Mobile automated overhead assembly tool for aircraft structures

• US 9,708,079 B2
• Filed: 12/03/2014
• Issued: 07/18/2017
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Reid, Eric M., DesJardien, Matthew Ray, Best, Steven A., Martin, Daniel Saeil
• Primary Examiner(s): MCNICHOLS, ERET C
• Application Number:
  US14/558,899
• Publication Number:
  US 20150314890A1
• Time in Patent Office: 958 Days
• CPC Class Codes: B25J 11/007 Riveting
• CPC Class Codes: B25J 15/0491 comprising end-effector racks
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0018 Bases fixed on ceiling, i.e. upside down manipulators
• CPC Class Codes: B25J 9/026 Gantry-type
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B66C 19/005 Straddle carriers B66C19/007 takes precedence
• CPC Class Codes: B66C 5/02 Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
• CPC Class Codes: Y10T 29/49622 Vehicular structural member making

Abstract

A method and apparatus for performing an operation on a work surface of a structure. The apparatus may comprise a motion platform and an overhead support system. The motion platform may be configured to be positioned above the work surface of the structure to perform the operation on the work surface. The overhead support system may be configured to carry the motion platform across a floor of a manufacturing environment from a first location to a second location.

Claims

1. An apparatus comprising:

a motion platform configured to be positioned above a work surface of a structure to perform an operation on the work surface;

an end effector on the motion platform, wherein the end effector comprises a shuttle table configured to move a set of tools along a track system in the shuttle table;

an overhead support system configured to carry the motion platform across a floor of a manufacturing environment from a first location to a second location;

a movement system associated with the overhead support system, wherein the movement system is configured to move the overhead support system from the first location to the second location; and

an overhead track system having tracks overhead of the structure, wherein the overhead track system is secured to the overhead support system and is configured to move the motion platform along a longitudinal axis of the overhead support system.

2. The apparatus of claim 1

wherein the end effector is configured to hold the set of tools and perform the operation using the set of tools.

3. The apparatus of claim 2, wherein the motion platform is configured to position the set of tools perpendicular to a location on the work surface to perform the operation.

4. The apparatus of claim 2, wherein the set of tools further comprises:

a sensor system configured to identify at least one of the work surface, a position of the end effector relative to the work surface, or a location on the work surface to drill a hole for a fastener.

5. The apparatus of claim 4, wherein the sensor system is configured to identify the position of the end effector based on index features on the work surface.

6. The apparatus of claim 2 further comprising:

a pressure foot connected to the end effector and configured to identify a contact force between the pressure foot and the work surface and apply a desired contact force to the work surface.

7. The apparatus of claim 2, wherein the set of tools further comprises:

a drilling system configured to drill a hole in the work surface.

8. The apparatus of claim 7, wherein the drilling system comprises a spindle and a feed axis.

9. The apparatus of claim 7, wherein the set of tools further comprises:

an inspection system having a hole probe configured to inspect the hole drilled in the work surface.

10. The apparatus of claim 7, wherein the set of tools further comprises:

a fastener installer configured to insert a fastener into the hole drilled in the work surface.

11. The apparatus of claim 10 further comprising:

a fastener management system configured to hold fasteners, apply a sealant to the fastener, and supply the fastener to the fastener installer.

12. The apparatus of claim 2 further comprising:

a tool management system configured to exchange a tool between a storage rack and the end effector.

13. The apparatus of claim 1, wherein the movement system is configured to drive the overhead support system carrying the motion platform from the first location to the second location.

14. The apparatus of claim 1, wherein the movement system is a first movement system and further comprising:

a second movement system associated with the motion platform and configured to move the motion platform along a vertical axis toward the work surface.

15. The apparatus of claim 1, wherein the movement system comprises mecanum wheels.

16. The apparatus of claim 1, wherein the movement system is configured to move the overhead support system carrying the motion platform back and forth along a length of the structure to perform the operation on the work surface.

17. The apparatus of claim 1 further comprising:

a number of additional motion platforms moveably connected to the overhead support system and configured to move along the overhead track system.

