Method for building an assembly fixture for supporting a fuselage assembly

• US 10,835,947 B2
• Filed: 12/03/2014
• Issued: 11/17/2020
• Est. Priority Date: 07/09/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Oberoi, Harinder S., Reese, IV, Richard Griffith, Barrick, Kevin Marion, Do, Quang T., Draper, Alan S., Gerosa, Alfredo Jose, Sarh, Branko, Gudzinski, Gregory, Miller, Jeffrey Lawrence
• Primary Examiner(s): Walters, Ryan J.
• Application Number:
  US14/559,277
• Publication Number:
  US 20160009420A1
• Time in Patent Office: 2,176 Days
• CPC Class Codes: B21J 15/02 Riveting procedures
• CPC Class Codes: B21J 15/10 Riveting machines electric heating elements H05B
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B21J 15/28 Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
• CPC Class Codes: B21J 15/32 Devices for inserting or holding rivets in position with or without feeding arrangements
• CPC Class Codes: B21J 15/40 for forming rivet heads
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B23P 21/002 the units stationary whilst being composed
• CPC Class Codes: B23P 2700/00 Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B25B 5/163 Jaws or jaw attachments
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 11/007 Riveting
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B29C 2045/14368 holes with means for anchoring the injected material
• CPC Class Codes: B29C 2793/0081 before shaping
• CPC Class Codes: B29C 39/026 characterised by the shape of the surface
• CPC Class Codes: B29C 39/10 : incorporating preformed parts or layers, e.g. casting around inserts or for coating articles coating a surface by casting in general B05D1/30, B29C39/126 takes precedence
• CPC Class Codes: B29C 39/123 : Making multilayered articles
• CPC Class Codes: B29C 39/22 : Component parts, details or accessories; Auxiliary operations
• CPC Class Codes: B29C 45/14336 : Coating a portion of the article, e.g. the edge of the article B29C45/14573 and B29C45/14598 take precedence
• CPC Class Codes: B29C 65/70 : by moulding using a particular moulding technique, see the relevant technique , e.g. by injection B29C45/14467
• CPC Class Codes: B29K 2715/00 : Condition, form or state of preformed parts, e.g. inserts
• CPC Class Codes: B29L 2031/748 : Machines or parts thereof not otherwise provided for conveyor belts B29L2031/7092; driving belts B29L2031/7094; bearings B29L2031/04
• CPC Class Codes: B60G 2204/143 : on the vehicle body or chassis
• CPC Class Codes: B60G 2204/418 : Bearings, e.g. ball or roller bearings
• CPC Class Codes: B60G 2206/8207 : by screwing
• CPC Class Codes: B60G 2300/60 : Vehicles using regenerative power
• CPC Class Codes: B60G 3/145 : the arm forming the axle housing
• CPC Class Codes: B60G 7/001 : Suspension arms, e.g. constructional features B60G7/006 takes precedence
• CPC Class Codes: B60G 7/008 : Attaching arms to unsprung part of vehicle B60G7/005, B60G7/006 take precedence
• CPC Class Codes: B60P 3/025 : the object being a shop, cafeteria or display the object being a theatre or stagethe object being a workshop B60P3/14
• CPC Class Codes: B64C 1/00 : Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
• CPC Class Codes: B64C 1/06 : Frames; Stringers; Longerons ; Fuselage sections
• CPC Class Codes: B64C 1/068 : Fuselage sections
• CPC Class Codes: B64C 1/069 : Joining arrangements therefor
• CPC Class Codes: B64F 5/10 : Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B64F 5/50 : Handling or transporting aircraft components
• CPC Class Codes: F16B 19/06 : Solid rivets made in one piece
• CPC Class Codes: G05B 19/41805 : characterised by assembly
• CPC Class Codes: G05B 2219/45071 : Aircraft, airplane, ship cleaning manipulator, paint stripping
• 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 3/12 : using feedback
• CPC Class Codes: Y02P 90/80 : Management or planning
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/41 : Tool

Abstract

A method and apparatus for building an assembly fixture for holding a fuselage assembly. A number of cradle fixtures may be driven across a floor to an assembly area. The number of cradle fixtures may be configured to form the assembly fixture.

