KR102371525B1 - 항공기를 제조하는 궤도 로봇 조립체들에 대한 이동 제어 - Google Patents

항공기를 제조하는 궤도 로봇 조립체들에 대한 이동 제어 Download PDF

Info

Publication number
KR102371525B1
KR102371525B1 KR1020170101702A KR20170101702A KR102371525B1 KR 102371525 B1 KR102371525 B1 KR 102371525B1 KR 1020170101702 A KR1020170101702 A KR 1020170101702A KR 20170101702 A KR20170101702 A KR 20170101702A KR 102371525 B1 KR102371525 B1 KR 102371525B1
Authority
KR
South Korea
Prior art keywords
assembly
mobile robot
robot assembly
fuselage
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
KR1020170101702A
Other languages
English (en)
Korean (ko)
Other versions
KR20180022569A (ko
Inventor
아룬 아야가리
티 큐 응구옌
응옥 에스 레
밸리 뱅
웬 신 왕
데이비드 에이치 아미레테샤미
Original Assignee
더 보잉 컴파니
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 더 보잉 컴파니 filed Critical 더 보잉 컴파니
Publication of KR20180022569A publication Critical patent/KR20180022569A/ko
Application granted granted Critical
Publication of KR102371525B1 publication Critical patent/KR102371525B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • 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
    • B25J9/1615—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
    • 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
    • B64F5/50—Handling or transporting aircraft components
    • 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
    • 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)
KR1020170101702A 2016-08-24 2017-08-10 항공기를 제조하는 궤도 로봇 조립체들에 대한 이동 제어 Active KR102371525B1 (ko)

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
KR20180022569A KR20180022569A (ko) 2018-03-06
KR102371525B1 true KR102371525B1 (ko) 2022-03-04

Family

ID=58745118

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020170101702A Active KR102371525B1 (ko) 2016-08-24 2017-08-10 항공기를 제조하는 궤도 로봇 조립체들에 대한 이동 제어

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)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160008981A1 (en) * 2014-07-09 2016-01-14 The Boeing Company Metrology-Based System for Operating a Flexible Manufacturing System

Family Cites Families (10)

* 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
US5942869A (en) * 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
CN101357687B (zh) * 2008-09-26 2010-06-02 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
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
US9776330B2 (en) * 2014-04-30 2017-10-03 The Boeing Company Crawler robot and supporting platform
CA2894306C (en) 2014-07-09 2019-02-12 The Boeing Company Metrology-based system for operating a flexible manufacturing system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160008981A1 (en) * 2014-07-09 2016-01-14 The Boeing Company Metrology-Based System for Operating a Flexible Manufacturing System

Also Published As

Publication number Publication date
JP2018030225A (ja) 2018-03-01
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
CN107867409B (zh) 2022-07-15
EP3287241B1 (en) 2020-01-15

Similar Documents

Publication Publication Date Title
KR102371525B1 (ko) 항공기를 제조하는 궤도 로봇 조립체들에 대한 이동 제어
US11364581B2 (en) Flexible manufacturing system for aircraft structures
US10501209B2 (en) Metrology system for positioning assemblies
EP2965835B1 (en) Metrology-based system for operating a flexible manufacturing system
US10442555B2 (en) Apparatus, system, and method for supporting a wing assembly
JP6492024B2 (ja) 移動体
EP3196720B1 (en) Methods and systems for wing-to-body joining
CN110884884B (zh) 移动夹具装置和方法
JP2015162249A (ja) 物体の移動のためのシステムおよび方法
JP2018030225A5 (enExample)
CA2895737C (en) Assembly fixture for supporting a fuselage assembly

Legal Events

Date Code Title Description
PA0109 Patent application

Patent event code: PA01091R01D

Comment text: Patent Application

Patent event date: 20170810

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20200804

Comment text: Request for Examination of Application

Patent event code: PA02011R01I

Patent event date: 20170810

Comment text: Patent Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20210923

Patent event code: PE09021S01D

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20211201

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20220302

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20220302

End annual number: 3

Start annual number: 1

PG1601 Publication of registration
PR1001 Payment of annual fee

Payment date: 20250219

Start annual number: 4

End annual number: 4