Mobile fixture apparatuses and methods

Patent metadata

Field	Value
Publication number	US-11072439-B2
Application number	US-201816125200-A
Country	US
Kind code	B2
Filing date	Sep 7, 2018
Priority date	Sep 7, 2018
Publication date	Jul 27, 2021
Grant date	Jul 27, 2021

Abstract

A mobile fixture includes a movable base, a support platform, an adaptor interface, at least one sensor, and a controller. The movable base is configured to travel over a floor. The support platform is articulable with respect to the base. The adaptor interface moves with the support platform, and is configured to mechanically interface with an attachment member. The at least one sensor is coupled to the adaptor interface and is configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member. The controller is operably coupled to the movable base, support platform, and at least one sensor, and is configured to control movement of at least one of the movable base or support platform responsive to the at least one of the force or movement detected by the at least one sensor.

First claim

What is claimed is:

1. A mobile fixture comprising:
a movable base configured to travel over a floor;
a support platform coupled to the movable base and articulable with respect to the movable base;
an adaptor interface coupled to and moving with the support platform, the adaptor interface configured to mechanically interface with an attachment member comprising an assembly, such that the mobile fixture supports the attachment member along with at least one other mobile fixture supporting the attachment member;
at least one sensor coupled to the adaptor interface and configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member; and
a controller disposed on the mobile fixture and operably coupled to the movable base, support platform, and at least one sensor, wherein in response to a movement of or force applied to the attachment member by the at least one other mobile fixture, the controller determines, based on a direction of the movement or force detected by the at least one sensor, a direction in which to move the movable base along the floor responsive to the at least one of the force or movement detected by the at least one sensor, such that the controller independently controls all movement, without any communication from the at least one other mobile fixture, to move the mobile fixture in the same direction as the detected force or movement.

2. The mobile fixture of claim 1 , wherein the controller is configured to autonomously control movement of the movable base responsive to the detected at least one force or movement that is associated with movement of the attachment member, to thereby coordinate movement of the attachment member along with at least one other mobile fixture supporting the attachment member, without the mobile fixture communicating movement commands to the at least one other mobile fixture.

3. The mobile fixture of claim 1 , further comprising an end effector actuator interposed between the adaptor interface and the movable base, wherein the controller is configured to articulate the adaptor interface relative to the movable base via the end effector actuator, to move the adapter interface in the direction in which the force applied via the attachment member is urging the adapter interface to reduce or alleviate the force acting on the adapter interface.

4. The mobile fixture of claim 1 , wherein the controller is configured to articulate the adaptor interface relative to the movable base responsive to the detected at least one force or movement, and to move the movable base along the floor responsive to the articulation of the adaptor interface to urge the movable base toward a centered position with respect to the adaptor interface.

5. The mobile fixture of claim 1 , wherein the movable base includes jacks and wheels, the wheels configured to translate over the floor, the jacks configured to engage the floor to maintain the movable base in a fixed position relative to the floor.

6. The mobile fixture of claim 5 , wherein the controller is configured to disengage the jacks from the floor to move the movable base from a fixed to a movable configuration responsive to the detected at least one force or movement.

7. The mobile fixture of claim 1 , wherein the at least one sensor comprises at least one of a force sensor, torque sensor, axis encoder, or tilt sensor.

8. The mobile fixture of claim 1 , wherein the controller is configured to selectively operate the mobile fixture in one of at least three modes including a carry mode, a stationary mode, and a compliance mode, wherein:
in the carry mode, the controller is configured to articulate the adaptor interface relative to the movable base responsive to the detected at least one force or movement, and to move the movable base along the floor responsive to the articulation of the adaptor interface to urge the movable base into a centered position with respect to the adaptor interface;
in the stationary mode, the controller is configured to maintain the movable base in a fixed position relative to the floor; and
in the compliance mode, the controller is configured to articulate the adaptor interface responsive to a manual input.

9. The mobile fixture of claim 8 , wherein, in the compliance mode, the controller is configured to articulate the adaptor interface responsive to a detected force satisfying a threshold.

10. The mobile fixture of claim 8 , wherein the controller is configured to autonomously remove the mobile fixture from the stationary mode responsive to at least one of a detected force or movement satisfying a threshold.

11. A method comprising:
providing a mobile fixture comprising
a movable base configured to travel over a floor;
a support platform coupled to the movable base and articulable with respect to the movable base;
an adaptor interface coupled to and moving with the support platform, the adaptor interface configured to mechanically interface with an attachment member comprising an assembly;
at least one sensor coupled to the adaptor interface and configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member; and
a controller disposed on the mobile fixture and operably coupled to the movable base, support platform, and at least one sensor, the controller configured to control movement of the movable base along the floor responsive to the at least one of the force or movement detected by the at least one sensor;

engaging a portion of the attachment member with the mobile fixture via the corresponding adaptor interface, such that the attachment member is supported by the mobile fixture along with at least one other mobile fixture;
sensing, with the at least one sensor coupled to the adaptor interface of the mobile fixture, at least one of a force or movement resulting from movement of or force applied to the attachment member by the at least one other mobile fixture;
determining, based on a direction of the movement or force detected by the at least one sensor, a direction in which to move the movable base; and
controlling, autonomously without any communication from the at least one other mobile fixture, with the controller disposed on the mobile fixture, all movement of the movable base along the floor responsive to the force or movement detected by the at least one sensor, to move the mobile fixture in the same direction as the force or movement.

12. The method of claim 11 , further comprising autonomously controlling movement of the movable base responsive to the corresponding detected at least force or movement that is associated with movement of the attachment member, to thereby coordinate movement of the mobile fixture with respect to the other mobile fixture, without the mobile fixture communicating movement commands to the other mobile fixture.

13. The method of claim 11 , wherein the mobile fixture is configured as a follow mobile fixture and the other mobile fixture is configured as a lead mobile fixture, the method further comprising:
receiving, with the lead mobile fixture, a movement command input;
performing a movement of the attachment member of the lead mobile fixture responsive to the movement command input, wherein the performed movement affects the attachment member;
determining, using the controller of the follow mobile fixture, a direction in which to move the movable base, based on the direction of the movement or force detected by the at least one sensor and without any communication from the lead mobile fixture;
autonomously controlling, using the controller of the

Assignees

• Boeing Co

Inventors

• Vance Jonathan B
• Martignoni Iii Andrew Joseph
• Finn Brian M

Classifications

• B64F5/10

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

• B25J9/1682 Primary

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B66F7/10

  with platforms supported directly by jacks · CPC title

• B66F7/28

  Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions · CPC title