WO2014193345A1

WO2014193345A1 - Transport system for transporting payloads along spars

Info

Publication number: WO2014193345A1
Application number: PCT/US2013/042934
Authority: WO
Inventors: Jeffry J. Garvey; James C. Kennedy
Original assignee: Boeing Co
Current assignee: Boeing Co
Priority date: 2013-05-28
Filing date: 2013-05-28
Publication date: 2014-12-04
Anticipated expiration: 2015-11-28

Abstract

A method and apparatus for transporting a payload (102) along an object (104). In one illustrative embodiment, an apparatus may comprise a coupler (126), a carrier (128), and a drive system (130). The coupler (126) may be configured to be positioned at a first side (122) of the object (104). The carrier (128) may be configured to be positioned at a second side (124) of the object (104). The coupler (126) and the carrier (128) may be configured to be coupled to each other through the object (104). The drive system (130) may be configured to be positioned opposite both the coupler (126) and the carrier (128). The drive system (130) may be further configured to be driven along a length of the object (104) to move the coupler (126) and the carrier (128) along the object (104). The coupler (126) and the carrier (128) may be configured to follow a varying geometry of the object (104) as the coupler (126) and the carrier (128) are moved.

Description

TRANSPORT SYSTEM FOR TRANSPORTING PAYLOADS ALONG SPARS

BACKGROUND INFORMATION 1. Field:

The present disclosure relates generally to transport systems and, in particular, to transport systems used to carry testing systems. Still more particularly, the present disclosure relates to a transport system for carrying a nondestructive inspection system along a spar. 2. Background:

Oftentimes, a payload may need to be transported along different structures of varying shapes and/or sizes. The payload may be, for example, without limitation, an imaging system, a testing system, a nondestructive inspection system, a marking system, an infrared system, a laser device, a drilling tool, or some other type of tool or device.

As one illustrative example, a nondestructive inspection system may need to be carried and transported along the length of a T-section structure. As used herein, a "T-section structure" may be any structure that has the shape of a "T." The structure may be comprised of one or more structures depending on the implementation. A spar for a wing of an aircraft may be an example of a T-section structure. A spar may be comprised of a web and two flanges that extend from the web to form a T-shape and that are used to attach the spar to a skin for the wing.

In some cases, the thickness and/or angles of a T-section structure may change along the length of the T-section structure. For example, with a spar, the thickness of the spar may vary along the length of the spar and/or the angles of the flanges relative to the web.

As a result of this changing geometry of the spar, a rigid chassis may not be used to transport a payload, such as a testing system, along the length of the spar. Rather, the transport system used to carry the payload may require a certain level of mechanical freedom in order to travel along the spar without becoming hindered.

Some currently available transport systems may be able to carry payloads along the length of a spar. However, these transport systems may be unable to follow the varying geometry of a spar as accurately as desired. In particular, these transport systems may not have the mechanical freedom needed to follow the changing thickness and/or angles of a spar. Therefore, it would be desirable to have a method and apparatus that take into account at least some of the issues discussed above, as well as other possible issues. SUMMARY

In one illustrative embodiment, an apparatus may comprise a coupler, a carrier, and a drive system. The coupler may be configured to be positioned at a first side of an object. The carrier may be configured to be positioned at a second side of the object. The coupler and the carrier may be configured to be coupled to each other through the object. The drive system may be configured to be positioned opposite both the coupler and the carrier. The drive system may be further configured to be driven along a length of the object to move the coupler and the carrier along the object. The coupler and the carrier may be configured to follow a varying geometry of the object as the coupler and the carrier are moved.

In another illustrative embodiment, a transport system may comprise a carrier, a coupler, and a drive system. The carrier may be configured to be positioned at a second side of a spar. The carrier may comprise a carrier structure, a carrier alignment system associated with the carrier structure, and a carrier movement system associated with the carrier structure. The carrier structure may be configured to carry a payload. The carrier movement system may be configured to allow the carrier structure to move along the spar with a reduced amount of friction. The coupler may be configured to be positioned at a first side of the spar. The coupler and the carrier may be configured to be magnetically coupled to each other through the spar. The coupler may comprise a coupler structure, a coupler alignment system associated with the coupler structure, and a coupler movement system associated with the coupler structure. The coupler alignment system may be configured to allow the coupler to be magnetically coupled to and aligned with the carrier using the carrier alignment system. The coupler movement system may be configured to allow the coupler structure to move along the spar with a reduced amount of friction. The drive system may be configured to be magnetically coupled to the coupler through a first flange of the spar and to the carrier through a second flange of the spar. The drive system may be configured to be driven along a length of the spar to move the coupler and the carrier along the spar. The coupler and the carrier may be configured to follow a varying geometry of the spar as the coupler and the carrier are moved.

