Robot for clamping onto upright frame members

• US 9,610,693 B2
• Filed: 04/02/2012
• Issued: 04/04/2017
• Est. Priority Date: 01/17/2012
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Sarh, Branko, Oberoi, Harinder S., Wright, Rodney S., Hu, Charles Y.
• Primary Examiner(s): Cadugan, Erica E
• Application Number:
  US13/437,916
• Publication Number:
  US 20130185925A1
• Time in Patent Office: 1,828 Days
• Field of Search: 29 34 B, 409179
• CPC Class Codes: B21J 15/105 Portable riveters pliers for riveting B21J15/386
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B21J 15/30 Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B23Q 9/0007 Portable machines comprising means for their guidance or support directly on the workpiece
• CPC Class Codes: B23Q 9/0035 and being capable of guiding the tool in a circular path
• CPC Class Codes: B23Q 9/02 for securing machines or apparatus to workpieces, or other parts, of particular shape, e.g. to beams of particular cross-section
• CPC Class Codes: B25J 11/007 Riveting
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10T 29/49998 Work holding
• CPC Class Codes: Y10T 29/5118 Riveting
• CPC Class Codes: Y10T 29/53991 Work gripper, anvil, or element

Abstract

A system includes a frame having spaced apart first and second upright members, and a robot including an end effector and a plurality of arms. The arms extend from the end effector and clamp onto the first and second frame members to position the end effector between the first and second frame members.

Claims

1. A system comprising:

a frame having spaced apart first and second frame members; and

a robot including an end effector and a plurality of arms extending from the end effector, the plurality of arms configured to clamp onto, and propel on, the first and second frame members to position the end effector between the first and second frame members, wherein the end effector is rotatable between a first orientation and a second orientation, wherein, in the first orientation, the plurality of arms are clamped onto, and configured to propel on, the first and the second frame members such that the end effector is in position between the first and the second frame members for longitudinal splicing, and wherein, in the second orientation, the plurality of arms are clamped onto, and configured to propel on, the first and the second frame members such that, during circumferential splicing, the end effector is capable of being propelled circumferentially via the plurality of arms propelling circumferentially on the first and the second frame members.

2. The system of claim 1, further comprising a cart for positioning the robot so the arms can clamp onto the frame members.

3. The system of claim 2, wherein the cart includes a lift for the robot.

4. The system of claim 1, wherein the frame members are aircraft fuselage frame members.

5. The system of claim 4, wherein the end effector includes a tool configured to perform fastener termination.

6. The system of claim 1, wherein the end effector includes a tool and a mechanism for positioning the tool at target locations between the frame members.

7. The system of claim 6, wherein the mechanism includes a robotic wrist for positioning the tool.

8. The system of claim 6, wherein the mechanism is configured for moving the tool relative to the frame.

9. The system of claim 8, wherein the robot is coupled to a telescopic tower via a robotic wrist.

10. The system of claim 6, wherein the end effector includes an elongated plate that spans at least two frame members, and wherein the tool is movable along the plate.

11. The system of claim 10, wherein the plate is clamped to first and second frame members and spans an intermediate frame member;

and wherein the arms space the plate apart from the frame members so the tool can be moved past the intermediate frame member to a stowed position.

12. The system of claim 10, wherein the plate is coupled to a lift platform via a robotic wrist.

13. The system of claim 10, wherein the robot includes force sensors for sensing movement along the frame members;

and wherein a cart includes a controller, responsive to the sensors, for causing the cart to follow the robot.

14. The system of claim 1, wherein the frame members include flanges and webs;

and wherein free ends of the arms include clamps for engaging the flanges.

15. The system of claim 14, wherein the clamps include driven wheels that are movable to a drive position for rolling along flanges of the frame members.

16. A method of using the system of claim 1 to perform longitudinal and circumferential splicing operations on an aircraft fuselage, wherein the first and second frame members are fuselage frame members and wherein the arms are clamped to the fuselage frame members during the splicing operations.

17. The method of claim 16, wherein tack fasteners are sighted and used as a reference location for tool movement during the splicing operations.

18. A system comprising:

an aircraft fuselage including skin panels and a plurality of hoop frame members; and

a robot including an end effector and a plurality of arms extending from the end effector, the arms terminating in clamps for clamping onto, and for propelling on, two of the frame members;

the end effector including a tool set for performing a splicing operation and means for positioning the tool set, wherein the splicing operation is one of longitudinal splicing along the aircraft fuselage and circumferential splicing wherein the end effector is circumferentially drivable via circumferential propelling of the clamps on the hoop frame members.

19. A system comprising:

a frame having spaced apart first and second frame members;

a robot including an end effector and a plurality of arms extending from the end effector, the end effector including a tool and a mechanism for positioning the tool at target locations between the frame members, the end effector including an elongated plate that spans at least two frame members, the tool movable along the plate, the plurality of arms configured to clamp onto the first and second frame members to position the end effector between the first and second frame members, wherein the end effector is rotatable between a first orientation between the first frame member and the second frame member for longitudinal splicing and a second orientation for circumferential splicing, wherein, in the second orientation, the end effector is circumferentially drivable along the frame members, and wherein the robot includes force sensors for sensing movement along the frame members; and

a cart including a controller, responsive to the force sensors, for causing the cart to follow the robot.