Crawler robot and supporting platform

• US 9,776,330 B2
• Filed: 12/03/2014
• Issued: 10/03/2017
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Day, Dan Dresskell, Zaballos, Kenneth P., Chang, Paul C., Jones, Darrell Darwin, Banks, David P., Kostenick, Paul G., Olson, Kerri L.
• Primary Examiner(s): Jen, Ian
• Application Number:
  US14/558,850
• Publication Number:
  US 20150314446A1
• Time in Patent Office: 1,035 Days
• CPC Class Codes: B23Q 2210/008 Flexible guiding rails
• CPC Class Codes: B23Q 7/04 by means of grippers B23Q7/1494 takes precedence
• CPC Class Codes: B23Q 9/0007 Portable machines comprising means for their guidance or support directly on the workpiece
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 5/04 wherein the guideway is also moved, e.g. travelling crane bridge type
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• 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 2219/45059 Drilling robot
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A method and apparatus for installing a fastener in a surface of a structure. A crawler robot may comprise a first movement system and a second movement system. The first movement system may be configured to move the crawler robot and a track system along the surface. The second movement system may be configured to move the crawler robot along the track system on the surface.

Claims

1. A crawler robot comprising:

a first movement system configured to move the crawler robot and a the track system along a surface when the first movement system is in an extended state and transitions to a retracted state such that the first movement system is removed from the surface, wherein the crawler robot is configured to perform an operation on the surface; and

a second movement system configured to move the crawler robot along the track system on the surface when the first movement system is in the retracted state.

2. The crawler robot of claim 1 further comprising:

a drilling system.

3. The crawler robot of claim 2 further comprising:

an inspection system configured to inspect a hole drilled by the drilling system.

4. The crawler robot of claim 2 further comprising:

a fastener system configured to insert a fastener into a hole drilled by the drilling system.

5. The crawler robot of claim 2, wherein the drilling system comprises an interchangeable tool holder.

6. The crawler robot of claim 3, wherein the inspection system comprises an interchangeable probe.

7. The crawler robot of claim 1 further comprising:

a positioning system configured to identify a desired position of the crawler robot on the surface.

8. The crawler robot of claim 7, wherein the positioning system is configured to identify the desired position of the crawler robot based on index features of the surface.

9. The crawler robot of claim 1, wherein each of the first movement system and the second movement system comprises at least one of retractable wheels, rollers, gliders, air bearings, holonomic wheels, rails, or tracks.

10. The crawler robot of claim 1, wherein steering 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.

11. The crawler robot of claim 10, wherein the crawler robot is configured to steer itself.

12. An apparatus comprising:

a track system; and

a crawler robot comprising a first movement system configured to move the crawler robot and the track system along a surface of a structure when the first movement system is in an extended state and transitions to a retracted state such that the first movement system is removed from the surface and a second movement system is placed on the surface and is configured to move the crawler robot along the track system on the surface, wherein the crawler robot is configured to perform an operation on the surface.

13. The apparatus of claim 12, wherein the track system is a flexible track system configured to flex to substantially conform to a contour of the surface when the surface is a non-planar surface.

14. The apparatus of claim 12 further comprising:

a crawler support configured to provide utilities to the crawler robot.

15. The apparatus of claim 14, wherein the crawler support comprises:

a movable platform;

a movement system configured to move the movable 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 track system on the surface of the structure or removing the crawler robot and the track system from the surface of the structure; and

a utility arm configured to provide the utilities to the crawler robot.

16. The apparatus of claim 15, wherein steering direction for the movable platform is provided by at least one of a human operator, a controller associated with the movable platform, or a system controller.

17. The apparatus of claim 16, wherein the movable platform is configured to steer itself.

18. The apparatus of claim 12, wherein the operation comprises installing a fastener, and wherein the crawler robot further comprises:

a drilling system;

an inspection system configured to inspect a hole drilled by the drilling system; and

a fastener system configured to insert the fastener into the hole drilled by the drilling system.

19. A method for installing a fastener in a surface of a 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 using a first movement system while the first movement system is in an extended state, wherein the crawler robot is configured to install the fastener in the surface of the structure;

transitioning the first movement system to a retracted state such that the first movement system is removed from the surface and the track system is in contact with the surface;

coupling the track 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.

20. The method of claim 19 further comprising:

placing the crawler robot and the track system on the surface of the structure using a pick and place arm.

21. The method of claim 19, wherein coupling the track system to the surface comprises:

coupling the track system to the surface in which the surface is a non-planar surface and the track system is a flexible track system configured to flex to substantially conform to a contour of the non-planar surface.

22. The method of claim 19, wherein moving the crawler robot relative to the track system comprises:

moving the crawler robot relative to the track system using a second movement system that provides a finer level of positioning compared to the first movement system.

23. The method of claim 19 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 at the desired position on the surface of the structure.

24. A method for moving a crawler robot and a track system, the method comprising:

moving the crawler robot and the track system along a surface using a first movement system of the crawler robot when the first movement system is in an extended state, wherein the crawler robot is configured to perform an operation on the surface;

coupling the track system to the surface;

retracting the first movement system of the crawler robot to a retracted state such that the first movement system is removed from the surface; and

moving the crawler robot along the track system using a second movement system of the crawler robot.

25. The method of claim 24 further comprising:

positioning the crawler robot on the surface using a positioning system of the crawler robot.

26. The method of claim 24 further comprising:

drilling a hole in the surface using a drilling system of the crawler robot.

27. The method of claim 26 further comprising:

inspecting a diameter of the hole using an inspection system of the crawler robot.

28. The method of claim 27 further comprising:

inserting a fastener into the hole using a fastener system of the crawler robot.

29. The method of claim 24, wherein coupling the track system to the surface comprises pulling a vacuum in suction cups of the track system.

30. The method of claim 24 further comprising:

placing the crawler robot and the track system on the surface using a pick and place arm.

31. The method of claim 24 further comprising:

moving utility cables attached to the crawler robot using a utility arm as the crawler robot moves along the surface.

32. The method of claim 24 further comprising:

steering the crawler robot.