In yet another illustrative embodiment, a method for transporting a payload along an object is provided. A coupler may be coupled to a carrier through the object. The coupler and the carrier may be coupled to a drive system through the object. The drive system may be driven along a length of the object to move the coupler and the carrier along the object. In still yet another illustrative embodiment, a method for transporting a payload along a spar is provided. A coupler may be positioned at a first side of a web of the spar. A carrier may be positioned at a second side of the web. The spar further may comprise a first fiange and a second flange. The carrier may be magnetically coupled to the coupler using a first set of coupler magnets held in a first number of housings associated with a coupler structure of the coupler and a first set of carrier magnets held in a first number of housings associated with a carrier structure of the carrier. The coupler may be magnetically coupled to the drive system through the first flange of the spar using a second set of coupler magnets held within a second number of housings associated with the coupler structure and a first set of drive magnets in the drive system. The carrier may be magnetically coupled to the drive system through the second flange of the spar using a second set of carrier magnets held within a second number of housings associated with the carrier structure and a second set of drive magnets in the drive system. The drive system may be driven along a length of the spar to move the coupler and the carrier along the spar. A varying geometry of the spar may be followed by the coupler and the carrier as the coupler and the carrier are moved by the drive system by moving at least one of the second number of housings associated with the coupler structure relative to the coupler structure to maintain alignment between the second set of coupler magnets and the first set of drive magnets as the drive system moves the coupler structure, moving at least one of the second number of housings associated with the carrier structure relative to the carrier structure to maintain alignment between the second set of carrier magnets and the second set of drive magnets as the drive system moves the carrier structure, and moving at least one of the first number of housings associated with the coupler structure relative to the coupler structure to maintain alignment between the first set of coupler magnets and the first set of carrier magnets as the drive system moves the coupler structure and the carrier structure.

In summary, according to one aspect of the invention there is provided a coupler (126) configured to be positioned at a first side (122) of an object (104); a carrier (128) configured to be positioned at a second side (124) of the object (104) in which the coupler (126) and the carrier (128) are configured to be coupled to each other through the object (104); and a drive system (130) configured to be positioned opposite both the coupler (126) and the carrier (128) and configured to be driven along a length of the object (104) to move the coupler (126) and the carrier (128) along the object (104) in which the coupler (126) and the carrier (128) are configured to follow a varying geometry of the object (104) as the coupler (126) and the carrier (128) are moved. Advantageously the apparatus wherein the coupler (126) includes a coupler structure (132); a coupler alignment system (135) associated with the coupler structure (132) and configured to allow the coupler (126) to be magnetically coupled to and aligned with the carrier (128); and a coupler movement system (134) associated with the coupler structure (132) and configured to allow the coupler structure (132) to move along the object (104).

Advantageously the apparatus wherein the coupler movement system (134) is configured to allow the coupler structure (132) to move along the object (104) with a reduced amount of friction.

Advantageously the apparatus wherein the coupler alignment system (135) includes a first number of housings (146); a first set of coupler magnets (144) held in the first number of housings (146) and configured for use in magnetically coupling the coupler (126) to the carrier (128) through the object (104); a second number of housings (150); and a second set of coupler magnets (148) held in the second number of housings (150) and configured for use in magnetically coupling the coupler (126) to the drive system (130) through the object (104).

Advantageously the apparatus wherein the first number of housings (146) and the second number of housings (150) are configured to move relative to the coupler structure (132).

Advantageously the apparatus wherein the carrier (128) includes a carrier structure

(152) configured to carry a payload (102); a carrier alignment system (156) associated with the carrier structure (152) and configured to allow the carrier (128) to be magnetically coupled to and aligned with the coupler (126); and a carrier movement system (154) associated with the carrier structure (152) and configured to allow the carrier structure (152) to move along the object (104) with a reduced amount of friction.

