System for four collaborative robots and humans in a narrowing work envelope

Patent metadata

Field	Value
Publication number	US-10815679-B2
Application number	US-201715418391-A
Country	US
Kind code	B2
Filing date	Jan 27, 2017
Priority date	Jan 27, 2017
Publication date	Oct 27, 2020
Grant date	Oct 27, 2020

Abstract

A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

First claim

What is claimed is:

1. An apparatus for supporting collaborative robots and humans, comprising:
a base platform;
a work platform positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform, the work platform is positioned relative to the base platform to provide areas for the humans to move along the base platform on one or more sides of the work platform, the work platform is tapered along its length, with a front end that is wider than a back end, to fit in a narrowing work envelope and to expose areas of the base platform for the humans and robots to traverse the base platform and maneuver around the work platform, the base platform and work platform are positioned within a fuselage assembly of an aircraft, and the front end of the work platform is positioned at a forward end of the fuselage assembly and the back end of the work platform is positioned at an aft end of the fuselage assembly; and
the robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

2. The apparatus of claim 1 , wherein the base platform and work platform together have a low profile height that allows the humans to access inside the fuselage assembly while standing on the work platform.

3. The apparatus of claim 1 , further comprising at least one gantry positioned relative to the work platform for moving the robots along a length of the work platform.

4. The apparatus of claim 3 , wherein the gantry conforms to a tapered configuration of the work platform.

5. The apparatus of claim 3 , wherein the gantry is anchored and cantilevered at one end of the base platform, so that a remainder of the gantry is positioned above the base platform.

6. The apparatus of claim 1 , wherein the work platform includes one or more removable access panels that provide access to components underneath the work platform for repair, installation or removal.

7. An apparatus for supporting collaborative robots and humans, comprising:
a base platform;
a work platform positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform, the work platform is positioned relative to the base platform to provide areas for the humans to move along the base platform on one or more sides of the work platform, the work platform is tapered along its length, with a front end that is wider than a back end, to fit in a narrowing work envelope and to expose areas of the base platform for the humans and robots to traverse the base platform and maneuver around the work platform, and the work platform includes a ramp portion adjacent to the front end of the work platform, and the ramp portion angles downward from the work platform to reside on or above the base platform; and
the robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

8. An apparatus for supporting collaborative robots and humans, comprising:
a base platform;
a work platform positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform, the work platform is positioned relative to the base platform to provide areas for the humans to move along the base platform on one or more sides of the work platform, the work platform is tapered along its length, with a front end that is wider than a back end, to fit in a narrowing work envelope and to expose areas of the base platform for the humans and robots to traverse the base platform and maneuver around the work platform, and the work platform is mounted on one or more risers above the base platform at the front end of the work platform, while the back end of the work platform is cantilevered above the base platform; and
the robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

9. The apparatus of claim 8 , wherein the back end of the work platform is coupled to a support structure.

10. The apparatus of claim 8 , wherein the risers are support structures comprised of a bottom flange, a top flange, and a triangular-shaped vertical web element that connects the bottom flange to the top flange, the bottom flange is mounted on the base platform, and the work platform is mounted on the top flange.

11. The apparatus of claim 10 , wherein a ramp portion of the work platform is supported on the triangular-shaped vertical web element.

12. An apparatus for supporting collaborative robots and humans, comprising:
a base platform;
a work platform positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform, the work platform is positioned relative to the base platform to provide areas for the humans to move along the base platform on one or more sides of the work platform, and the work platform is tapered along its length, with a front end that is wider than a back end, to fit in a narrowing work envelope and to expose areas of the base platform for the humans and robots to traverse the base platform and maneuver around the work platform;
the robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions; and
a cable carrier system for providing the robots with at least one of power, control, communications, parts supply and return, wherein the cable carrier system is positioned underneath the work platform and conforms to a tapered configuration of the work platform.

13. A method of supporting collaborative robots and humans, comprising:
providing a base platform;
positioning a work platform above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on either or both sides of the work platform, the work platform is positioned relative to the base platform to provide areas for the humans to move along the base platform on one or more sides of the work platform, the work platform is tapered along its length, with a front end that is wider than a back end, to fit in a narrowing work envelope and to expose areas of the base platform for the humans and robots to traverse the base platform and maneuver around the work platform, the base platform and work platform are positioned within a fuselage assembly of an aircraft, and the front end of the work platform is positioned at a forward end of the fuselage assembly and the back end of the work platform is positioned at an aft end of the fuselage assembly; and
supporting the robots on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

14. The method o

Assignees

• Boeing Co

Inventors

• Miller John Eric
• Mathis Dennis R

Classifications

• B64F5/10 Primary

  Manufacturing or assembling aircraft, e.g. jigs therefor · CPC title

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• B25H5/00 Primary

  Tool, instrument or work supports or storage means used in association with vehicles; Workers' supports, e.g. mechanics' creepers {(collecting or removing exhaust gases in workshops B08B15/002; vehicle lifting devices, e.g. jacks, platforms or ramps B66F)} · CPC title

• B23P21/00 Primary

  Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with program control · CPC title

• G05B19/418

  Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] · CPC title