18. The apparatus of claim 17, wherein the number of additional motion platforms simultaneously perform the operation on the work surface.

19. The apparatus of claim 1 further comprising:

a power supply system configured to supply power to the apparatus.

20. The apparatus of claim 1, wherein the overhead support system is mounted to a ceiling of the manufacturing environment.

21. The apparatus of claim 1, wherein the overhead support system is a gantry system having a gantry beam and vertical support structures.

22. The apparatus of claim 1, wherein the motion platform is a hexapod.

23. The apparatus of claim 1 further comprising:

a controller configured to receive commands from a system controller in the manufacturing environment, wherein the commands include at least one of a path from the first location to the second location or the operation to be completed by the overhead support system and the motion platform.

24. The apparatus of claim 1, wherein the structure is incorporated in at least one of a wing, a fuselage, a horizontal stabilizer, a door, a panel, a housing, and an engine.

25. The apparatus of claim 1, wherein the operation is selected from one of a drilling operation, a fastening operation, an inspection operation, a measurement operation, a cleaning operation, a sealing operation, and a data collection operation.

26. The apparatus of claim 1, wherein steering direction for the overhead support system to steer from the first location to the second location is provided by at least one of a human operator, a controller associated with the overhead support system, or a system controller.

27. The apparatus of claim 1, wherein the overhead support system is configured to steer itself.

28. A method comprising:

carrying a motion platform across a floor of a manufacturing environment from a first location to a second location using an overhead support system;

positioning the motion platform above a work surface of a structure to perform an operation on the work surface;

positioning an end effector relative to a location on the work surface using the motion platform, wherein the end effector comprises a shuttle table configured to move a set of tools along a track system in the shuttle table;

moving the overhead support system from the first location to the second location using a movement system; and

moving the motion platform along a longitudinal axis of the overhead support system using an overhead track system secured to the overhead support system, wherein the overhead track system is overhead of the structure.

29. The method of claim 28, wherein the end effector is further configured to hold the set of tools and perform the operation on the work surface using the set of tools.

30. The method of claim 29 further comprising:

performing the operation on the work surface using the set of tools.

31. The method of claim 29 further comprising:

installing a fastener in the work surface using the set of tools.

32. The method of claim 29 further comprising:

drilling a hole in the work surface using a drilling system in the set of tools.

33. The method of claim 32 further comprising:

inspecting at least one of a depth or a diameter of the hole using an inspection system in the set of tools.

34. The method of claim 33 further comprising:

inserting a fastener into the hole using a fastener installer in the set of tools.

35. The method of claim 34 further comprising:

applying a sealant to the fastener using a fastener management system; and

receiving the fastener from the fastener management system using the fastener installer, wherein the fastener is received prior to inserting the fastener with the sealant into the hole.

36. The method of claim 28, further comprising:

driving the overhead support system across the floor of the manufacturing environment from the first location to the second location.

37. The method of claim 28, wherein the movement system is a first movement system and further comprising:

moving the motion platform along a vertical axis toward the work surface using a second movement system.

38. The method of claim 28, further comprising:

moving the overhead support system carrying the motion platform back and forth along a length of the structure to perform the operation on the work surface.

39. The method of claim 28, further comprising:

moving a number of additional motion platforms along the overhead track system to simultaneously perform the operation on the work surface.

40. The method of claim 28 further comprising:

identifying a contact force between a pressure foot connected to an end effector and the work surface; and

applying a desired contact force to the work surface.

41. The method of claim 28 further comprising:

moving the motion platform along a vertical axis toward the work surface.

42. The method of claim 28 further comprising:

receiving commands from a system controller in the manufacturing environment, wherein the commands include at least one of a path from the first location to the second location or the operation to be completed by the overhead support system and the motion platform.

43. The method of claim 28 further comprising:

steering the overhead support system from the first location to the second location.

44. The method of claim 43 further comprising:

providing steering direction for the overhead support system.

45. The method of claim 44, wherein the steering direction is provided by at least one of a human operator, a controller associated with the overhead support system, or a system controller.