Advantageously the apparatus wherein the carrier alignment system (156) includes a first set of carrier magnets (166) held in a first number of housings (168) and configured for use in magnetically coupling the carrier (128) to the coupler (126) through the object (104); and a second set of carrier magnets (170) held in a second number of housings (172) and configured for use in magnetically coupling the carrier (128) to the drive system (130) through the object (104).

Advantageously the apparatus wherein the first number of housings (168) and the second number of housings (172) are configured to move relative to the carrier structure

(152).

Advantageously the apparatus wherein the coupler (126) and the carrier (128) form a transport system (100). Advantageously the apparatus wherein the carrier (128) is configured to carry a payload (102) and transport the payload (102) along the object (104).

Advantageously the apparatus wherein the payload (102) is selected from one of a testing system (106), an imaging system, a nondestructive inspection system, a marking system, a laser device, a drilling tool, and an infrared system.

Advantageously the apparatus wherein the object (104) is a spar (110).

Advantageously the apparatus wherein the spar (110) is a T-section structure that comprises a web (112), a first flange (118), and a second flange (120).

According to another aspect of the invention there is provided a transport system (100) including a carrier (128) configured to be positioned at a second side (124) of a spar (110) in which the carrier (128) includes a carrier structure (152) configured to carry a payload (102); a carrier alignment system (156) associated with the carrier structure (152); and a carrier movement system (154) associated with the carrier structure (152) and configured to allow the carrier structure (152) to move along the spar (110) with a reduced amount of friction; a coupler (126) configured to be positioned at a first side (122) of the spar (110) in which the coupler (126) and the carrier (128) are configured to be magnetically coupled to each other through the spar (110) and in which the coupler (126) includes a coupler structure (132); a coupler alignment system (135) associated with the coupler structure (132) and configured to allow the coupler (126) to be magnetically coupled to and aligned with the carrier (128) using the carrier alignment system (156); and a coupler movement system (134) associated with the coupler structure (132) and configured to allow the coupler structure (132) to move along the spar (110) with a reduced amount of friction; and a drive system (130) configured to be magnetically coupled to the coupler (126) through a first flange (118) of the spar (110) and to the carrier (128) through a second fiange (120) of the spar (110) in which the drive system (130) is configured to be driven along a length of the spar (110) to move the coupler (126) and the carrier (128) along the spar (110) and in which the coupler (126) and the carrier (128) are configured to follow a varying geometry of the spar (110) as the coupler (126) and the carrier (128) are moved.

According to yet another aspect of the invention there is provided a method for transporting a payload (102) along an object (104), the method including coupling (1702) a coupler (126) to a carrier (128) through the object (104); coupling (1704) the coupler (126) and the carrier (128) to a drive system (130) through the object (104); and driving (1706) the drive system (130) along a length of the object (104) to move the coupler (126) and the carrier (128) along the object (104). Advantageously the method further including following, by the carrier (128) and the coupler (126), a varying geometry of the object (104) as the coupler (126) and the carrier (128) are moved along the object (104).

Advantageously the method further including positioning (1700) the coupler (126) at a first side (122) of the object (104) and the carrier (128) at a second side (124) of the object (104) in which the carrier (128) is configured to carry the payload (102).

Advantageously the method wherein coupling the coupler (126) to the carrier (128) through the object (104) includes magnetically (1802) coupling the coupler (126) to the carrier (128) using a first set of coupler magnets (144) held in a first number of housings (146) associated with a coupler structure (132) of the coupler (126) and a first set of carrier magnets (166) held in a first number of housings (168) associated with a carrier structure (152) of the carrier (128).

Advantageously the method wherein coupling the coupler (126) and the carrier (128) to the drive system (130) through the object (104) includes magnetically (1804) coupling the coupler (126) to the drive system (130) using a second set of coupler magnets (148) held within a second number of housings (150) associated with the coupler structure (132) and a first set of drive magnets (174) in the drive system (130); and magnetically (1806) coupling the carrier (128) to the drive system (130) using a second set of carrier magnets (170) held within a second number of housings (172) associated with the carrier structure (152) and a second set of drive magnets (176) in the drive system (130).

Advantageously the method further including moving at least one of the second number of housings (150) associated with the coupler structure (132) relative to the coupler structure (132) to maintain alignment between the second set of coupler magnets (148) and the first set of drive magnets (174) as the drive system (130) moves the coupler structure (132).

