CN107867409B - 用于控制可移动机器人装配件的运动的系统和方法 - Google Patents

用于控制可移动机器人装配件的运动的系统和方法 Download PDF

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Publication number
CN107867409B
CN107867409B CN201710650181.6A CN201710650181A CN107867409B CN 107867409 B CN107867409 B CN 107867409B CN 201710650181 A CN201710650181 A CN 201710650181A CN 107867409 B CN107867409 B CN 107867409B
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China
Prior art keywords
fitting
fuselage
distance
assembly
target
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CN201710650181.6A
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English (en)
Chinese (zh)
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CN107867409A (zh
Inventor
A·阿亚伽里
T·Q·阮
N·S·勒
B·邦
W·X·王
D·H·阿米尔特沙米
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Boeing Co
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Boeing Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/18—Floors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/50—Handling or transporting aircraft components
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
CN201710650181.6A 2016-08-24 2017-08-02 用于控制可移动机器人装配件的运动的系统和方法 Active CN107867409B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/245,589 US10926407B2 (en) 2016-08-24 2016-08-24 Movement control for tracked robot assemblies that manufacture aircraft
US15/245,589 2016-08-24

Publications (2)

Publication Number Publication Date
CN107867409A CN107867409A (zh) 2018-04-03
CN107867409B true CN107867409B (zh) 2022-07-15

Family

ID=58745118

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CN201710650181.6A Active CN107867409B (zh) 2016-08-24 2017-08-02 用于控制可移动机器人装配件的运动的系统和方法

Country Status (7)

Country Link
US (1) US10926407B2 (enExample)
EP (2) EP3663053B1 (enExample)
JP (1) JP6822896B2 (enExample)
KR (1) KR102371525B1 (enExample)
CN (1) CN107867409B (enExample)
CA (1) CA2969776C (enExample)
ES (1) ES2776638T3 (enExample)

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US10525524B2 (en) * 2014-07-09 2020-01-07 The Boeing Company Dual-interface coupler
FR3035075B1 (fr) * 2015-04-20 2018-08-17 Airbus Operations Ensemble d'outillage pour l'integration d'une partie centrale d'aeronef, procede associe et aeronef ainsi integre
US11066838B2 (en) * 2018-07-12 2021-07-20 The Boeing Company Work platform mover system
CN110001998B (zh) * 2019-03-12 2022-07-29 南京航空航天大学 一种基于激光测距的飞机大部件框式结构对接引导装置与方法
US11123867B2 (en) * 2019-05-13 2021-09-21 Raytheon Company Automated radar assembly system
US11459122B2 (en) * 2019-09-19 2022-10-04 Spirit Aerosystems, Inc. Modular floor system for large vehicle construction
CN112340054B (zh) * 2020-09-18 2022-05-06 成都飞机工业（集团）有限责任公司 一种飞机大部件多轴主随动调姿方法及调姿装置
JP7774423B2 (ja) * 2020-11-18 2025-11-21 ザ・ボーイング・カンパニー 航空機構造に対するファスナの調整されたエンドエフェクタの取り付け
JP2022080863A (ja) * 2020-11-18 2022-05-30 ザ・ボーイング・カンパニー ラインで組み立てられる胴体セグメントのための輪郭強化
US12202164B2 (en) * 2020-11-18 2025-01-21 The Boeing Company Edge trimming for moving-line fabrication of aircraft
CN112631302B (zh) * 2020-12-25 2024-04-19 珠海格力智能装备有限公司 有轨制导车辆的防撞系统的控制方法和装置
CN112660412B (zh) * 2021-01-07 2023-07-28 中国航空工业集团公司北京长城航空测控技术研究所 一种可调弱刚性大部件保形工装及飞机筒段的支撑方法
CN113335557B (zh) * 2021-04-30 2022-07-15 成都飞机工业（集团）有限责任公司 一种飞机机身表面装配质量数字化检测方法及系统
CN113245813B (zh) * 2021-07-16 2021-10-01 成都飞机工业（集团）有限责任公司 一种用于飞机快速装配的自定位装配系统及方法
CN115674203B (zh) * 2022-11-02 2024-09-10 中联重科股份有限公司 工装控制方法、装置、处理器及存储介质

Citations (4)

* Cited by examiner, † Cited by third party
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US4967947A (en) * 1988-03-23 1990-11-06 Branko Sarh Multi-function riveting/fastening machine and method of operating
US5896637A (en) * 1996-09-25 1999-04-27 Mcdonnell Douglas Corporation Assembly tower
CN101357687A (zh) * 2008-09-26 2009-02-04 浙江大学 一种基于工业机器人的多任务飞机辅助装配系统
CN105035347A (zh) * 2014-04-30 2015-11-11 波音公司 履带式机器人和支撑平台

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US5942869A (en) * 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
US9016625B2 (en) 2011-05-11 2015-04-28 The Boeing Company Reconfigurable floorboard system
US8572923B2 (en) 2011-06-06 2013-11-05 The Boeing Company Removable mid-section production floorboard
US9874628B2 (en) * 2013-11-12 2018-01-23 The Boeing Company Dual hidden point bars
FR3015954B1 (fr) 2013-12-31 2017-12-22 Airbus Operations Sas Plancher provisoire pour cabine d'avion, utilise pendant la construction de l'avion, et dalle composant ce plancher
US10525524B2 (en) 2014-07-09 2020-01-07 The Boeing Company Dual-interface coupler
CA2894306C (en) 2014-07-09 2019-02-12 The Boeing Company Metrology-based system for operating a flexible manufacturing system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4967947A (en) * 1988-03-23 1990-11-06 Branko Sarh Multi-function riveting/fastening machine and method of operating
US5896637A (en) * 1996-09-25 1999-04-27 Mcdonnell Douglas Corporation Assembly tower
CN101357687A (zh) * 2008-09-26 2009-02-04 浙江大学 一种基于工业机器人的多任务飞机辅助装配系统
CN105035347A (zh) * 2014-04-30 2015-11-11 波音公司 履带式机器人和支撑平台

Also Published As

Publication number Publication date
JP2018030225A (ja) 2018-03-01
KR102371525B1 (ko) 2022-03-04
CA2969776C (en) 2022-05-17
EP3663053A1 (en) 2020-06-10
EP3663053B1 (en) 2021-08-11
ES2776638T3 (es) 2020-07-31
CA2969776A1 (en) 2018-02-24
US10926407B2 (en) 2021-02-23
CN107867409A (zh) 2018-04-03
KR20180022569A (ko) 2018-03-06
JP6822896B2 (ja) 2021-01-27
EP3287241A1 (en) 2018-02-28
US20180056511A1 (en) 2018-03-01
EP3287241B1 (en) 2020-01-15

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