Claims

1. A method for building an assembly fixture, the method comprising:

driving a first cradle fixture across a floor to a first selected cradle position in an assembly area, wherein the first cradle fixture comprises a first number of retaining structures configured to support a fuselage section;

driving a second cradle fixture across the floor to a second selected cradle position in the assembly area relative to the first cradle fixture in the assembly area, wherein the second cradle fixture comprises a second number of retaining structures configured to support the fuselage section, wherein during the steps of driving the first cradle fixture and driving the second cradle fixture, the first cradle fixture is not connected to the second cradle fixture;

configuring the first cradle fixture and the second cradle fixture to form the assembly fixture in the assembly area by;

coupling the second cradle fixture to the first cradle fixture in the assembly area after driving the second cradle fixture across the floor to the assembly area to form an interface between the first cradle fixture and the second cradle fixture, wherein the interface is an electrical and physical interface that enables a number of utilities to flow between the first cradle fixture and the second cradle fixture, wherein the number of utilities includes electrical power; and

positioning the first number of retaining structures of the first cradle fixture and the second number of retaining structures of the second cradle fixture to engage a plurality of fuselage sections; and

engaging the plurality of fuselage sections with the first number of retaining structures and the second number of retaining structures after forming the assembly fixture in the assembly area to support the plurality of fuselage sections by the assembly fixture in the assembly area.

2. The method of claim 1 further comprising:

building a fuselage assembly on the assembly fixture in the assembly area from the plurality of fuselage sections supported by the assembly fixture.

3. The method of claim 2 further comprising:

supporting the fuselage assembly using the assembly fixture such that the fuselage assembly meets outer mold line requirements and inner mold line requirements within selected tolerances.

4. The method of claim 1, wherein configuring the first cradle fixture and the second cradle fixture comprises:

micro-positioning the first number of retaining structures associated with the first cradle fixture and the second number of retaining structures associated with the second cradle fixture.

5. The method of claim 4, wherein micro-positioning the first number of retaining structures and the second number of retaining structures comprises:

micro-positioning each of the first number of retaining structures associated with the first cradle fixture and the second number of retaining structures associated with the second cradle fixture using data acquired from a laser tracking system.

6. The method of claim 1, wherein:

driving the first cradle fixture across the floor to the assembly area comprises driving, autonomously, the first cradle fixture into the first selected cradle position; and

driving the second cradle fixture across the floor to the assembly area comprises driving, autonomously, the second cradle fixture into the second selected cradle position relative to the first cradle fixture.

7. The method of claim 6, wherein driving, autonomously, the first cradle fixture comprises:

driving, autonomously, the first cradle fixture into the first selected cradle position relative to a tower, wherein the tower is configured to allow a human operator or a mobile platform to access and enter an interior of a fuselage assembly supported on the assembly fixture.

8. The method of claim 7, wherein driving, autonomously, the first cradle fixture into the first selected cradle position and the second cradle fixture into the second selection cradle position comprises:

macro-positioning the first cradle fixture and the second cradle fixture using a number of radar sensors.

9. The method of claim 7, wherein driving, autonomously, the first cradle fixture into the first selected cradle position comprises:

driving the first cradle fixture into the first selected cradle position relative to the tower using a number of radar targets associated with the tower.

10. The method of claim 9, wherein driving, autonomously, the second cradle fixture into the second selected cradle position comprises:

driving the second cradle fixture into the second selected cradle position relative to the first cradle fixture using the number of radar targets associated with the first cradle fixture.

11. The method of claim 1 further comprising:

coupling the first cradle fixture to a tower, wherein the tower is configured to allow a human operator or a mobile platform to access and enter an interior of a fuselage assembly supported on the assembly fixture.

12. The method of claim 11, wherein coupling the first cradle fixture to the tower comprises:

coupling the first cradle fixture to the tower autonomously to enable a flow of the number of utilities downstream from the tower to the first cradle fixture and from the first cradle fixture to the second cradle fixture.

13. The method of claim 11 further comprising:

coupling the tower to a utility fixture to enable the number of utilities to flow between the utility fixture and the tower; and

coupling the first cradle fixture to the tower to enable the number of utilities to flow between the tower and the first cradle fixture.

