JP6282404B2 - 周方向レーザクローラ - Google Patents
周方向レーザクローラ Download PDFInfo
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- JP6282404B2 JP6282404B2 JP2013079120A JP2013079120A JP6282404B2 JP 6282404 B2 JP6282404 B2 JP 6282404B2 JP 2013079120 A JP2013079120 A JP 2013079120A JP 2013079120 A JP2013079120 A JP 2013079120A JP 6282404 B2 JP6282404 B2 JP 6282404B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- 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
- B64F5/60—Testing or inspecting aircraft components or systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/269—Various geometry objects
- G01N2291/2694—Wings or other aircraft parts
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- Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
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- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Description
Claims (8)
- 周方向の座標データを得るために、構造体の曲線形状の縁(430)に沿って走行するように動作可能なモータ付き自動デバイス(200)を備えた装置であって、モータ付き自動デバイス(200)が、
構造体の曲線形状の縁(430)に沿ってモータ付き自動デバイス(200)を移動させるように動作可能であって、第1ローラ機構と第2ローラ機構を含む移動コンポーネント、
自動デバイス(200)を曲線形状の縁(430)の周りに移動可能に固定するように動作可能なクランピング構造(350)であって、クランピング構造(350)が第1クランピングアームと、第2クランピングアームと、第1クランピングアームと第2クランピングアームとの間に結合された中間サポートとを含み、第1クランピングアームが第1ローラ機構を構造体の第1の側に接触して動作可能に支持し、第2クランピングアームが第2ローラ機構を構造体の第2の側に接触して動作可能に支持し、第2の側が第1の側の反対であり、中間サポートが構造体の曲線形状の縁(430)に係合し、曲線形状の縁(430)が構造体の第1の側と第2の側との間に延在する、クランピング構造(350)、
信号を反射して信号源に戻すように動作可能な反射器(320)、及び
反射器(320)を移動させて、構造体の曲線状の縁(430)に対して特定の位置に位置決めすることを可能にするためのスライディングコンポーネントを備え、
モータ付き自動デバイス(200)は、完全な周方向のデータ列が取得されるまで、曲線状の縁(430)に沿って移動することで、周方向の座標データを得ることを継続することを可能にし、
反射器(320)は、前記スライディングコンポーネントの前記特定の位置で、レーザ追跡装置(210)を使用して、モータ付き自動デバイス(200)の移動中に周方向のデータ列を取得すること、及び、周方向のデータ列がさらに必要かどうかを決定することを可能にし、
前記スライディングコンポーネントは、周方向のデータ列がさらに必要と決定された場合に、複数の追加の周方向のデータ列を取得するために、反射器(320)を移動させて、反射器(320)を他の複数の位置に再位置決めすることにより、前記他の複数の位置の各々において、周方向のデータ列を取得することを可能にする、
装置。 - 反射器(320)がバネ懸架式である、請求項1に記載の装置。
- 移動コンポーネントの第1ローラ機構と第2ローラ機構が複数のホイールを含む、請求項1に記載の装置。
- 前記複数のホイールがモータ付き自動デバイス(200)の1以上のモータで駆動される1以上の駆動ホイールを含む、請求項3に記載の装置。
- 前記移動コンポーネントが第3ローラ機構をさらに含み、前記中間サポートが第3ローラ機構を前記構造体の縁に接触して動作可能に支持する、請求項3に記載の装置。
- モータ付き自動デバイス(200)の反射器(320)を、構造体の曲線状の縁(430)に対して特定の位置に位置決めすること、及び
前記特定の位置における周方向のデータ列を、
モータ付き自動デバイス(200)が曲線状の縁(430)の周りに移動可能にクランプされて、モータ付き自動デバイス(200)の移動が曲線状の縁(430)に制限されて、モータ付き自動デバイス(200)を曲線状の縁(430)に沿って移動させることと、
レーザ追跡装置(210)を使用して、モータ付き自動デバイス(200)の移動中に周方向の座標データを得ることと、
完全な周方向のデータ列が取得されるまで、モータ付き自動デバイス(200)を移動させること及び周方向の座標データを得ることを継続することと、
周方向のデータ列がさらに必要かどうかを決定することと、
により取得すること
を含み、
周方向のデータ列がさらに必要と決定された場合に、モータ付き自動デバイス(200)の反射器(320)を、モータ付き自動デバイス(200)が備えるスライディングコンポーネントを用いて移動させて、他の複数の位置に再位置決めすることと、
前記他の複数の位置の各々において周方向のデータ列を取得することと
により、複数の追加の周方向のデータ列を取得することをさらに含む、
方法。 - レーザ追跡装置(210)からの信号送信、及び
レーザ追跡装置(210)による、反射器(320)からの信号反射の受信
に基づいて周方向の座標データを得ることを含む、請求項6に記載の方法。 - モータ付き自動デバイス(200)と通信することにより、ユーザ入力をモータ付き自動デバイス(200)に送信する、及び/又はモータ付き自動デバイス(200)から情報を取得することを含む、請求項6に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/441,239 US9030673B2 (en) | 2012-04-06 | 2012-04-06 | Circumferential laser crawler |
US13/441,239 | 2012-04-06 |
Publications (3)
Publication Number | Publication Date |
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JP2013217920A JP2013217920A (ja) | 2013-10-24 |