Advantageously the method further including moving at least one of the second number of housings (150) associated with the carrier structure (152) relative to the carrier structure (152) to maintain alignment between the second set of carrier magnets (170) and the second set of drive magnets (176) as the drive system (130) moves the carrier structure (152).

Advantageously the method further including moving at least one of the first number of housings (146) associated with the coupler structure (132) relative to the coupler structure (132) to maintain alignment between the first set of coupler magnets (144) and the first set of carrier magnets (166) as the drive system (130) moves the coupler structure (132) and the carrier structure (152). According to still another aspect of the invention there is provided a method for transporting a payload (102) along a spar (110), the method including positioning (1700) a coupler (126) at a first side (122) of a web (112) of the spar (110) and a carrier (128) at a second side (124) of the web (112) in which the spar (110) further comprises a first flange (118) and a second flange (120); magnetically (1802) coupling the carrier (128) to the coupler (126) using a first set of coupler magnets (144) held in a first number of housings (146) associated with a coupler structure (132) of the coupler (126) and a first set of carrier magnets (166) held in a first number of housings (168) associated with a carrier structure (152) of the carrier (128); magnetically (1804) coupling the coupler (126) to a drive system (130) through the first flange (118) of the spar (110) using a second set of coupler magnets (148) held within a second number of housings (150) associated with the coupler structure (132) and a first set of drive magnets (174) in the drive system (130); magnetically (1806) coupling the carrier (128) to the drive system (130) through the second flange (120) of the spar (1 10) using a second set of carrier magnets (170) held within a second number of housings (172) associated with the carrier structure (152) and a second set of drive magnets (176) in the drive system (130); driving (1808) the drive system (130) along a length of the spar (110) to move the coupler (126) and the carrier (128) along the spar (110); and following (1810), by the coupler (126) and the carrier (128), a varying geometry of the spar (110) as the coupler (126) and the carrier (128) are moved by the drive system (130) by performing at least one of: moving at least one of the second number of housings (150) associated with the coupler structure (132) relative to the coupler structure (132) to maintain alignment between the second set of coupler magnets (148) and the first set of drive magnets (174) as the drive system (130) moves the coupler structure (132); moving at least one of the second number of housings (150) associated with the carrier structure (152) relative to the carrier structure (152) to maintain alignment between the second set of carrier magnets (170) and the second set of drive magnets (176) as the drive system (130) moves the carrier structure (152); and moving at least one of the first number of housings (146) associated with the coupler structure (132) relative to the coupler structure (132) to maintain alignment between the first set of coupler magnets (144) and the first set of carrier magnets (166) as the drive system (130) moves the coupler structure (132) and the carrier structure (152).

The features and functions can be achieved independently in various embodiments of the present disclosure or may be combined in yet other embodiments in which further details can be seen with reference to the following description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the illustrative embodiments are set forth in the appended claims. The illustrative embodiments, however, as well as a preferred mode of use, further objectives and features thereof, will best be understood by reference to the following detailed description of an illustrative embodiment of the present disclosure when read in conjunction with the accompanying drawings, wherein:

Figure 1 is an illustration of a transport system in the form of a block diagram in accordance with an illustrative embodiment;

Figure 2 is an illustration of a top isometric view of a transport system in accordance with an illustrative embodiment;

Figure 3 is an illustration of a top isometric view of a coupler in accordance with an illustrative embodiment;

Figure 4 is an illustration of a side view of a coupler viewed from a first side of a coupler in accordance with an illustrative embodiment;

Figure 5 is an illustration of a bottom isometric view of a coupler viewed from a second side of a coupler in accordance with an illustrative embodiment;

Figure 6 is an illustration of a top isometric view of a carrier in accordance with an illustrative embodiment;

Figure 7 is an illustration of another top isometric view of a carrier in accordance with an illustrative embodiment;

Figure 8 is an illustration of a side view of a carrier viewed from a first side of a carrier in accordance with an illustrative embodiment;

Figure 9 is an illustration of a bottom isometric view of a carrier viewed from a second side of a carrier in accordance with an illustrative embodiment;

Figure 10 is an illustration of an enlarged isometric view of a housing in accordance with an illustrative embodiment;

