Magnet sensing hole driller and method therefor

Patent metadata

Field	Value
Publication number	US-9782836-B2
Application number	US-201615167706-A
Country	US
Kind code	B2
Filing date	May 27, 2016
Priority date	Jun 28, 2013
Publication date	Oct 10, 2017
Grant date	Oct 10, 2017

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 process for operating a portable autonomous device to drill holes comprising:
transmitting a signal to the portable autonomous device to move to a drill location on a surface;
receiving a location update from the portable autonomous device;
determining whether the updated location is the drill location;
aligning a drill spindle assembly of the portable autonomous device to the drill location;
activating an attachment mechanism of the portable autonomous device to fix a position of the portable autonomous device;
activating magnet sensors and a drive table to locate a freestanding magnet;
determining an angle between a platform of the portable autonomous device and the surface by measuring a pivot angle of a wheel set of the portable autonomous device relative to a wheel pivot assembly;
adjusting the angle of the platform relative to the surface based on the pivot angle of the wheel set; and
activating a drill feed assembly of the portable autonomous device to lower the drill spindle assembly.

2. The process of claim 1 , further comprising;
activating a set of sensors to find a precise position of the freestanding magnet located at the drill location; and
adjusting the drive table of the portable autonomous device to center the drill feed assembly over the freestanding magnet based on readings from the set of sensors.

3. The process of claim 1 , further comprising:
drilling, via the drill feed assembly, a hole at a precise position of the freestanding magnet; and
retracting the drill feed assembly.

4. The process of claim 3 , further comprising inserting a fastener into the hole.

5. The process of claim 1 , wherein activating magnet sensors comprises activating a magneto-resistive sensor that senses the freestanding magnet located below the surface.

6. The process of claim 1 , wherein transmitting the signal to the portable autonomous device comprises transmitting the signal from a cell controller to a control board on the portable autonomous device.

7. The process of claim 1 , wherein aligning the drill spindle assembly of the portable autonomous device to the drill location comprises activating independent motor-driven wheels responsive to transmitting the signal to the portable autonomous device.

8. The process of claim 1 , wherein activating the attachment mechanism comprises applying a vacuum to each of a plurality of suction cups in contact with the surface.

9. A portable autonomous device that drills holes in a surface, the portable autonomous device comprising:
a receiver that is part of a control board coupled to an antenna, the receiver configured to receive from a controller a signal containing coordinates of a drill location;
a drive system that moves the portable autonomous device to the drill location, the drive system including at least one wheel set pivotable about a wheel pivot assembly;
an attachment mechanism that fixes the portable autonomous device to the surface at the drill location;
magnet sensors that locate a freestanding magnet below the surface;
a drill feed assembly coupled to a drive table that moves the drill feed assembly over the freestanding magnet located via the magnet sensors, wherein the drill feed assembly includes a drill spindle that drills a hole in the surface at the freestanding magnet; and
a normality system configured to:
determine an angle of the platform relative to the surface by measuring a pivot angle of the wheel set about the wheel pivot assembly; and
adjust the angle of the platform relative to the surface based on the pivot angle of the wheel set to achieve a desired angle between the platform and the surface.

10. The portable autonomous device of claim 9 , wherein the drive system comprises independently activated wheels coupled to a platform that holds the drill feed assembly.

11. The portable autonomous device of claim 9 , wherein the normality system includes a normality motor and a swing arm, and wherein the normality system adjusts the angle of the platform relative to the surface by operating the normality motor to adjust the swing arm.

12. The portable autonomous device of claim 9 , wherein the attachment mechanism comprises vacuum-activated suction cups.

13. The portable autonomous device of claim 9 , wherein the magnet sensors comprise a plurality of magneto-resistive sensors that sense the freestanding magnet below the surface.

14. The portable autonomous device of claim 13 , wherein the plurality of magneto-resistive sensors are used to determine a center of the freestanding magnet, a depth of the freestanding magnet, and a polar alignment of the freestanding magnet.

15. The portable autonomous device of claim 14 , wherein the drive table moves over the freestanding magnet responsive to respective signals generated by each of the plurality of magneto-resistive sensors.

16. A method of drilling holes in a surface using a portable autonomous device having a platform and a drive mechanism coupled to the platform, the method comprising:
moving, via the drive mechanism, the portable autonomous device to a drill location received via a wireless signal from a cell controller;
fixing a position of the portable autonomous device at the drill location with an attachment mechanism;
moving a drive table over a freestanding magnet located under the surface at the drill location;
determining an angle of the platform relative to the surface using a normality system; wherein the drive mechanism comprises at least one wheel set pivotable about a wheel pivot assembly, and wherein determining the angle of the platform relative to the surface comprises measuring a pivot angle of the wheel set about the wheel pivot assembly;
adjusting the angle of the platform using the normality system to achieve a desired angle between the platform and the surface; and
drilling a hole at the freestanding magnet using a drill feed assembly coupled to the drive table.

17. The method of claim 16 , wherein adjusting the angle of the platform using the normality system comprises:
sensing, via sensors of the normality system, the angle of the platform relative to the surface;
setting, via the normality system, a swing arm via a normality motor to raise the platform to the desired angle relative to the surface.

18. The method of claim 16 , further comprising:
placing the freestanding magnet below the surface at the drill location.

19. The method of claim 16 , wherein adjusting the angle of the platform is based, at least in part, on the pivot angle of the wheel set.

Assignees

• Boeing Co

Inventors

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

Classifications

• B23Q9/0007 Primary

  Portable machines comprising means for their guidance or support directly on the workpiece · CPC title

• Y10T408/5612

  Tool having shiftable tool-axis · CPC title

• B60Y2200/80

  Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60 · CPC title

• Y10T29/53983

  Work-supported apparatus · CPC title

• 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