Dual-interface coupler

• US 10,525,524 B2
• Filed: 12/03/2014
• Issued: 01/07/2020
• Est. Priority Date: 07/09/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Oberoi, Harinder S., Reese, IV, Richard Griffith, Do, Quang T., Draper, Alan S., Miller, Jeffrey Lawrence, Kozak, Michael J., Stojanoski, Vanco
• Primary Examiner(s): Wathen, Brian W
• Assistant Examiner(s): Booker, Kelvin
• Application Number:
  US14/559,153
• Publication Number:
  US 20160009417A1
• Time in Patent Office: 1,861 Days
• Field of Search: None
• CPC Class Codes: B21J 15/02 Riveting procedures
• CPC Class Codes: B21J 15/10 Riveting machines electric heating elements H05B
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B21J 15/28 Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
• CPC Class Codes: B21J 15/32 Devices for inserting or holding rivets in position with or without feeding arrangements
• CPC Class Codes: B21J 15/40 for forming rivet heads
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B23P 21/002 the units stationary whilst being composed
• CPC Class Codes: B23P 2700/00 Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B25B 5/163 Jaws or jaw attachments
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 11/007 Riveting
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B29C 2045/14368 holes with means for anchoring the injected material
• CPC Class Codes: B29C 2793/0081 before shaping
• CPC Class Codes: B29C 39/026 characterised by the shape of the surface
• CPC Class Codes: B29C 39/10 : incorporating preformed parts or layers, e.g. casting around inserts or for coating articles coating a surface by casting in general B05D1/30, B29C39/126 takes precedence
• CPC Class Codes: B29C 39/123 : Making multilayered articles
• CPC Class Codes: B29C 39/22 : Component parts, details or accessories; Auxiliary operations
• CPC Class Codes: B29C 45/14336 : Coating a portion of the article, e.g. the edge of the article B29C45/14573 and B29C45/14598 take precedence
• CPC Class Codes: B29C 65/70 : by moulding using a particular moulding technique, see the relevant technique , e.g. by injection B29C45/14467
• CPC Class Codes: B29K 2715/00 : Condition, form or state of preformed parts, e.g. inserts
• CPC Class Codes: B29L 2031/748 : Machines or parts thereof not otherwise provided for conveyor belts B29L2031/7092; driving belts B29L2031/7094; bearings B29L2031/04
• CPC Class Codes: B60G 2204/143 : on the vehicle body or chassis
• CPC Class Codes: B60G 2204/418 : Bearings, e.g. ball or roller bearings
• CPC Class Codes: B60G 2206/8207 : by screwing
• CPC Class Codes: B60G 2300/60 : Vehicles using regenerative power
• CPC Class Codes: B60G 3/145 : the arm forming the axle housing
• CPC Class Codes: B60G 7/001 : Suspension arms, e.g. constructional features B60G7/006 takes precedence
• CPC Class Codes: B60G 7/008 : Attaching arms to unsprung part of vehicle B60G7/005, B60G7/006 take precedence
• CPC Class Codes: B60P 3/025 : the object being a shop, cafeteria or display the object being a theatre or stagethe object being a workshop B60P3/14
• CPC Class Codes: B64C 1/00 : Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
• CPC Class Codes: B64C 1/06 : Frames; Stringers; Longerons ; Fuselage sections
• CPC Class Codes: B64C 1/068 : Fuselage sections
• CPC Class Codes: B64C 1/069 : Joining arrangements therefor
• CPC Class Codes: B64F 5/10 : Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B64F 5/50 : Handling or transporting aircraft components
• CPC Class Codes: F16B 19/06 : Solid rivets made in one piece
• CPC Class Codes: G05B 19/41805 : characterised by assembly
• CPC Class Codes: G05B 2219/45071 : Aircraft, airplane, ship cleaning manipulator, paint stripping
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 3/12 : using feedback
• CPC Class Codes: Y02P 90/80 : Management or planning
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/41 : Tool

Abstract

A method for coupling a number of utilities between a first system and a second system is provided. A first interface that couples the number of utilities between the first system and the second system is created between the first system and a utilities unit. The first interface is activated. A second interface between the second system and the utilities unit is deactivated, while the first interface remains activated.