Figure 11 is an illustration of a partially phantom view of a housing in accordance with an illustrative embodiment;

Figure 12 is an illustration of a transport system positioned relative to a spar in accordance with an illustrative embodiment;

Figure 13 is an illustration of a transport system positioned relative to a thicker portion of a web in accordance with an illustrative embodiment; Figure 14 is an illustration of a transport system positioned relative to a thinner portion of a web in accordance with an illustrative embodiment;

Figure 15 is an illustration of a transport system positioned relative to a web having an acute angle relative to a first flange in accordance with an illustrative embodiment;

Figure 16 is an illustration of a transport system positioned relative to a web having an obtuse angle relative to a first flange in accordance with an illustrative embodiment;

Figure 17 is an illustration of a process for transporting a payload along an object in the form of a flowchart in accordance with an illustrative embodiment;

Figure 18 is an illustration of a process for transporting a payload along an object in the form of a flowchart in accordance with an illustrative embodiment;

Figure 19 is an illustration of an aircraft manufacturing and service method in accordance with an illustrative embodiment; and

Figure 20 is an illustration of an aircraft in which an illustrative embodiment may be implemented.

DETAILED DESCRIPTION

The illustrative embodiments recognize and take into account different considerations. For example, the illustrative embodiments recognize and take into account that it may be desirable to have a transport system that has the mechanical freedom needed to carry and transport a payload along a structure having a varying geometry while following the varying geometry of the structure. In particular, it may be desirable to have a transport system that can follow the changing thicknesses and/or angles of a T-section structure, an I-beam structure, an L-shaped structure, a C-shaped structure, a Z-shaped structure, a J-shaped structure, an H-shaped, structure, and/or other types of structures.

Thus, the illustrative embodiments provide a transport system for carrying a payload along a structure. In one illustrative embodiment, a coupler may be positioned at a first side of the object and a carrier at a second side of the object. The carrier may be configured to carry the payload. The carrier may be magnetically coupled to the coupler through the object. The carrier and the coupler may be magnetically coupled to a drive system through the object. The drive system may be driven along a length of the object to move the carrier and the coupler along the object. The carrier and the coupler may be configured to follow a varying geometry of the object as the carrier and the coupler are moved. Referring now to the figures and, in particular, with reference to Figure 1, an illustration of a transport system is depicted in accordance with an illustrative embodiment. Transport system 100 may be used to carry and transport payload 102 along object 104. Payload 102 may take a number of different forms.

In one illustrative example, payload 102 may be testing system 106. Testing system

106 may be, for example, without limitation, nondestructive inspection system 108. Of course, in other illustrative examples, testing system 106 may take some other form. Further, in other examples, payload 102 may take some other form such as, for example, without limitation, an imaging system, a testing system, a nondestructive inspection system, a marking system, an infrared system, a laser device, a drilling tool, or some other type of device. In still other examples, payload 102 may take the form of a fastener installation device, a sealant installation device, or some other type of device.

Object 104 may be any object that has a geometry that varies with respect to at least one dimension of object 104. In one illustrative example, object 104 takes the form of spar 110. Spar 110 may include web 112 configured for attachment to first skin 114 and second skin 116. Further, spar 110 may include first flange 118 and second flange 120 used to attach web 112 to one of first skin 114 and second skin 116.

For example, without limitation, first flange 118 may be used to attach first side 122 of web 112 to second skin 116 and second flange 120 may be used to attach second side 124 of web 112 to second skin 116. Web 112, first flange 118, and second flange 120 may form a T-section structure. Although object 104 is described as being spar 110 that is a T-section structure, object 104 may take the form of some other type of structure. For example, without limitation, object 104 may take the form of an I-beam structure, an L-shaped structure, a C-shaped structure, a Z-shaped structure, a J-shaped structure, an H-shaped, structure, or some other type of structure.

As depicted, transport system 100 may include coupler 126, carrier 128, and drive system 130. Coupler 126 may be used to magnetically couple carrier 128 to web 112. For example, without limitation, carrier 128 may be used to carry payload 102 along second side 124 of web 112. Coupler 126 may be positioned along first side 122 of web 112 and used to magnetically couple carrier 128 to web 112. Drive system 130 may be used to move both coupler 126 and carrier 128 along the length of spar 110.

