MAGNET SENSING HOLE DRILLER AND METHOD THEREFOR

• US 20150003927A1
• Filed: 06/28/2013
• Published: 01/01/2015
• Est. Priority Date: 06/28/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: SPISHAK, Noel A., RICHARDS, Charles M., HANSEN, Jeff, MOORE, Stephen G., DAY, Dan D.
• Granted Patent: US 9,352,435 B2
• Time in Patent Office: Days
• US Class Current: 408/1.R
• CPC Class Codes: B23B 2215/04 Aircraft components
• CPC Class Codes: B23B 2260/018 Brushes
• CPC Class Codes: B23B 2260/10 Magnets
• CPC Class Codes: B23B 2260/128 Sensors
• CPC Class Codes: B23B 35/00 Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
• CPC Class Codes: B23B 39/14 with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work
• CPC Class Codes: B23B 41/00 Boring or drilling machines or devices specially adapted for particular work surgical drilling machines A61B17/16; Accessories specially adapted therefor
• CPC Class Codes: B23B 49/00 Measuring or gauging equipment on boring machines for positioning or guiding the drill; Devices for indicating failure of drills during boring; Centering devices for holes to be bored marking-out equipment B25H7/00; measuring devices, gauges G01B
• CPC Class Codes: B23Q 9/0007 Portable machines comprising means for their guidance or support directly on the workpiece
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B60B 19/003 Multidirectional wheels
• CPC Class Codes: B60Y 2200/60 Industrial applications, e.g. pipe inspection vehicles
• CPC Class Codes: B60Y 2200/80 Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
• CPC Class Codes: G05B 19/182 characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control G05B19/21 - G05B19/40 take precedence
• CPC Class Codes: G05B 2219/33099 Computer numerical control [CNC]; Software control [SWC]
• CPC Class Codes: G05B 2219/45129 Boring, drilling
• 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 1/0261 using magnetic plots
• CPC Class Codes: Y10T 29/53983 Work-supported apparatus
• CPC Class Codes: Y10T 408/03 Processes
• CPC Class Codes: Y10T 408/554 : Magnetic or suction means
• CPC Class Codes: Y10T 408/556 : Tool supporting wheel
• CPC Class Codes: Y10T 408/5612 : Tool having shiftable tool-axis

Abstract

A portable device to drill holes has a platform. A plurality of wheel sets is coupled to the platform. A drive system is used for driving the plurality of wheels. An attachment mechanism is positioned on an underside of the platform for securing the device to a surface. A control board is used for controlling the operation of the device. A drill spindle assembly is coupled to the platform. A drill feed assembly is coupled to the drill spindle assembly for raising and lowering the drill spindle assembly. A plurality of sensors are operable to sense one or more magnets disposed below the surface. A drive table is used for positioning the drill spindle assembly in an XY plane based on an output of said plurality of sensors.

Claims

1. A portable device to drill holes comprising:

a platform;

a plurality of wheel sets coupled to the platform;

a drive system for driving the plurality of wheels;

an attachment mechanism positioned on an underside of the platform for securing the device to a surface;

a control board for controlling operating of the device;

a drill spindle assembly coupled to the platform;

a drill feed assembly coupled to the drill spindle assembly for raising and lowering the drill spindle assembly;

a plurality of sensors operable to sense one or more magnets disposed below the surface; and

a drive table for positioning the drill spindle assembly in an XY plane based on an output of said plurality of sensors.

2. The device of claim 1, further comprising a normality system for adjusting an angle between the platform and the surface to be drilled.

3. The device of claim 2, wherein the normality system comprises:

a pivot angle measuring device;

a control unit coupled to the pivot angle measuring device; and

a normality motor coupled to the control unit for raising and lowering a portion of the platform.

4. The device of claim 1, further comprising an antenna communicatively coupled to the control board for transmitting location information associated with said device and receiving drill locations for said device.

5. The device of claim 1, wherein each wheel set comprises:

a wheel pivot assembly attached to the platform; and

at least one wheel rotatably coupled to the wheel pivot assembly.

6. The device of claim 5, wherein the at least one wheel is an Omni wheel.

7. The device of claim 1, wherein the drive system comprises individual drive systems for each of the plurality of wheel sets.

8. The device of claim 1, wherein, the attachment mechanism comprises:

a plurality of suction cups positioned on the underside of the platform; and

a vacuum system coupled to the plurality of suction cups.

9. The device of claim 1, wherein the sensors are magnetoresistive and are configured to measure and divide an output field strength into X, Y &

Z components, one or more of the X, Y, and Z components, utilized by said device to position the drill assembly with respect to the platform in the XY plane.

10. The device of claim 1, wherein the drill assembly comprises:

a drill spindle;

a spindle motor; and

wherein a drill feed motor coupled to the drill feed assembly.

11. A portable device for use in product assembly comprising:

a platform;

a plurality of wheel sets coupled to the platform;

a drive system for driving the plurality of wheel sets;

an attachment mechanism for securing the device to a surface for an assembly operation;

a plurality of sensors for finding a location on the surface where the assembly operation is to be performed based on detection of at least one magnet positioned under the surface; and

a normality system for adjusting an angle between the platform and the surface where the assembly operation is to be performed.

12. The device of claim 11, wherein the normality system comprises:

a pivot angle measuring device;

a control unit coupled to the pivot angle measuring device; and

a normality motor coupled to the control unit for raising and lowering a portion of the platform.

13. The device of claim 11 further comprising:

a drive table; and

an assembly tool, said drive table configured to finely position said assembly tool in an XY plane with respect to said platform

14. The device of claim 13, wherein the plurality of sensors is magnetoresistive and operable to divide an output field strength into X, Y &

Z components, one or more of the X, Y, and Z components, utilized by said device to fine position said assembly tool in the XY plane with respect to the platform based on a sensed position of the at least one magnet.

15. The device of claim 11, wherein the plurality of wheel sets are Omni wheel sets.

16. The device of claim 11, wherein the drive system comprises individual drive systems for each of the plurality of wheel sets.

17. The device of claim 11, wherein the attachment mechanism comprises:

a plurality of suction cups positioned on the underside of the platform; and

a vacuum system coupled to the plurality of suction cups.

18. A process for operating a portable autonomous device to drill holes comprising;

transmitting a signal to the portable autonomous device to move to a drill location on a surface;

receiving a location update from the portable autonomous device;

determining whether the updated location is the drill location;

aligning a drill spindle assembly of the portable autonomous device to the drill location;

activating an attachment device of the portable autonomous device to fix a position of the portable autonomous device;

activating magnet sensors and an XY drive to locate a magnet; and

activating a drill feed assembly of the portable autonomous device to lower the drill spindle assembly.

19. The process of claim 18, further comprising:

activating a set of sensors to find a precise position of a temporary magnet located in a position of the drill location; and

adjusting a drive table of the portable autonomous device to center the drill assembly over the temporary magnet based on readings from the set of sensors.

20. The process of claim 18, further comprising adjusting an angle between a platform of the device and the surface to be drilled.