Claims

1. A method for coupling a number of utilities between a first system and a second system, the method comprising:

moving the first system towards the second system, wherein the first system comprises a first corresponding coupling unit;

aligning the first corresponding coupling unit with a first coupling unit on a utilities unit on the second system, wherein the utilities unit receives the number of utilities from the second system through a number of utility cables connected between the utilities unit and the second system;

creating a first mechanical interface and a utility interface between the first system and the utilities unit by mating the first coupling unit on the utilities unit with the first corresponding coupling unit on the first system while a second mechanical interface between the second system and the utilities unit is locked to prevent disengaging the second system from the utilities unit;

locking the first mechanical interface to prevent disengaging the first system from the utilities unit;

with the first mechanical interface locked, unlocking the second mechanical interface;

with the first mechanical interface locked and the second mechanical interface unlocked, disengaging the second system from the utilities unit and moving the first system and the utilities unit locked to the first system away from the second system; and

with the first system and the utilities unit moved away from the second system, distributing the number of utilities from the second system through the number of utility cables to the utilities unit and across the utility interface between the first coupling unit and the first corresponding coupling unit to the first system.

2. The method of claim 1, wherein creating the first mechanical interface comprises:

creating the first mechanical interface autonomously.

3. The method of claim 1, wherein aligning the first corresponding coupling unit with the first coupling unit comprises:

guiding a roller associated with the first corresponding coupling unit within a guidance fork associated with the first coupling unit.

4. The method of claim 1 further comprising:

creating the second mechanical interface that mechanically couples the utilities unit to the second system prior to the first mechanical interface being created; and

locking the second mechanical interface to prevent disengaging the second system from the utilities unit prior to the first mechanical interface being created.

5. The method of claim 4, wherein creating the second mechanical interface comprises:

mating a second coupling unit on the utilities unit with a second corresponding coupling unit on the second system to create the second mechanical interface.

6. The method of claim 1 further comprising:

locking the first mechanical interface autonomously.

7. The method of claim 1 further comprising:

unlocking the second mechanical interface autonomously.

8. The method of claim 1 further comprising:

unlocking the second mechanical interface between a second coupling unit on the utilities unit and a second corresponding coupling unit on the second system autonomously.

9. The method of claim 1 further comprising:

recreating the second mechanical interface;

relocking the second mechanical interface; and

unlocking the first mechanical interface while the second mechanical interface remains locked.

10. The method of claim 9 further comprising:

disengaging the utilities unit from the first system while the second mechanical interface remains locked.

11. The method of claim 10 further comprising:

driving the first system away from the second system.

12. The method of claim 1 further comprising:

recreating the second mechanical interface autonomously;

relocking the second mechanical interface autonomously;

unlocking the first mechanical interface autonomously while the second mechanical interface remains locked; and

disengaging the utilities unit from the first system autonomously while the second mechanical interface remains locked.

13. The method of claim 1, wherein aligning the first corresponding coupling unit with the first coupling unit comprises:

moving the first coupling unit in a direction along at least one of an X-axis, a Y-axis, or a Z-axis to align the first coupling unit with the first corresponding coupling unit.

14. The method of claim 1, wherein aligning the first corresponding coupling unit with the first coupling unit comprises:

aligning the first corresponding coupling unit with the first coupling unit autonomously at least one of linearly or rotationally.

15. The method of claim 1, wherein aligning the first corresponding coupling unit with the first coupling unit comprises:

aligning the first corresponding coupling unit with the first coupling unit autonomously using an autonomous vehicle fixedly associated with the first system.

16. An apparatus comprising:

a utilities unit comprising a first coupling unit and a second coupling unit;

a number of utility cables connected between the utilities unit and a second system, wherein the utilities unit is configured to receive a number of utilities from the second system through the number of utility cables connected between the utilities unit and the second system;

a first corresponding coupling unit on a first system and mechanically coupleable to the first coupling unit when the utilities unit is locked to the second system to form a first mechanical interface and a utility interface;

a first alignment system configured to align the first corresponding coupling unit with the first coupling unit when the first system is moved towards the second system when the utilities unit is locked to the second system;

a first interlocking device capable of locking and unlocking the first mechanical interface formed between the first coupling unit and the first corresponding coupling unit to lock the utilities unit to the first system and unlock the utilities unit from the first system; and

a second corresponding coupling unit on the second system and mechanically coupleable to the second coupling unit to form a second mechanical interface;

a second interlocking device capable of locking and unlocking the second mechanical interface formed between the second coupling unit and the second corresponding coupling unit to lock the utilities unit to the second system and unlock the utilities unit from the second system;

wherein the first system and the utilities unit locked to the first system are configured to move away from the second system when the first mechanical interface is locked and the second mechanical interface is unlocked to unlock the utilities unit from the second system;

whereby the number of utilities are distributable from the second system through the number of utility cables to the utilities unit and across the utility interface between the first coupling unit and the first corresponding coupling unit to the first system when the first system and the utilities unit are moved away from the second system.