In this illustrative example, coupler 126 may include coupler structure 132, coupler movement system 134, and coupler alignment system 135. Coupler movement system 134 and coupler alignment system 135 may be associated with coupler structure 132. As used herein, when one component is "associated" with another component, the association is a physical association in the depicted examples. For example, a first component, such as coupler movement system 134, may be considered to be associated with a second component, such as coupler structure 132, by being secured to the second component, bonded to the second component, mounted to the second component, welded to the second component, fastened to the second component, and/or connected to the second component in some other suitable manner. The first component also may be connected to the second component using a third component. Further, the first component may be considered to be associated with the second component by being formed as part of and/or as an extension of the second component.

Coupler structure 132 may be implemented using, for example, without limitation, a frame or structural framework, configured to hold and support all of the components of coupler 126. In one illustrative example, coupler structure 132 may take the form of coupler chassis 136.

Coupler movement system 134 may include number of coupler movement devices

138. As used herein, a "number of items may be one or more items. In this manner, number of coupler movement devices 138 may include one or more movement devices. A coupler movement device in number of coupler movement devices 138 may be implemented using any object or device that may allow coupler structure 132 to move along spar 110 with a reduced amount of friction. A coupler movement device may be implemented using, for example, without limitation, at least one of a roller, a wheel, a slider, an air bearing, a spherical bearing, or some other type of movement device.

As used herein, the phrase "at least one of," when used with a list of items, means different combinations of one or more of the listed items may be used and only one of the items in the list may be needed. The item may be a particular object, thing, or category. In other words, "at least one of means any combination of items or number of items may be used from the list, but not all of the items in the list may be required.

For example, "at least one of item A, item B, and item C" may mean item A; item A and item B; item B; item A, item B, and item C; or item B and item C. In some cases, "at least one of item A, item B, and item C" may mean, for example, without limitation, two of item A, one of item B, and ten of item C; four of item B and seven of item C; or some other suitable combination.

In this illustrative example, coupler alignment system 135 may include first magnetic system 140 and second magnetic system 142. First magnetic system 140 may be used in creating magnetic attraction between coupler 126 and carrier 128. Second magnetic system 142 may be used in creating magnetic attraction between coupler 126 and drive system 130. In particular, first magnetic system 140 may include first set of coupler magnets 144 housed in first number of housings 146. Second magnetic system 142 may include second set of coupler magnets 148 housed in second number of housings 150. As used herein, a "set of items may include one or more items. In this manner, first set of coupler magnets 144 may include one or more magnets and second set of coupler magnets 148 may include one or more magnets.

Further, in this illustrative example, carrier 128 may include carrier structure 152, carrier movement system 154, and carrier alignment system 156. Carrier movement system 154 and carrier alignment system 156 may be associated with carrier structure 152.

Carrier structure 152 may be implemented using, for example, without limitation, a frame or structural framework, configured to hold and support all of the components of carrier structure 152, as well as payload 102. In one illustrative example, carrier structure 152 may take the form of carrier chassis 158.

Carrier movement system 154 may include number of carrier movement devices 160. A carrier movement device in number of carrier movement devices 160 may be implemented using any object or device that may allow carrier structure 152 to move along spar 110 with a reduced amount of friction. A carrier movement device may be implemented using, for example, without limitation, at least one of a roller, a wheel, a slider, an air bearing, a spherical bearing, or some other type of movement device.

In this illustrative example, carrier alignment system 156 may include first magnetic system 162 and second magnetic system 164. First magnetic system 162 may be used in creating magnetic attraction between carrier 128 and coupler 126. Second magnetic system 164 may be used in creating magnetic attraction between carrier 128 and drive system 130. In particular, first magnetic system 162 may include first set of carrier magnets 166 housed in first number of housings 168. Second magnetic system 164 may include second set of carrier magnets 170 housed in second number of housings 172.

First set of carrier magnets 166 may be attracted to first set of coupler magnets 144 such that first set of carrier magnets 166 may be magnetically coupled to first set of coupler magnets 144 across, or through, web 112. In this manner, coupler 126 ensures that carrier 128 is magnetically coupled to web 112.

