprises: moving the crawler robot (208) relative to the mat system (210) using a second motion system (216), which provides a finer level of positioning compared to the first motion system (214).
[0015]
15. Method according to claim 12, characterized in that it further comprises: performing at least one of drilling a hole and inspecting the hole, while the crawler robot (208) is positioned in the desired position (239) on the surface ( 204) of the structure (206).

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JP6612514B2|2019-11-27|

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EP2946875B1|2019-05-15|

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US9776330B2|2017-10-03|

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CN105035347B|2019-03-22|

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KR102265059B1|2021-06-15|

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US20150314446A1|2015-11-05|

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BR102015008451A2|2016-04-26|

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KR20150125550A|2015-11-09|

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EP3594094A1|2020-01-15|

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JP2016163929A|2016-09-08|

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CA2882420C|2018-08-21|

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CA2882420A1|2015-10-30|

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EP2946875A2|2015-11-25|

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ES2742405T3|2020-02-14|

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CN105035347A|2015-11-11|

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法律状态:
2016-04-26| 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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2020-03-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-05-25| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-07-13| B16A| Patent or certificate of addition of invention granted|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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US201461986766P| true| 2014-04-30|2014-04-30|

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US61/986766|2014-04-30|

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US14/558850|2014-12-03|

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