System and method for assembly manufacturing

Patent metadata

Field	Value
Publication number	US-9452500-B2
Application number	US-201414222878-A
Country	US
Kind code	B2
Filing date	Mar 24, 2014
Priority date	Mar 24, 2014
Publication date	Sep 27, 2016
Grant date	Sep 27, 2016

Abstract

A system for assembly manufacturing may include at least one tacking cell configured to perform at least one tack fastening operation on a workpiece, at least one fastening cell configured to perform at least one final fastening operation on the workpiece and a material-handling system linking the tacking cell and the fastening cell, wherein the material-handling system positions the workpiece within the tacking cell and wherein the material-handling system transfers the workpiece from the tacking cell to the fastening cell.

First claim

What is claimed is:

1. A system for assembly manufacturing comprising:
at least one tacking cell configured to perform at least one tack fastening operation on a workpiece;
at least one fastening cell configured to perform at least one final fastening operation on said workpiece;
a material-handling system linking said tacking cell and said fastening cell, wherein said material-handling system positions said workpiece within said tacking cell and transfers said workpiece from said tacking cell to said fastening cell; and
fastening machines positioned within said tacking cell and said fastening cell, wherein each one of said fastening machines comprises:
a robot frame comprising a throat configured to receive at least a portion of said workpiece;
an end effector coupled to said frame about said throat, wherein said end effector is configured to perform at least one assembly operation on said workpiece; and
a plurality of linear actuators coupled to said frame, wherein pairs of said linear actuators are coupled to three positions on said frame to position said throat with six degrees of freedom.

2. The system of claim 1 wherein said tacking cell comprises:
a plurality of tooling fixtures configured to support said workpiece in an unassembled condition and in an assembly position; and
at least one of said fastening machines configured to perform at least one assembly operation on said workpiece.

3. The system of claim 1 wherein said fastening cell comprises:
a plurality of tooling fixtures configured to support said workpiece in a partially assembled condition and in an assembly position; and
at least one of said fastening machines configured to perform at least one assembly operation on said workpiece.

4. The system of claim 1 further comprising at least one staging cell linked to said tacking cell by said material-handling system,
wherein said workpiece is positioned within said staging cell in an unassembled condition, and
wherein said material-handling system transfers said workpiece in said unassembled condition from said staging cell to said tacking cell.

5. The system of claim 4 comprising a material-transport system to transport said workpiece to a predetermined position within said staging cell.

6. The system of claim 5 wherein said material-transport system comprises:
a cart configured to hold said workpiece at an orientation suitable for transfer by said material-handling system; and
a vehicle to automatically transport said cart to said predetermined position within said staging cell.

7. The system of claim 1 wherein said material-handling system comprises:
at least one robotic assembly movable relative to said tacking cell and said fastening cell;
wherein said robotic assembly locates said workpiece and transfers said workpiece to an assembly position within said tacking cell, and
wherein said robotic assembly locates said workpiece and transfers said workpiece to an assembly position within said fastening cell.

8. The system of claim 7 wherein said material-handling system comprises:
a pair of transfer rails positioned above said tacking cell and said fastening cell; and
at least one gantry movable along said pair of transfer rails between said tacking cell and said fastening cell;
wherein said at robotic assembly is movable along said gantry.

9. The system of claim 1 , wherein said plurality of actuators selectively move said frame to position said end effector at a predetermined position relative to said workpiece to perform said assembly operation.

10. The system of claim 1 comprising at least one controller associated with said material-handling system and said fastening machines.

11. The system of claim 1 comprising a plurality of tooling fixtures extending through said tacking cell and said fastening cell,
wherein said plurality of tooling fixtures are configured to support said workpiece in an assembly position.

12. The system of claim 11 wherein said plurality of tooling fixtures are movable with respect to said workpiece.

13. The system of claim 12 wherein each one of said fastening machines is movable to a predetermined position relative to said workpiece to perform an assembly operation, and
wherein at least one tooling fixture retracts to provide access to said workpiece by said fastening machine.

14. The system of claim 12 wherein each one of said plurality of tooling fixtures comprises:
a multi-section stem; and
a vacuum cup coupled to an end of said multi-section stem,
wherein said multi-section stem extends and retracts to selectively engage said vacuum cup with said workpiece.

15. The system of claim 1 further comprising a plurality of tacking cells, wherein each one said plurality of tacking cells feeds a plurality of workpieces in a partially assembled condition to one fastening cell.

16. The system of claim 1 further comprising a plurality of fastening cells, wherein said tacking cell feeds a plurality of workpieces in a partially assembled condition to each one of said plurality of fastening cells.

17. The system of claim 1 wherein said material-handling system holds said workpiece in a partially assembled condition between said tacking cell and said fastening cell to serve as a throughput buffer.

18. A system for assembly manufacturing comprising:
an operational cell defining an operational area;
a material-handling system positioned over said operational cell, wherein said material-handling system positions a workpiece within said operational area;
a pair of opposed fastening machines positioned within said operational area, wherein each one of said fastening machines comprises:
a robot frame comprising a throat configured to receive at least a portion of said workpiece;
an assembly end effector coupled to said frame about said throat, wherein said end effector is configured to perform at least one assembly operation on said workpiece; and
a plurality of linear actuators coupled to said frame, wherein pairs of said linear actuators are coupled to three positions on said frame to position said throat with six degrees of freedom; and

a plurality of tooling fixtures positioned within said operational area and extending between said pair of fastening machines, wherein each one of said tooling fixtures selectively supports said workpiece in an assembly position and retracts in response to movement of said fastening machines to provide access to said workpiece by said fastening machines.

19. The system of claim 18 wherein each one of said plurality of tooling fixtures comprises a multi-section stem comprising an end, wherein said multi-section stem extends and retracts to selectively engage said end with said workpiece.

20. The system of claim 18 wherein said material-handling system comprises:
a transfer rail positioned above said operational area;
a robot carriage movable along said transfer rail;
a robotic arm coupled to said robot carriage and movable relative to said operational area; and
a gripping end effector coupled to said robotic arm, wherein articulation of said robotic arm positions said gripping end effector within said operational area with six degrees of freedom.

Assignees

• Boeing Co

Inventors

• Reid Eric M
• Desjardien Matthew R
• Batt Edward J
• Micale Antonio C

Classifications

• Y10T29/53417

  Means to fasten work parts together · CPC title

• B23P2700/01

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• B25J11/00

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• B21J15/142

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• B25J5/02

  travelling along a guideway · CPC title