Cable carrier crossover supplying four non-static locations

Patent metadata

Field	Value
Publication number	US-11247349-B2
Application number	US-202016862863-A
Country	US
Kind code	B2
Filing date	Apr 30, 2020
Priority date	Jan 27, 2017
Publication date	Feb 15, 2022
Grant date	Feb 15, 2022

Abstract

A method and apparatus for supplying cables to robots at non-static locations. A work platform for supporting one or more humans is positioned above a base platform for supporting one or more are robots independently of the work platform. A cable carrier system for providing cables to the robots is positioned underneath the work platform and above the base platform.

First claim

What is claimed is:

1. An apparatus, comprising:
a work platform for supporting one or more humans positioned above a base platform for supporting one or more robots independently of the work platform; and
a cable carrier system for providing cables to the robots at non-static locations, wherein:
the cable carrier system is positioned on or above the base platform and underneath the work platform;
the cable carrier system provides the cables to the robots in a crossover configuration in a space between the work platform and the base platform; and
the cable carrier system provides for stacking and nesting the cables on each of a first and second side of the work platform, so that the cables independently supply the robots without the cables interfering with each other as the robots travel along the work platform, while allowing for a full range of motion for the cables.

2. The apparatus of claim 1 , wherein the cable carrier system provides separate ones of the cables to a plurality of the robots.

3. The apparatus of claim 2 , wherein the cables comprise at least one of power, control, communications, parts supply and return, for the plurality of robots.

4. The apparatus of claim 1 , wherein the cables are crisscrossed to communicate with the robots, so that the cables flow from adjacent a forward end on the first side of the work platform to adjacent an aft end on the second side of the work platform.

5. The apparatus of claim 1 , wherein the cable carrier system provides for stacking and nesting the cables on each side of the work platform, so that a first one of the robots travels towards a first end of the work platform, while a second one of the robots travels towards a second end of the work platform, without interfering with each other.

6. The apparatus of claim 5 , wherein the cable carrier system provides for stacking and nesting the cables on each side of the work platform, so that a first one of the cables reaches any location aft of a second one of the cables and the second one of the cables reaches any location forward of the first one of the cables.

7. The apparatus of claim 1 , wherein the cables or the robots on the first side of the work platform are fed in from the second side of the work platform opposite the first side of the work platform at a first end of the work platform.

8. The apparatus of claim 7 , wherein the cables for the robots on the second side of the work platform are fed in from the first side of the work platform opposite the second side of the work platform at the first end of the work platform.

9. The apparatus of claim 1 , wherein the work platform is mounted on one or more risers above the base platform, and the risers include a support section for the cables, thereby holding the cables away from an opposite side of the work platform to allow for a double bend in the cables, in order to allow the robots to reach all available positions and for the cables to be fully extended and retracted as the robots are positioned.

10. The apparatus of claim 9 , wherein at least portions of the cables residing on the support section are secured thereon.

11. The apparatus of claim 1 , wherein sections of the cables are pinned where they crossover in order to pivot.

12. The apparatus of claim 11 , wherein the sections of the cables are pinned to allow the cables to go from a minimum radius to a maximum radius without sliding from pinned locations to keep an amount of cable in place.

13. The apparatus of claim 11 , wherein the sections of the cables are pinned to prevent the cables from slipping backward through a crossover area and interfering with any opposing set of cables.

14. The apparatus of claim 1 , wherein the work platform for supporting the humans is isolated from base platform for supporting the robots to provide stabilized positioning of the robots, so that the base platform and work platform together provide a collaborative workspace for the robots and the humans.

15. The apparatus of claim 1 , wherein the work platform is supported by one or more risers mounted on the base platform at one end and is coupled to an independent support structure at another end, in order to provide isolated support for movement thereon, without imparting any motion to the robots, thereby eliminating positioning errors caused by flexing, vibrations or fluctuations in the work platform's height due to movement of the work platform.

16. A method, comprising:
positioning a work platform for supporting one or more humans above a base platform for supporting one or more robots independently of the work platform; and
positioning a cable carrier system for providing cables to the robots at non-static locations, wherein:
the cable carrier system is positioned on or above the base platform and underneath the work platform;
the cable carrier system provides the cables to the robots in a crossover configuration in a space between the work platform and the base platform; and
the cable carrier system provides for stacking and nesting the cables on each of a first and second side of the work platform, so that the cables independently supply the robots without the cables interfering with each other as the robots travel along the work platform, while allowing for a full range of motion for the cables.

17. The method of claim 16 , wherein the cable carrier system provides separate ones of the cables to a plurality of the robots.

18. The method of claim 17 , wherein the cables comprise at least one of power, control, communications, parts supply and return, for the plurality of robots.

19. The method of claim 16 , wherein the cables are crisscrossed to communicate with the robots, so that the cables flow from adjacent a forward end on the first side of the work platform to adjacent an aft end on the second side of the work platform.

20. The method of claim 16 , wherein the cable carrier system provides for stacking and nesting the cables on each side of the work platform, so that a first one of the robots travels towards a first end of the work platform, while a second one of the robots travels towards a second end of the work platform, without interfering with each other.

21. The method of claim 20 , wherein the cable carrier system provides for stacking and nesting the cables on each side of the work platform, so that a first one of the cables reaches any location aft of a second one of the cables and the second one of the cables reaches any location forward of the first one of the cables.

22. The method of claim 16 , wherein the cables for the robots on the first side of the work platform are fed in from the second side of the work platform opposite the first side of the work platform at a first end of the work platform.

23. The method of claim 22 , wherein the cables for the robots on the second side of the work platform are fed in from the first side of the work platform opposite the second side of the work platform at the first end of the work platform.

24. The method of claim 16 , wherein the work platform is mounted on one or more risers above the base platform, and the risers include a support section for the cables, thereby holding the cables away from an opposite side of the work platform to allow for a double bend in the cables, in order to allow the robots to reach all available positions and for the cables to be fully extended and retracted as the robots are positioned.

25. The method of claim 24 , wherein at

Assignees

• Boeing Co

Inventors

• Miller John Eric
• Mathis Dennis R

Classifications

• B25J19/0025 Primary

  Means for supplying energy to the end effector · CPC title

• B25J5/02

  travelling along a guideway · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title

• H02G11/00 Primary

  Arrangements of electric cables or lines between relatively-movable parts · CPC title

• B64F5/10

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