Substantially simultaneous manufacturing functions

• US 9,789,609 B2
• Filed: 02/25/2015
• Issued: 10/17/2017
• Est. Priority Date: 02/25/2015
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Crothers, Phillip John
• Primary Examiner(s): LIN, ABBY YEE
• Application Number:
  US14/630,945
• Publication Number:
  US 20160243702A1
• Time in Patent Office: 965 Days
• CPC Class Codes: B23K 37/0435 Clamps
• CPC Class Codes: B23P 21/00 Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/009 being mechanically linked with one another at their distal ends
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B64F 5/00 Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: Y10S 901/08 Robot

Abstract

A method and apparatus for performing manufacturing functions on a workpiece. The apparatus may comprise a base, a plurality of autonomous functional components, and a plurality of autonomous movement systems. Each functional component of the plurality of autonomous functional components may be configured to perform a respective function. The plurality of autonomous movement systems may be associated with the base. Each of the plurality of autonomous movement systems may be connected to a respective functional component of the plurality of autonomous functional components.

Claims

1. A method comprising:

autonomously performing a plurality of functions on a first plurality of locations on a workpiece substantially simultaneously using a plurality of autonomous functional components, wherein each of the plurality of functions is different than each other function of the plurality of functions; and

autonomously moving the plurality of autonomous functional components relative to the workpiece and relative to a base by changing positions at which the plurality of functional components are connected to a surface of the base using a plurality of autonomous movement systems configured to move across the surface of the base, wherein the base is movable with respect to the workpiece.

2. The method of claim 1 further comprising:

controlling at least one of the autonomously performing the plurality of functions or the autonomously moving the plurality of autonomous functional components using a controller in communication with at least one of the plurality of autonomous functional components or the plurality of autonomous movement systems.

3. The method of claim 2, wherein the controller is associated with at least one of a functional component of the plurality of autonomous functional components or a movement system of the plurality of autonomous movement systems.

4. The method of claim 1 further comprising:

moving a clamping component of a plurality of autonomous clamping components relative to the base and the workpiece while at least one of performing the plurality of functions on the first plurality of locations, or after performing the plurality of functions on the first plurality of locations, wherein moving the clamping component relative to the base and the workpiece comprises moving one of the plurality of autonomous movement systems connected to the clamping component across the surface of the base to change a position at which the clamping component is connected to the surface of the base; and

performing the plurality of functions on a second plurality of locations on the workpiece substantially simultaneously using the plurality of autonomous functional components.

5. The method of claim 4 further comprising:

positioning the plurality of autonomous clamping components prior to performing the plurality of functions on the first plurality of locations on the workpiece.

6. The method of claim 4, wherein the plurality of functions are performed through operating envelopes of a number of clamping components of the plurality of autonomous clamping components.

7. The method of claim 4, wherein in moving the clamping component of the plurality of autonomous clamping components relative to the workpiece, the clamping component moves relative to a number of clamping components of the plurality of autonomous clamping components.

8. The method of claim 4, wherein the first plurality of locations and the second plurality of locations have a number of locations in common.

9. The method of claim 1, wherein the plurality of functions includes at least one of drilling, inspecting, sealing, temporary fastening, inserting an item, or securing the item.

10. The method of claim 4, wherein the each of the plurality of functions is performed through an operating envelope of the clamping component prior to moving the clamping component of the plurality of autonomous clamping components.

11. The method of claim 10, wherein the each of the plurality of functions is performed by a different functional component of the plurality of autonomous functional components.

12. The method of claim 4 further comprising:

moving a second clamping component of the plurality of autonomous clamping components relative to the workpiece while at least one of performing the plurality of functions on the second plurality of locations, or after performing the plurality of functions on the second plurality of locations, wherein moving the second clamping component relative to the workpiece comprises moving one of the plurality of autonomous movement systems connected to the second clamping component across the surface of the base to change a position at which the second clamping component is connected to the surface of the base.

13. The method of claim 1, wherein a movement system in the plurality of autonomous movement systems utilizes an air cushion or a magnetic field and further comprising:

removing the air cushion or the magnetic field from the movement system of the plurality of autonomous movement systems.

14. The method of claim 4 further comprising:

clamping the workpiece with the clamping component of the plurality of autonomous clamping components, wherein the clamping component utilizes an air cushion or a magnetic field and wherein clamping comprises;

removing the air cushion or the magnetic field from the clamping component of the plurality of autonomous clamping components.

15. The method of claim 1 further comprising:

moving the base with respect to the workpiece using a movement assembly connected to the base, wherein moving the base with respect to the workpiece also moves the plurality of autonomous functional components relative to the workpiece.

