Systems and methods for robotic measurement of parts

• US 9,958,854 B2
• Filed: 04/29/2014
• Issued: 05/01/2018
• Est. Priority Date: 06/10/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Vasquez, Christina M., Boyl-Davis, Theodore M., Valenzuela, Dario I., Jones, Darrell D.
• Primary Examiner(s): Troost, Aaron L
• Application Number:
  US14/265,212
• Publication Number:
  US 20140365061A1
• Time in Patent Office: 1,463 Days
• Field of Search: 248646, 248647, 701 23
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: Y10S 901/44 inspection

Abstract

Systems and methods for robotic measurement of parts are provided. One system includes one or more omni-directional ground vehicles configured to move within a facility defined work zone to a setup calibration station and an engineering defined work space, wherein the engineering defined work space includes a part to be measured. The system also includes a multi-axis robot removably coupled to each of the omni-direction ground vehicles and configured to move a laser scanner, wherein the laser scanner of each of the multi-axis robots is configured to move in at least two linear directions and one rotational direction. The system further includes a processor configured to automatically generate a surface ready output file from measurement data received from the laser scanners, wherein the surface ready output file is configured to command a machine to manufacture a mating component to the part.

Claims

1. An integrated robot measurement system comprising:

a facility defined work zone comprising a physical area within a facility;

first and second omni-directional ground vehicles configured to move within the facility defined work zone to a setup calibration station and an engineering defined work space, the first and second omni-directional ground vehicles each configured to support a portion of a structure thereon;

first and second multi-axis robot removably coupled to the first and second omni-directional ground vehicles, respectively, and configured to move first and second laser scanners, respectively, when the first and second laser scanners are positioned at the setup calibration station or the engineering defined work space, the first and second laser scanners of the first and second multi-axis robots configured to move in at least two linear directions and one rotational direction; and

a processor configured to automatically generate a surface ready output file from measurement data received from the first and second laser scanners to define coordinate systems for the movement of the first and second omni-directional ground vehicles to move into position for joining the portions of the structures, the surface ready output file defining one or more of a surface, hole or feature.

2. The robot measurement system of claim 1, wherein the first multi-axis robot is configured to move a measurement sensor of the first multi-axis robot into a part to be measured.

3. The robot measurement system of claim 2, wherein the part comprises an aircraft assembly part.

4. The robot measurement system of claim 1, wherein the first multi-axis robot comprises a horizontal support configured to allow movement a distance along an x-axis and a secondary support coupled to the horizontal support configured to allow movement an additional distance along the x-axis.

5. The robot measurement system of claim 1, wherein the second multi-axis robot comprises a table base configured to allow movement along an x-axis, a horizontal support movably coupled to the table base and configured to allow movement along a y-axis, and a vertical support to allow movement along a z-axis.

6. The robot measurement system of claim 1, wherein the first and second multi-axis robots each further comprise at least one safety laser coupled to a base of the first and second multi-axis robots, wherein a controller uses data received from the safety lasers to control movement of the first and second multi-axis robots.

7. The robot measurement system of claim 1, wherein at least one of the first and second omni-directional ground vehicles comprises at least one cart lift axis.

8. The robot measurement system of claim 1, wherein a measurement sensor of one or both of the first and second multi-axis robots comprises a laser displacement sensor.

9. The robot measurement system of claim 1, wherein the first multi-axis robot comprises a base having a robotic jack system.

10. The robot measurement system of claim 1, wherein the first and second multi-axis robots comprise a laser scanner having a measurement sensor, the first omni-directional ground vehicle removably coupled to the laser scanner.

11. The robot measurement system of claim 1, wherein the first and second multi-axis robots are configured to measure an aircraft part using measurement sensors.

12. The robot measurement system of claim 1, wherein one of the first and second multi-axis robots comprises the processor.

13. The robot measurement system of claim 1, wherein one or both of the first and second omni-directional ground vehicles is programmable to move only within a boundary of the facility defined work zone and an individual is restricted from entry to the engineering defined work space.

14. The robot measurement system of claim 1, wherein the setup calibration station comprises a template with exposed calibration openings and at least one of the first or second multi-axis robots are configured to be automatically calibrated before moving to the engineering defined work space and performing measurements on the part using the measurement sensor, wherein the exposed calibration openings define a coordinate space used for calibration.

15. The robot measurement system of claim 14, wherein at least one of the first or second multi-axis robots is configured to be automatically calibrated after performing the measurements.

16. The robot measurement system of claim 1, wherein the first and second omni-directional ground vehicles and measurement sensors are configured for remote control by a controller.

17. The integrated robot measurement system of claim 1, wherein the portions of the structures comprise two aircraft stabilizer halves.

18. The integrated robot measurement system of claim 1, further comprising a simulator configured to predict motion of the one or more omni-directional ground vehicles for calibration, surface scanning, locating features, or alignment of the portions of the structure.

19. The integrated robot measurement system of claim 1, wherein the processor is configured to provide feedback to position the portions of the structure during one of fabrication or assembly.

20. The integrated robot measurement system of claim 1, wherein the processor is configured to provide feedback to manipulate the portions of the structure during one of fabrication or assembly, wherein the manipulation includes morphing a shape of at least one of the portions of the structure.