JP6690895B2 - 航空機構造の可動自動組立ツール - Google Patents
航空機構造の可動自動組立ツール Download PDFInfo
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- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/007—Riveting
-
- 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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2215/00—Details of workpieces
- B23B2215/04—Aircraft components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q3/15536—Non-rotary fixed racks
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- 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
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- Y10T29/49826—Assembling or joining
- Y10T29/4989—Assembling or joining with spreading of cable strands
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5104—Type of machine
- Y10T29/5105—Drill press
- Y10T29/5107—Drilling and other
-
- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T408/00—Cutting by use of rotating axially moving tool
- Y10T408/03—Processes
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T408/00—Cutting by use of rotating axially moving tool
- Y10T408/05—Cutting by use of rotating axially moving tool with means to weigh or test work or product
-
- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T408/00—Cutting by use of rotating axially moving tool
- Y10T408/55—Cutting by use of rotating axially moving tool with work-engaging structure other than Tool or tool-support
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Description
A1.構造の組立システムであって、前記表面で工程を実施するために、前記構造の表面の下に位置決めされるように構成されるモーションプラットフォームと、モーションプラットフォームを、製造環境の床を横切って第1の場所から第2の場所へ運ぶように構成された可動プラットフォームとを備える組立システム。
孔の中へシーリング材とともに締め具を挿入する前に、締め具インストーラを使用して締め具管理システムから締め具を受けることとを更に含む、段落B12に記載の方法も提供される。
4 図4の図示方向
5 図5の図示方向
6 図6〜12の図示方向
200 製造環境
202 翼アセンブリ
204 組立システム
206 パネルの表面
208 パネル
300 可動プラットフォーム
302 エンドエフェクタ
304 モーションプラットフォーム
306 第1移動システム
307 格納式車輪
308 一組のツール
310 第2移動システム
311 区分
312 垂直軸
314 プラットフォーム
316 締め具管理システム
318 ツール管理システム
320 コントローラ
400 センサシステム
402 穿設システム
404 検査システム
406 締め具インストーラ
408 押圧脚部
409 チャネル
410 シャトルテーブル
412 コネクタ
414 トラックシステム
416 ツールの移動方向
500 線形アクチュエータ
502 ディスクアクチュエータ
504 x軸
505 y軸
506 z軸
508 回転方向
600 モーションプラットフォームの移動方向
601 孔を穿設するための場所
800 区分
802 ツールの移動方向
900 孔
902 スピンドル
903 ドリルビット
904 送り軸
906 ツールの移動方向
1000 孔プローブ
1100 締め具
1300 ロボットアーム
1302 収納ラック
1304 ツール
1306 エンドエフェクタ
1400 組立システム
1402 可動プラットフォーム
1403 移動システム
1404 エンドエフェクタ
1406 モーションプラットフォーム
1408 コントローラ
1410 ツール管理システム
1412 締め具管理システム
1414 メカナム車輪
1416 垂直軸
1418 エンドエフェクタの回転方向
1420 一組のツール
1700 航空機の製造及び保守方法
Claims (14)
- 構造(106)の組立システム(102)であって、
前記構造(106)の表面(116)で工程(111)を実施するために、前記表面(116)の下に位置決めされるように構成されるモーションプラットフォーム(122)と、
前記モーションプラットフォーム(122)を、製造環境(100)の床(107)を横切って第1の場所(117)から第2の場所(121)へ運ぶように構成された可動プラットフォーム(118)と、
前記モーションプラットフォーム(122)上のエンドエフェクタ(120)であって、一組のツール(132)を保持し、前記一組のツール(132)を使用して前記工程(111)を実施するように構成されたエンドエフェクタ(120)と、
前記エンドエフェクタ(120)に接続された押圧脚部(151)であって、前記押圧脚部(151)と前記構造(106)の前記表面(116)との間の接触力(153)を識別し、かつ前記一組のツール(132)を使用して前記工程(111)を実施するのに望ましい前記接触力(153)を提供するように構成された押圧脚部(151)と、
を備え、
前記エンドエフェクタ(120)がシャトルテーブル(410)を備え、前記シャトルテーブル(410)が、前記一組のツール(132)を前記シャトルテーブル(410)のトラックシステム(414)に沿って移動させるように構成されており、
前記シャトルテーブル(410)は、線形アクチュエータに接続されて6自由度の動きが可能とされたディスクアクチュエータに接続されており、さらに前記ディスクアクチュエータが回転することにより、動きの自由度が1自由度追加されている、
組立システム(102)。 - 前記モーションプラットフォーム(122)は、前記構造(106)上で前記工程(111)を実施するために、前記エンドエフェクタ(120)上の前記一組のツール(132)を前記構造(106)の前記表面(116)に対する所望の位置(130)に位置決めするように構成されている、請求項1に記載の組立システム(102)。
