Magnet sensing hole driller and method therefor

• US 9,352,435 B2
• Filed: 06/28/2013
• Issued: 05/31/2016
• Est. Priority Date: 06/28/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Hansen, Jeff, Spishak, Noel A., Richards, Charles M., Moore, Stephen G., Day, Dan D.
• Primary Examiner(s): Howell, Daniel
• Assistant Examiner(s): DIAB, YASIR A
• Application Number:
  US13/931,165
• Publication Number:
  US 20150003927A1
• Time in Patent Office: 1,068 Days
• Field of Search: 408/76, 408/77, 408/88, 408/234
• US Class Current: 1/1
• 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, the plurality of wheel sets engaging and moving the portable device along a surface to be drilled;

a drive system for driving the plurality of wheels;

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

a control board for controlling operating of the device;

a drill assembly coupled to the platform;

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

a drive table for positioning the drill assembly in an XY plane;

a power supply for powering the device;

an antenna coupled to the control board for sending location information and receiving drill locations;

sensors for finding magnet locations identified by a magnet separate from the portable device; and

wherein the control board receives target signals and moves the portable device to a target drill location on the surface, the control board adjusting an angle between the platform and the surface based on readings from the sensors.

2. The device of claim 1, further comprising a normality system for adjusting the 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 2, wherein the normality system has a plurality of multi-core processors, wherein each core of each processor is programmed to perform a specific function.

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 can measure and divide an output field strength into X, Y &

Z components.

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

a drill spindle;

a spindle motor; and

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

16. The device of claim 9, wherein the drive system comprises individual drive systems for each of the plurality of wheel sets.

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

a platform;

a plurality of wheel sets coupled to the platform, the plurality of wheel sets engaging and moving the portable device along a surface to be drilled;

a drive system for driving the plurality of wheel sets;

an attachment mechanism for securing the device to the 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;

a control board for controlling operating of the device wherein the control board receives target signals and moves the portable device to a target drill location on the surface the control board adjusting a position of the drive table based on readings from the sensors; 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 12, wherein the normality system has a plurality of multi-core processors, wherein each core of each processor is programmed to perform a specific function.

14. The device of claim 12, wherein the plurality of sensors is magnetoresistive and can measure and divide an output field strength into X, Y &

Z components.

15. The device of claim 11, wherein the plurality of wheel sets are Omni 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 portable device to drill holes comprising:

a platform;

a plurality of wheel sets coupled to the platform, the plurality of wheel sets engaging and moving the portable device along a surface to be drilled;

a drive system for driving the plurality of wheels;

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

a control board for controlling operating of the device;

a drill assembly coupled to the platform;

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

a drive table for positioning the drill assembly in an XY plane;

a power supply for powering the device;

an antenna coupled to the control board for sending location information and receiving drill locations;

sensors for finding magnet locations;

a normality system for adjusting an angle between the platform and the surface to be drilled, the normality system including;

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

wherein the control board receives target signals and moves the portable device to a target drill location on the surface, the control board adjusting a position of the drive table based on readings from the sensors.