JP2013217920A5 JP2013217920A5 (ja) | 2016-05-12 |
JP6282404B2 true JP6282404B2 (ja) | 2018-02-21 |
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Country Status (6)
Country | Link |
---|---|
US (1) | US9030673B2 (ja) |
EP (1) | EP2648016B1 (ja) |
JP (1) | JP6282404B2 (ja) |
CN (1) | CN103363908B (ja) |
BR (1) | BR102013008144B1 (ja) |
CA (1) | CA2807610C (ja) |
Families Citing this family (8)
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US9599983B2 (en) * | 2015-01-21 | 2017-03-21 | The Boeing Company | Systems, methods, and apparatus for automated predictive shimming for large structures |
US9505101B1 (en) | 2015-06-24 | 2016-11-29 | The Boeing Company | Automated sanding system and method |
DE102015224893A1 (de) * | 2015-12-10 | 2017-06-14 | Sms Group Gmbh | Verfahren und Vorrichtung zum Vermessen einer Kontur eines Körpers oder zum Überprüfen von dessen Lagerung um eine Rotationsachse |
US10633117B2 (en) * | 2017-10-03 | 2020-04-28 | The Boeing Company | Alignment systems and methods for moving fuselage structures of an aerospace vehicle into assembly alignment |
CN108190044B (zh) * | 2017-12-05 | 2020-07-28 | 北京星航机电装备有限公司 | 一种飞行器装配全轴向热防护构件的装配方法 |
CN112665507A (zh) * | 2021-01-13 | 2021-04-16 | 郭红霞 | 一种电力电缆检测系统的检测方法 |
CN113375605B (zh) * | 2021-04-22 | 2022-07-15 | 首钢京唐钢铁联合有限责任公司 | 一种环冷机支撑轮空间定位方法 |
CN117961393B (zh) * | 2024-04-01 | 2024-06-18 | 江苏威士智能装备有限公司 | 一种自动化焊接装置及工作方法 |
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CN2321502Y (zh) * | 1998-04-02 | 1999-06-02 | 上海游艺机工程有限公司 | 悬挂式过山车 |
JP2000162307A (ja) | 1998-11-30 | 2000-06-16 | Mitsubishi Heavy Ind Ltd | 原子炉容器点検ロボットの位置標定用レーザ追尾装置 |
WO2003022532A2 (en) * | 2001-09-09 | 2003-03-20 | Advanced Robotic Vehicles, Inc. | Surface adhering tool carrying robot |
US6940212B2 (en) * | 2002-02-08 | 2005-09-06 | Metscan Technologies, Llc (A Georgia Limited Liability Corporation) | Non-fluid acoustic coupling |
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JP3966335B2 (ja) * | 2005-02-17 | 2007-08-29 | 東日本旅客鉄道株式会社 | 軌道検測方法および軌道検測用キット |
CN201026879Y (zh) * | 2007-03-10 | 2008-02-27 | 东营市华方船体研制有限责任公司 | 一种缆车滑行装置 |
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2012
- 2012-04-06 US US13/441,239 patent/US9030673B2/en active Active
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2013
- 2013-02-28 CA CA2807610A patent/CA2807610C/en active Active
- 2013-03-28 EP EP13161740.9A patent/EP2648016B1/en active Active
- 2013-04-03 CN CN201310116434.3A patent/CN103363908B/zh active Active
- 2013-04-04 BR BR102013008144-2A patent/BR102013008144B1/pt active IP Right Grant
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BR102013008144A2 (pt) | 2015-08-04 |
US20130265588A1 (en) | 2013-10-10 |
US9030673B2 (en) | 2015-05-12 |
CA2807610A1 (en) | 2013-10-06 |
CA2807610C (en) | 2020-07-07 |
EP2648016B1 (en) | 2017-03-15 |
JP2013217920A (ja) | 2013-10-24 |
EP2648016A2 (en) | 2013-10-09 |
CN103363908B (zh) | 2018-03-23 |
EP2648016A3 (en) | 2014-06-11 |
BR102013008144B1 (pt) | 2020-11-17 |
CN103363908A (zh) | 2013-10-23 |
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