14. The method of claim 11, wherein coupling the second cradle fixture to the first cradle fixture comprises:

connecting a first coupling unit associated with the first cradle fixture to a second coupling unit associated with the second cradle fixture to couple the first cradle fixture to the second cradle fixture.

15. The method of claim 11 further comprising:

connecting a tower coupling unit associated with the first cradle fixture to a cradle coupling unit associated with the tower to couple the first cradle fixture to the tower.

16. The method of claim 11 further comprising:

coupling an external mobile platform to a utilities unit associated with one of the first cradle fixture or the second cradle fixture.

17. The method of claim 1 further comprising:

driving, autonomously, a number of corresponding autonomous vehicles across the floor of a manufacturing environment to position each of the plurality of corresponding autonomous vehicles under a corresponding one of the first cradle fixture and the second cradle fixture.

18. The method of claim 17 further comprising:

controlling movement of the number of corresponding autonomous vehicles across the floor of the manufacturing environment using data generated by a number of radar sensors associated with the each of the number of corresponding autonomous vehicles.

19. The method of claim 18, wherein controlling the movement of the number of corresponding autonomous vehicles comprises:

controlling the movement of the number of corresponding autonomous vehicles using the data generated by the number of radar sensors associated with the each of the number of corresponding autonomous vehicles to avoid obstacles.

20. The method of claim 17 further comprising:

coupling an autonomous vehicle in the number of corresponding autonomous vehicles with a corresponding one of the first cradle fixture or the second cradle fixture; and

driving the autonomous vehicle having the corresponding one of the first cradle fixture or the second cradle fixture associated with the autonomous vehicle to move the corresponding one of the first cradle fixture or the second cradle fixture across the floor.

21. The method of claim 20, wherein coupling the autonomous vehicle in the number of corresponding autonomous vehicles with the corresponding one of the first cradle fixture or the second cradle fixture comprises:

transferring a load of the corresponding one of the first cradle fixture or the second cradle fixture to the autonomous vehicle.

22. The method of claim 20 further comprising:

decoupling the autonomous vehicle from the corresponding one of the first cradle fixture or the second cradle fixture; and

driving the autonomous vehicle away from the corresponding one of the first cradle fixture or the second cradle fixture.

23. The method of claim 1 further comprising:

coupling the assembly fixture to a first tower to enable the number of utilities to flow between the assembly fixture and the first tower, wherein the first tower is configured to allow a human operator to access and enter an interior of a fuselage assembly supported on the assembly fixture.

24. The method of claim 23 further comprising:

decoupling the assembly fixture from the first tower; and

coupling the assembly fixture to a second tower to enable the number of utilities to flow between the assembly fixture and the second tower, wherein the second tower is configured to allow a mobile platform to access and enter the interior of the fuselage assembly supported on the assembly fixture.

25. The method of claim 24 further comprising:

decoupling the second tower from the assembly fixture.

26. The method of claim 1, wherein:

driving the first cradle fixture across the floor to the first selected cradle position in the assembly area comprises driving the first cradle fixture from a holding area across the floor to the first selected cradle position in the assembly area; and

driving the second cradle fixture across the floor to the second selected cradle position in the assembly area comprises driving the second cradle fixture from the holding area across the floor to the second selected cradle position in the assembly area.

27. A method for building an assembly fixture, the method comprising:

driving a first cradle fixture across a floor to a first selected cradle position relative to a tower in an assembly area, wherein the first cradle fixture comprises a first number of retaining structures configured to support a fuselage section, and wherein the tower is configured to allow a human operator or a mobile platform to access and enter an interior of a fuselage assembly supported on the assembly fixture;

coupling the first cradle fixture to the tower in the assembly area after driving the first cradle fixture across the floor to the first selected cradle position;

driving a second cradle fixture across the floor to a second selected cradle position in the assembly area relative to the first cradle fixture in first selected cradle position in the assembly area, wherein the second cradle fixture comprises a second number of retaining structures configured to support the fuselage section, wherein during the steps of driving the first cradle fixture and driving the second cradle fixture, the first cradle fixture is not connected to the second cradle fixture;

coupling the second cradle fixture to the first cradle fixture in the assembly area after driving the second cradle fixture across the floor to the second selected cradle position in the assembly area to form the assembly fixture in the assembly area;

positioning the first number of retaining structures of the first cradle fixture and the second number of retaining structures of the second cradle fixture to engage a fuselage section; and

engaging the fuselage section with the first number of retaining structures and the second number of retaining structures after forming the assembly fixture in the assembly area to support the fuselage section by the assembly fixture in the assembly area.