- 前記モーションプラットフォーム(122)は、前記一組のツール(132)を前記構造(106)の前記表面(116)上の一つの場所(135)に対して垂直に位置決めするように構成されている、請求項1に記載の組立システム(102)。
- 前記モーションプラットフォーム(122)は、前記一組のツール(132)を前記構造(106)の前記表面(116)上の一つの場所(135)に対して平行に位置決めするように構成されている、請求項1に記載の組立システム(102)。
- 前記一組のツール(132)は、
前記構造(106)の前記表面(116)、前記構造(106)の前記表面(116)に対する前記エンドエフェクタ(120)の位置、及び締め具(104)の孔(134)を穿設するための前記構造(106)の前記表面(116)上の一つの場所(135)のうちの少なくとも一つを識別するように構成されたセンサシステム(138)を備える、請求項1から4のいずれか1項に記載の組立システム(102)。 - 前記可動プラットフォーム(118)に関連付けられ、前記可動プラットフォーム(118)を前記第1の場所(117)から前記第2の場所(121)まで駆動させるように構成された移動システム(1403)
をさらに備える、請求項1から5のいずれか1項に記載の組立システム(102)。 - 前記可動プラットフォーム(118)を前記第1の場所(117)から前記第2の場所(121)まで操作する操作方向(199)は、人間のオペレータ、前記可動プラットフォーム(118)に関連付けられたコントローラ、及びシステムコントローラ(166)のうちの少なくとも一つによって与えられる、請求項1から6のいずれか1項に記載の組立システム(102)。
- 組立システム(102)を操作するための方法であって、
可動プラットフォーム(118)を使用して第1の場所(117)から第2の場所(121)まで製造環境(100)の床(107)を横切ってモーションプラットフォーム(122)を運ぶことと、
構造(106)の表面(116)で工程(111)を実施するために、前記表面(116)の下に前記モーションプラットフォーム(122)を位置決めすることと、
前記モーションプラットフォーム(122)を使用して前記構造(106)の前記表面(116)に対してエンドエフェクタ(120)を位置決めすることであって、前記エンドエフェクタ(120)は一組のツール(132)を保持し、前記一組のツール(132)を使用して前記構造(106)上で前記工程(111)を実施するように構成されている、位置決めすることと、
前記エンドエフェクタ(120)に接続された押圧脚部(151)と、前記構造(106)の前記表面(116)との間の接触力(153)を識別し、前記一組のツール(132)を使用して前記工程(111)を実施するのに望ましい前記接触力(153)を、前記押圧脚部(151)によって提供することと、
を含み、
前記エンドエフェクタ(120)は、シャトルテーブル(410)を含み、
前記方法は、前記一組のツール(132)を前記シャトルテーブル(410)のトラックシステム(414)に沿って移動させることをさらに含み、
前記シャトルテーブル(410)は、線形アクチュエータに接続されて6自由度の動きが可能とされたディスクアクチュエータに接続されており、さらに前記ディスクアクチュエータが回転することにより、動きの自由度が1自由度追加される、
方法。 - 更に、前記一組のツール(132)を使用して、前記構造(106)上で前記工程(111)を実施することを含む、請求項8に記載の方法。
- 更に、前記一組のツール(132)を使用して、前記構造(106)に締め具(104)を設置することを含む、請求項8に記載の方法。
- 更に、前記モーションプラットフォーム(122)を使用して前記エンドエフェクタ(120)を前記構造(106)の前記表面(116)上の一つの場所(135)に対して垂直に位置決めすることを含む、請求項8から10のいずれか1項に記載の方法。
- 更に、前記モーションプラットフォーム(122)を使用して前記一組のツール(132)を前記構造(106)の前記表面(116)上の一つの場所(135)に対して位置決めすることを含む、請求項8から10のいずれか1項に記載の方法。
- 更に、移動システム(1403)を使用して前記第1の場所(117)から前記第2の場所(121)まで前記製造環境(100)の前記床(107)を横切って前記可動プラットフォーム(118)を駆動させることを含む、請求項8から12のいずれか1項に記載の方法。
- 更に、前記可動プラットフォーム(118)を前記第1の場所(117)から前記第2の場所(121)まで操作することを含む、請求項8から13のいずれか1項に記載の方法。
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Application Number | Priority Date | Filing Date | Title |
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US201461986756P | 2014-04-30 | 2014-04-30 | |
US61/986,756 | 2014-04-30 | ||
US14/558,859 | 2014-12-03 | ||
US14/558,859 US9486917B2 (en) | 2014-04-30 | 2014-12-03 | Mobile automated assembly tool for aircraft structures |
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JP2016064494A JP2016064494A (ja) | 2016-04-28 |
JP6690895B2 true JP6690895B2 (ja) | 2020-04-28 |
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JP2015087745A Active JP6690895B2 (ja) | 2014-04-30 | 2015-04-22 | 航空機構造の可動自動組立ツール |
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Country | Link |
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US (1) | US9486917B2 (ja) |
EP (1) | EP2939795B1 (ja) |
JP (1) | JP6690895B2 (ja) |
KR (1) | KR102341528B1 (ja) |
CN (2) | CN110435920B (ja) |
BR (1) | BR102015008446B1 (ja) |
CA (2) | CA3010058C (ja) |
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US10427254B2 (en) | 2014-04-30 | 2019-10-01 | The Boeing Company | Flexible manufacturing for aircraft structures |
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