16. The method of claim 1 further comprising:

repeatedly performing the plurality of functions on the workpiece using the plurality of autonomous functional components; and

autonomously moving the plurality of autonomous functional components relative to the workpiece and relative to the base using the plurality of autonomous movement systems associated with the base each time the plurality of functions is performed on the workpiece so that each of the plurality of functions is performed in series on each respective location of the first plurality of locations.

17. The method of claim 1 further comprising:

performing each of the plurality of functions in succession on the first plurality of locations.

18. An apparatus comprising:

a base comprising a surface, wherein the base is movable with respect to a workpiece;

a plurality of autonomous functional components, in which each autonomous functional component of the plurality of autonomous functional components is configured to perform a respective function; and

a plurality of autonomous movement systems associated with the base, in which each of a first number of the plurality of autonomous movement systems is connected to a respective functional component of the plurality of autonomous functional components, and wherein the plurality of autonomous movement systems are configured to move across the surface of the base to change positions at which the plurality of autonomous functional components are connected to the surface of the base.

19. The apparatus of claim 18, wherein each functional component of the plurality of autonomous functional components is configured to perform a respective single function.

20. The apparatus of claim 18 further comprising:

a plurality of autonomous clamping components, and wherein each of a second number of the plurality of autonomous movement systems is associated with a respective clamping component of the plurality of autonomous clamping components.

21. The apparatus of claim 20 further comprising:

a controller in communication with at least one of a functional component of the plurality of autonomous functional components, a clamping component of the plurality of autonomous clamping components, or a movement system of the plurality of autonomous movement systems.

22. The apparatus of claim 20, wherein the plurality of autonomous clamping components has a plurality of operating envelopes.

23. The apparatus of claim 22, wherein each of the plurality of autonomous functional components are configured to perform a respective single function through a respective operating envelope of the plurality of operating envelopes.

24. The apparatus of claim 18 further comprising:

a movement assembly connected to the base configured to move the base relative to a workpiece.

25. The apparatus of claim 20, wherein the plurality of autonomous clamping components is greater in number than the plurality of autonomous functional components.

26. The apparatus of claim 19, wherein each functional component of the plurality of autonomous functional components is configured to perform a different single function from each other functional component of the plurality of autonomous functional components.

27. The apparatus of claim 18, wherein a plurality of functions performed by the plurality of autonomous functional components includes at least one of drilling, inspecting, sealing, temporary fastening, inserting an item, or securing the item.

28. The apparatus of claim 18, wherein the plurality of autonomous movement systems are selected from at least one of sawyer motors, magnetic systems, wheel systems, or track systems.

29. The apparatus of claim 18, wherein the surface of the base has a constant curvature.

30. An apparatus comprising:

a base comprising a surface;

a movement assembly connected to the base and configured to move the base relative to a workpiece;

a plurality of autonomous clamping components having a plurality of operating envelopes positioned relative to a plurality of locations of the workpiece when the plurality of autonomous clamping components apply pressure to the workpiece;

a plurality of autonomous functional components, in which each functional component of the plurality of autonomous functional components is configured to perform a different respective single function on a respective location of the plurality of locations of the workpiece through a respective operating envelope of the plurality of operating envelopes;

a plurality of autonomous movement systems associated with the base such that the plurality of autonomous movement systems is configured to move across the surface of the base, in which each of the plurality of autonomous movement systems is connected to a respective functional component of the plurality of autonomous functional components or a respective clamping component of the plurality of autonomous clamping components such that the plurality of autonomous movement systems is configured to change positions at which the plurality of autonomous functional components and the plurality of autonomous clamping components are connected to the surface of the base; and

a controller in communication with at least one of the movement assembly, the plurality of autonomous clamping components, the plurality of autonomous functional components, or the plurality of autonomous movement systems.

31. The apparatus of claim 30, wherein the plurality of autonomous clamping components is greater in number than the plurality of autonomous functional components, such that at least one clamping component in the plurality of clamping components is configured to move while the remaining clamping components in the plurality of clamping components are stationary.

32. An apparatus comprising:

a base comprising a surface;

a plurality of autonomous functional components, in which each autonomous functional component of the plurality of autonomous functional components is configured to perform a respective function;

a plurality of autonomous movement systems associated with the base, in which each of a first number of the plurality of autonomous movement systems is connected to a respective functional component of the plurality of autonomous functional components, and wherein the plurality of autonomous movement systems are configured to move the plurality of autonomous functional components across the surface of the base to change positions at which the plurality of autonomous functional components are connected to the surface of the base; and

a movement assembly connected to the base and configured to move the base to different areas with respect to a workpiece and such that the surface of the base faces the workpiece at the different areas with respect to the workpiece.