28. The method of claim 27, wherein:

driving the first cradle fixture across the floor to the first selected cradle position comprises macro-positioning the first cradle fixture in the first selected cradle position using a radar system;

driving the second cradle fixture across the floor to the second selected cradle position comprises macro-positioning the second cradle fixture in the second selected cradle position using the radar system; and

positioning the first number of retaining structures of the first cradle fixture and the second number of retaining structures of the second cradle fixture comprises micro-positioning the first number of retaining structures of the first cradle fixture and the second number of retaining structures of the second cradle fixture to engage the fuselage section using a laser tracking system.

29. The method of claim 27, wherein:

driving the first cradle fixture across the floor to the first selected cradle position in the assembly area comprises autonomously driving the first cradle fixture from a holding area across the floor to the first selected cradle position in the assembly area; and

driving the second cradle fixture across the floor to the second selected cradle position in the assembly area comprises autonomously driving the second cradle fixture from the holding area across the floor to the second selected cradle position in the assembly area.

30. The method of claim 27, wherein:

coupling the first cradle fixture to the tower comprises forming a first interface between the tower and the first cradle fixture, wherein the first interface is an electrical and physical interface that enables a number of utilities to flow from the tower to the first cradle fixture, wherein the number of utilities includes electrical power; and

coupling the second cradle fixture to the first cradle fixture comprises forming a second interface between the first cradle fixture and the second cradle fixture, wherein the second interface is an electrical and physical interface that enables the number of utilities to flow from the first cradle fixture to the second cradle fixture.

31. A method for building an assembly fixture, the method comprising:

driving a first cradle fixture across a floor to a first selected cradle position in an assembly area, wherein the first cradle fixture comprises a first number of retaining structures configured to support a fuselage section;

macro-positioning the first cradle fixture in the first selected cradle position using a radar system;

driving a second cradle fixture across the floor to a second selected cradle position in the assembly area relative to the first cradle fixture in first selected cradle position in the assembly area, wherein the second cradle fixture comprises a second number of retaining structures configured to support the fuselage section, wherein during the steps of driving the first cradle fixture and driving the second cradle fixture, the first cradle fixture is not connected to the second cradle fixture;

macro-positioning the second cradle fixture in the second selected cradle position using the radar system;

coupling the second cradle fixture to the first cradle fixture in the assembly area after macro-positioning the second cradle fixture in the second selected cradle position in the assembly area to form the assembly fixture in the assembly area;

micro-positioning the first number of retaining structures of the first cradle fixture and the second number of retaining structures of the second cradle fixture to engage a fuselage section using a laser tracking system; and

engaging the fuselage section with the first number of retaining structures and the second number of retaining structures after forming the assembly fixture in the assembly area and micro-positioning the first number of retaining structures and the second number of retaining structures to support the fuselage section by the assembly fixture in the assembly area.

32. The method of claim 31, wherein:

driving the first cradle fixture across the floor to the first selected cradle position in the assembly area comprises autonomously driving the first cradle fixture from a holding area across the floor to the first selected cradle position in the assembly area; and

driving the second cradle fixture across the floor to the second selected cradle position in the assembly area comprises autonomously driving the second cradle fixture from the holding area across the floor to the second selected cradle position in the assembly area.

33. The method of claim 31, wherein:

coupling the second cradle fixture to the first cradle fixture comprises forming an interface between the first cradle fixture and the second cradle fixture, wherein the interface is an electrical and physical interface that enables a number of utilities to flow from the first cradle fixture to the second cradle fixture.

34. The method of claim 31 further comprising:

building a fuselage assembly on the assembly fixture in the assembly area from the fuselage section supported by the assembly fixture in the assembly area.