Magnet sensing hole driller and method therefor

Patent metadata

Field	Value
Publication number	US-9352435-B2
Application number	US-201313931165-A
Country	US
Kind code	B2
Filing date	Jun 28, 2013
Priority date	Jun 28, 2013
Publication date	May 31, 2016
Grant date	May 31, 2016

Abstract

A portable device to drill holes has a platform. A plurality of wheel sets is coupled to the platform. A drive system is used for driving the plurality of wheels. An attachment mechanism is positioned on an underside of the platform for securing the device to a surface. A control board is used for controlling the operation of the device. A drill spindle assembly is coupled to the platform. A drill feed assembly is coupled to the drill spindle assembly for raising and lowering the drill spindle assembly. A plurality of sensors are operable to sense one or more magnets disposed below the surface. A drive table is used for positioning the drill spindle assembly in an XY plane based on an output of said plurality of sensors.

First claim

What is claimed is:

1. A portable device to drill holes comprising:
a platform;
a plurality of wheel sets coupled to the platform, the plurality of wheel sets engaging and moving the portable device along a surface to be drilled;
a drive system for driving the plurality of wheels;
an attachment mechanism positioned on an underside of the platform for securing the device to the surface;
a control board for controlling operating of the device;
a drill assembly coupled to the platform;
a drill feed assembly coupled to the drill assembly for raising and lowering the drill spindle assembly;
a drive table for positioning the drill assembly in an XY plane;
a power supply for powering the device;
an antenna coupled to the control board for sending location information and receiving drill locations;
sensors for finding magnet locations identified by a magnet separate from the portable device; and
wherein the control board receives target signals and moves the portable device to a target drill location on the surface, the control board adjusting an angle between the platform and the surface based on readings from the sensors.

2. The device of claim 1 , further comprising a normality system for adjusting the angle between the platform and the surface to be drilled.

3. The device of claim 2 , wherein the normality system comprises:
a pivot angle measuring device;
a control unit coupled to the pivot angle measuring device; and
a normality motor coupled to the control unit for raising and lowering a portion of the platform.

4. The device of claim 2 , wherein the normality system has a plurality of multi-core processors, wherein each core of each processor is programmed to perform a specific function.

5. The device of claim 1 , wherein each wheel set comprises:
a wheel pivot assembly attached to the platform; and
at least one wheel rotatably coupled to the wheel pivot assembly.

6. The device of claim 5 , wherein the at least one wheel is an Omni wheel.

7. The device of claim 1 , wherein the drive system comprises individual drive systems for each of the plurality of wheel sets.

8. The device of claim 1 , wherein the attachment mechanism comprises:
a plurality of suction cups positioned on the underside of the platform; and
a vacuum system coupled to the plurality of suction cups.

9. The device of claim 1 , wherein the sensors are magnetoresistive and can measure and divide an output field strength into X, Y & Z components.

10. The device of claim 1 , wherein the drill assembly comprises:
a drill spindle;
a spindle motor; and
wherein a drill feed motor is coupled to the drill feed assembly.

11. A portable device for use in product assembly comprising:
a platform;
a plurality of wheel sets coupled to the platform, the plurality of wheel sets engaging and moving the portable device along a surface to be drilled;
a drive system for driving the plurality of wheel sets;
an attachment mechanism for securing the device to the surface for an assembly operation;
a plurality of sensors for finding a location on the surface where the assembly operation is to be performed based on detection of at least one magnet positioned under the surface;
a control board for controlling operating of the device wherein the control board receives target signals and moves the portable device to a target drill location on the surface the control board adjusting a position of the drive table based on readings from the sensors; and
a normality system for adjusting an angle between the platform and the surface where the assembly operation is to be performed.

12. The device of claim 11 , wherein the normality system comprises:
a pivot angle measuring device;
a control unit coupled to the pivot angle measuring device; and
a normality motor coupled to the control unit for raising and lowering a portion of the platform.

13. The device of claim 12 , wherein the normality system has a plurality of multi-core processors, wherein each core of each processor is programmed to perform a specific function.

14. The device of claim 12 , wherein the plurality of sensors is magnetoresistive and can measure and divide an output field strength into X, Y & Z components.

15. The device of claim 11 , wherein the plurality of wheel sets are Omni wheel sets.

16. The device of claim 9 , wherein the drive system comprises individual drive systems for each of the plurality of wheel sets.

17. The device of claim 11 , wherein the attachment mechanism comprises:
a plurality of suction cups positioned on the underside of the platform; and
a vacuum system coupled to the plurality of suction cups.

18. A portable device to drill holes comprising:
a platform;
a plurality of wheel sets coupled to the platform, the plurality of wheel sets engaging and moving the portable device along a surface to be drilled;
a drive system for driving the plurality of wheels;
an attachment mechanism positioned on an underside of the platform for securing the device to the surface;
a control board for controlling operating of the device;
a drill assembly coupled to the platform;
a drill feed assembly coupled to the drill assembly for raising and lowering the drill spindle assembly;
a drive table for positioning the drill assembly in an XY plane;
a power supply for powering the device;
an antenna coupled to the control board for sending location information and receiving drill locations;
sensors for finding magnet locations;
a normality system for adjusting an angle between the platform and the surface to be drilled, the normality system including:
a pivot angle measuring device;
a control unit coupled to the pivot angle measuring device; and
a normality motor coupled to the control unit for raising and lowering a portion of the platform

wherein the control board receives target signals and moves the portable device to a target drill location on the surface, the control board adjusting a position of the drive table based on readings from the sensors.

Assignees

• Boeing Co

Inventors

• Spishak Noel A
• Richards Charles M
• Hansen Jeff
• Moore Stephen G
• Day Dan D

Classifications

• B23B49/00

  Measuring or gauging equipment on boring machines for positioning or guiding the drill; Devices for indicating failure of drills during boring; Centering devices for holes to be bored (marking-out equipment B25H7/00; measuring devices, gauges G01B) · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• B23B35/00

  Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods · CPC title

• Y10T29/53983

  Work-supported apparatus · CPC title

• Y10T408/556

  Tool supporting wheel · CPC title