Small frame crawler system

Patent metadata

Field	Value
Publication number	US-9395041-B2
Application number	US-201313893959-A
Country	US
Kind code	B2
Filing date	May 14, 2013
Priority date	May 14, 2013
Publication date	Jul 19, 2016
Grant date	Jul 19, 2016

Abstract

A method and apparatus for performing an operation on a structure. In one illustrative embodiment, an apparatus comprises a tool system and a movement system. The tool system is configured to perform an operation at a location on a structure. The movement system is configured to move the tool system along an elongate frame on the structure to the location.

First claim

What is claimed is:

1. An apparatus, comprising:
a robotic crawler capable of moving along an elongate frame on a structure to perform an operation, the robotic crawler comprising:
a guide configured to be situated on a side of the elongate frame having a wheel assembly comprising a wheel and a sphere; wherein the sphere is situated within the wheel, the sphere being configured to contact and move along the side of the elongate frame, and the wheel being configured to contact and move along a surface of the elongate frame;
a movement system configured to move the robotic crawler to a location along the elongate frame; and
a system configured to perform the operation on the structure at the location.

2. The apparatus of claim 1 , further comprising:
a support frame in which the system and the movement system are physically associated with the support frame.

3. The apparatus of claim 1 , wherein the movement system comprises:
a locomotion system configured to move along the elongate frame; and
an attachment system configured to attach the locomotion system to the elongate frame.

4. The apparatus of claim 3 , wherein the locomotion system comprises:
a number of rollers configured to contact the elongate frame; and
a number of motors configured to turn at least one of the number of rollers such that the movement system and the system move along the elongate frame.

5. The apparatus of claim 3 , wherein the attachment system is selected from at least one of a physical clamping system or a magnetic attachment system.

6. The apparatus of claim 1 , wherein the system is comprised of at least one of a fastener installer, a drill, a paint applicator, a sealant applicator, or a camera.

7. The apparatus of claim 1 , wherein the elongate frame is curved.

8. The apparatus of claim 1 , wherein the elongate frame has a section extending from the surface of the structure in which the section is substantially perpendicular to the surface and a flange extending from an edge of the section in which the flange is substantially perpendicular to the edge of the section.

9. The apparatus of claim 1 , wherein the structure and the elongate frame are part of a fuselage of an aircraft.

10. The apparatus of claim 1 , wherein the structure and the elongate frame are located in an object selected from one of a mobile platform, a stationary platform, a land-based structure, an aquatic-based structure, a space-based structure, a surface ship, a tank, a personnel carrier, a train, a spacecraft, a space station, a satellite, a submarine, an automobile, a power plant, a bridge, a dam, a house, a manufacturing facility, or a building.

11. The apparatus of claim 1 , wherein the elongate frame is a first elongate frame, the crawler is a first crawler, and the movement system comprises:
a second crawler configured to move on a second elongate frame; and
a connector connecting the first crawler to the second crawler, wherein a tool in the system is configured to move along the connector between the first crawler and the second crawler.

12. The apparatus of claim 1 , wherein the system includes a first tool associated with the first crawler and a second tool associated with the second crawler.

13. The apparatus of claim 1 , wherein the structure is selected from one of a flange on the elongate frame, a skin panel, a spar, a rib, and a stringer.

14. The apparatus of claim 1 , wherein:
the guide is a second guide, the side is a second side of the elongate frame, and the sphere is a first sphere;
the apparatus further comprising:
a first guide configured to be situated on a first side of the elongate frame opposite the first side, the second guide comprising:
a screw drive configured to move the second guide relative to the elongate frame to engage or disengage the robotic crawler to the elongate frame.

15. The apparatus of claim 14 , further comprising:
a sensor system configured to detect a location of a bolt;
wherein the movement system is configured to engage the elongate frame to move the robotic crawler to the location of the bolt; and
wherein the system is configured to place a collar on the bolt to secure the elongate frame to a skin panel of the structure.

16. The apparatus of claim 1 , further comprising:
a clamping system configured to removably secure the robotic crawler to the elongate frame.

17. A method comprising:
securing a robotic crawler to an elongate frame of a structure, wherein the robotic crawler comprises:
a guide configured to be situated on a side of the elongate frame having a wheel assembly comprising a wheel and a sphere; wherein the sphere is situated within the wheel, the sphere being configured to contact and move along the side of the elongate frame, and the wheel being configured to contact and move along a surface of the elongate frame;
a movement system configured to move the robotic crawler along the elongate frame, and
a tool system configured to perform an operation on the structure; and

moving the robotic crawler along the elongate frame to a location to perform the operation.

18. The method of claim 17 , further comprising:
attaching the movement system to the elongate frame, wherein the movement system moves on the elongate frame.

19. The method of claim 17 , wherein the operation is selected from one of a fastener installation operation, a drilling operation, a sealing operation, a painting operation, or an inspection operation.

20. The method of claim 17 , wherein the tool system and the movement system are physically associated with a support frame.

21. The method of claim 17 , further comprising:
attaching the movement system to the elongate frame, wherein the movement system comprises a locomotion system configured to move along the elongate frame and an attachment system configured to attach the locomotion system to the elongate frame.

22. The method of claim 21 , wherein the locomotion system comprises:
a number of rollers configured to contact the elongate frame; and
a number of motors connected to at least one of the number of rollers and configured to turn at least one of the number of rollers such that the movement system and the tool system move along the elongate frame.

23. The method of claim 21 , wherein the attachment system is selected from at least one of a physical clamping system or a magnetic attachment system.

24. The method of claim 17 , wherein the tool system is comprised of at least one of a fastener installer, a drill, a paint applicator, a sealant applicator, or a camera.

25. The method of claim 17 , wherein the elongate frame is curved.

26. The method of claim 17 , wherein the elongate frame has a section extending from the surface of the structure in which the section is substantially perpendicular to the surface and a flange extending from an edge of the section in which the flange is substantially perpendicular to the edge of the section.

27. The method of claim 17 , wherein the structure is selected from one of a flange on the elongate frame, a skin panel, a spar, a rib, and a stringer.

28. The method of claim 17 , wherein the structure and the elongate frame are located in a platform selected from one of a mobile platform, a stationary platform, a land-based structure, an aquatic-based structure, a space-based structure, a surface ship, a tank, a personnel carrier, a train, a sp

Assignees

• Boeing Co

Inventors

• Perla Luis A
• Munk Clayton Lynn
• Holley Stephen Glade

Classifications

• B23K31/02 Primary

  relating to soldering or welding · CPC title

• B23Q9/02 Primary

  for securing machines or apparatus to workpieces, or other parts, of particular shape, e.g. to beams of particular cross-section · CPC title

• Y10T29/49622

  Vehicular structural member making · CPC title

• B23K37/0223

  the guide member being a part of the workpiece · CPC title

• B21J15/142

  Aerospace structures · CPC title