17. The apparatus of claim 16, wherein the first system is an external mobile platform configured to perform an operation on an exterior of a fuselage assembly.

18. The apparatus of claim 16, wherein the second system is a cradle fixture configured to support a fuselage assembly.

19. The apparatus of claim 16, wherein the first coupling unit is a quick-change device and the first corresponding coupling unit is a corresponding quick-change device.

20. The apparatus of claim 16, wherein the first coupling unit is a male quick-change device and the first corresponding coupling unit is a female quick-change device.

21. The apparatus of claim 16, wherein the second coupling unit is a quick-change device and the second corresponding coupling unit is a corresponding quick-change device.

22. The apparatus of claim 16, wherein the second coupling unit is a female quick-change device and the second corresponding coupling unit is a male quick-change device.

23. The apparatus of claim 16, wherein the second corresponding coupling unit is attached to a base of the second system.

24. The apparatus of claim 23 further comprising:

a rail system, wherein the base is configured to move along the rail system.

25. The apparatus of claim 16, wherein the first alignment system comprises at least one of a set of movement systems, a sensor system, or a roller.

26. The apparatus of claim 25, wherein the sensor system comprises at least one of an imaging system, a laser device, or a set of laser targets.

27. The apparatus of claim 16 further comprising:

a second alignment system configured to align the second corresponding coupling unit with the second coupling unit.

28. The apparatus of claim 27, wherein the second alignment system comprises at least one of a set of movement systems, a sensor system, or a guidance fork.

29. The apparatus of claim 16 further comprising:

a cable management system that manages the number of utility cables that carry the number of utilities from the second system to the utilities unit.

30. A dual-interface coupler comprising:

a utilities unit comprising a first coupling unit and a second coupling unit;

a first corresponding coupling unit on a first system and mechanically coupleable to the first coupling unit when the utilities unit is locked to a second system to form a first mechanical interface and a utility interface;

a second corresponding coupling unit on the second system and mechanically coupleable to the second coupling unit to form a second mechanical interface;

a number of utility cables configured to distribute a number of utilities from the second coupling unit to the utilities unit;

a first alignment system configured to align the first corresponding coupling unit with the first coupling unit; and

a second alignment system configured to align the second corresponding coupling unit with the second coupling unit;

wherein the first system and the utilities unit coupled to the first system are configured to move away from the second system when the utilities unit is unlocked from the second system;

whereby the number of utilities are distributable from the second system through the number of utility cables to the utilities unit and across the utility interface between the first coupling unit and the first corresponding coupling unit to the first system when the first system and the utilities unit are moved away from the second system.

31. The dual interface coupler of claim 30, wherein the first system is an external mobile platform configured to perform an operation on an exterior of a fuselage assembly.

32. The dual interface coupler of claim 30, wherein the second system is a cradle fixture configured to support a fuselage assembly.

33. The dual interface coupler of claim 30, wherein the first coupling unit is a quick-change device and the first corresponding coupling unit is a corresponding quick-change device.

34. The dual interface coupler of claim 30, wherein the first coupling unit is a male quick-change device and the first corresponding coupling unit is a female quick-change device.

35. The dual interface coupler of claim 30, wherein the second coupling unit is a quick-change device and the second corresponding coupling unit is a corresponding quick-change device.

36. The dual interface coupler of claim 30, wherein the second coupling unit is a female quick-change device and the second corresponding coupling unit is a male quick-change device.

37. The dual interface coupler of claim 30, wherein the second corresponding coupling unit is attached to a base of the second system.

38. The dual interface coupler of claim 30, wherein the first alignment system comprises at least one of a set of movement systems, a sensor system, or a roller.

39. The dual interface coupler of claim 38, wherein the sensor system comprises at least one of an imaging system, a laser device, or a set of laser targets.

40. The dual interface coupler of claim 30, wherein the second alignment system comprises at least one of a set of movement systems, a sensor system, or a guidance fork.