Mobile platforms for performing operations along an exterior of a fuselage assembly

Patent metadata

Field	Value
Publication number	US-9505051-B2
Application number	US-201414558933-A
Country	US
Kind code	B2
Filing date	Dec 3, 2014
Priority date	Jul 9, 2014
Publication date	Nov 29, 2016
Grant date	Nov 29, 2016

Abstract

A method and apparatus for performing an assembly operation. A tool may be macro-positioned relative to an exterior of a fuselage assembly. The tool may be micro-positioned relative to a particular location on the exterior of the fuselage assembly. An assembly operation may be performed at the particular location on the panel using the tool.

First claim

What is claimed is:

1. A method for performing an assembly operation, the method comprising:
using a controller to perform the steps of:
macro-positioning a tool relative to an exterior of a fuselage assembly, wherein macro-positioning comprises:
driving an assembly fixture to a position using an autonomous vehicle;
driving, using the autonomous vehicle, an external mobile platform having a tool, into a position relative to the assembly fixture such that the tool is positioned relative to the exterior of the fuselage assembly; and

micro-positioning the tool relative to a particular location on the exterior of the fuselage assembly; and

performing the assembly operation at the particular location using the tool.

2. The method of claim 1 , wherein macro-positioning the tool further comprises:
moving a platform base of the external mobile platform carrying the tool with at least one degree of freedom relative to a floor.

3. The method of claim 2 , wherein micro-positioning the tool further comprises:
moving the tool with at least one degree of freedom relative to the platform base of the external mobile platform.

4. The method of claim 1 , wherein macro-positioning the tool further comprises:
driving the tool into the position relative to the exterior of the fuselage assembly autonomously using the external mobile platform.

5. The method of claim 4 , wherein macro-positioning the tool further comprises:
driving the tool autonomously into position relative to the assembly fixture supporting the fuselage assembly using the autonomous vehicle associated with the external mobile platform.

6. The method of claim 1 , wherein micro-positioning the tool comprises:
positioning an end effector with which the tool is associated relative to the particular location.

7. The method of claim 1 further comprising:
attaching the tool to an end effector associated with an external robotic device that is associated with the external mobile platform.

8. The method of claim 7 , wherein micro-positioning the tool comprises:
positioning the tool at the particular location using the end effector.

9. The method of claim 1 , wherein micro-positioning the tool comprises:
commanding at least one of an external robotic device or a movement system to move the tool with at least one degree of freedom to the particular location.

10. The method of claim 1 further comprising:
selecting the assembly operation to be performed at the particular location from one of a fastener insertion operation, a fastener installation operation, a drilling operation, and an inspection operation in which the fastener installation operation includes at least one of a bolting operation or a riveting operation.

11. The method of claim 10 , wherein performing the assembly operation comprises:
performing the assembly operation autonomously using the tool.

12. The method of claim 1 further comprising:
removably associating an end effector with an external robotic device associated with the external mobile platform.

13. The method of claim 12 further comprising:
removably associating the tool with the end effector.

14. The method of claim 1 , wherein macro-positioning the tool comprises:
driving the external mobile platform carrying the tool into the position relative to the assembly fixture.

15. The method of claim 14 , wherein driving the external mobile platform comprises:
driving the external mobile platform using the autonomous vehicle and a number of radar sensors associated with at least one of the autonomous vehicle or the external mobile platform.

16. The method of claim 15 , wherein driving the external mobile platform using the autonomous vehicle comprises:
detecting a number of radar targets associated with the assembly fixture using the number of radar sensors; and
driving the external mobile platform into the position relative to the assembly fixture based on the number of radar targets detected.

17. The method of claim 14 further comprising:
coupling the external mobile platform to a corresponding coupling unit associated with the assembly fixture such that the external mobile platform receives a number of utilities from the corresponding unit.

18. The method of claim 14 further comprising:
coupling a number of utilities between the external mobile platform and the assembly fixture.

19. An apparatus comprising:
a macro-positioning system associated with an external mobile platform, wherein the macro-positioning system comprises:
an autonomous vehicle configured to drive an assembly fixture to a position, and
the autonomous vehicle is further configured to drive the external mobile platform comprising a tool, into a position relative to the assembly fixture such that the tool is positioned relative to an exterior of a fuselage assembly; and

a micro-positioning system associated with the external mobile platform.

20. The apparatus of claim 19 , wherein the micro-positioning system comprises:
an external robotic device associated with the external mobile platform.

21. The apparatus of claim 19 , wherein the micro-positioning comprises:
a movement system for moving a tool associated with the external mobile platform with at least one degree of freedom relative to a platform base of the external mobile platform.

22. The apparatus of claim 19 , wherein the macro-positioning system comprises:
an autonomous platform movement system that moves a platform base of the external mobile platform with at least one degree of freedom relative to a floor.

23. The apparatus of claim 19 , wherein the macro-positioning system further comprises a plurality of stabilizing members that move a platform base of the external mobile platform with at least one degree of freedom relative to a floor.

24. The apparatus of claim 19 further comprising:
the external mobile platform, wherein the external mobile platform comprises:
a platform base.

25. The apparatus of claim 24 , wherein the micro-positioning system moves a tool associated with the external mobile platform with at least one degree of freedom relative to the platform base.

26. The apparatus of claim 24 further comprising:
an external robotic device associated with the external mobile platform, wherein a tool is associated with the external robotic device.

27. The apparatus of claim 24 , wherein the macro-positioning system comprises:
the autonomous vehicle fixedly associated with the external mobile platform.

28. The apparatus of claim 27 further comprising:
a number of radar sensors associated with the autonomous vehicle; and
a controller that uses radar data generated by the number of radar sensors to drive the autonomous vehicle.

29. The apparatus of claim 24 , wherein the external mobile platform comprises:
a supporting structure associated with the platform base of the external mobile platform.

30. The apparatus of claim 29 , wherein the micro-positioning system comprises:
a movement system that moves an external robotic device with at least one degree of freedom relative to the supporting structure.

31. The apparatus of claim 30 , wherein the supporting structure has a height that allows the external robotic device to be positioned such that a tool can reach a topmost point of a crown of a fuselage assembly.

Assignees

• Boeing Co

Inventors

• Oberoi Harinder S
• Reese Iv Richard Griffith
• Barrick Kevin Marion
• Do Quang T
• Miller Jeffrey Lawrence
• Stojanoski Vanco

Classifications

• G05B19/41865

  characterised by job scheduling, process planning, material flow · CPC title

• B21J15/02 Primary

  Riveting procedures · CPC title

• B60G7/008

  Attaching arms to unsprung part of vehicle (B60G7/005, B60G7/006 take precedence) · CPC title

• B23P2700/01

  Aircraft parts · CPC title

• B60G3/145

  the arm forming the axle housing · CPC title