However, second set of coupler magnets 148 and second set of carrier magnets 170 may be attracted to corresponding magnets of drive system 130 in a manner that magnetically couples second set of coupler magnets 148 and second set of carrier magnets 170 to drive system 130. In particular, drive system 130 may be positioned on the opposite side of second skin 116 relative to coupler 126 and carrier 128. Drive system 130 may have first set of drive magnets 174 and second set of drive magnets 176.

Second set of coupler magnets 148 may be attracted to first set of drive magnets 174 in a manner that magnetically couples second set of coupler magnets 148 to first set of drive magnets 174 through first flange 118. Further, second set of carrier magnets 170 may be attracted to second set of drive magnets 176 in a manner that magnetically couples second set of carrier magnets 170 to second set of drive magnets 176 through second flange 120. In this manner, both coupler 126 and carrier 128 may be magnetically coupled to drive system 130.

First number of housings 146 holding first set of coupler magnets 144 may be configured to move relative to coupler structure 132. In one illustrative example, first number of housings 146 may be moveable in a vertical direction with respect to coupler structure 132. In particular, first number of housings 146 may be allowed to slide vertically with respect to coupler structure 132 within some selected range.

Further, second number of housings 150 holding second set of coupler magnets 148 may be configured to move relative to coupler structure 132. In one illustrative example, second number of housings 150 may be rotatable about axis 151 through second number of housings 150 and may be able to move in a direction substantially perpendicular to coupler structure 132. In particular, second number of housings 150 may be allowed to rotate within some selected range of degrees. Further, second number of housings 150 may be allowed to slide in a direction substantially perpendicular to coupler structure 132 within some selected range.

In this illustrative example, first number of housings 168 holding first set of carrier magnets 166 may be fixed relative to carrier structure 152. In other words, first number of housings 168 may be unable to move relative to carrier structure 152. However, second number of housings 172 holding second set of carrier magnets 170 may be able to move relative to carrier structure 152. In particular, second number of housings 172 may be rotatable about axis 173 through second number of housings 172. Second number of housings 172 may be allowed to rotate within some selected range of degrees.

First number of housings 146 and second number of housings 150 in coupler 126 and second number of housings 172 in carrier 128 may be allowed to move such that coupler 126 and carrier 128 may have the mechanical freedom needed for coupler 126 and carrier 128 to follow the varying geometry of spar 110. For example, without limitation, the thickness of web 112 may change along the length of web 112. Further, the angles between web 112 and first flange 118 and between web 112 and second flange 120 may change along the length of web 112.

Still further, the thicknesses of first flange 118 and second flange 120 may change along the length of web 112. Additionally, one or more regions of web 112, first fiange 118, and/or second fiange 120 may be configured to transition in a number of different ways such as, for example, without limitation, ramp up, ramp down, curve, and/or vary in some other manner.

First number of housings 146, second number of housings 150, and second number of housings 172 may have the movability needed to accommodate this varying geometry of spar 110.

The illustration of transport system 100 in Figure 1 is not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional. Also, the blocks are presented to illustrate some functional components. One or more of these blocks may be combined, divided, or combined and divided into different blocks when implemented in an illustrative embodiment.

With reference now to Figure 2, an illustration of a top isometric view of a transport system is depicted in accordance with an illustrative embodiment. In this illustrative example, transport system 200 may be an example of one implementation for transport system 100 in Figure 1. Transport system 200 may be used to carry a payload along spar 202. Spar 202 may be an example of one implementation for spar 110 in Figure 1.

As depicted, spar 202 may include web 203, first flange 206, and second fiange 208. First flange 206 may extend from first side 204 of web 203 and second flange 208 may extend from second side 205 of web 203. Web 203, first flange 206, and second flange 208 may be examples of implementations for web 112, first flange 118, and second flange 120, respectively, in Figure 1.

The thickness of web 203 may vary along the length of spar 202. Further, angle 209 between first flange 206 and web 203 and angle 211 between second flange 208 and web 203 may also vary along the length of spar 202. In some cases, the thicknesses of first flange 206 and second flange 208 may vary along the length of spar 202.

Additionally, spar 202 may have curved portion 210 formed by first flange 206 and web 203 and curved portion 212 formed by second flange 208 and web 203. The radius of curvature of curved portion 210 and the radius of curvature of curved portion 212 may vary along the length of spar 202. Further, the radius of curvature of curved portion 210 within curved portion 210 and/or the radius of curvature of curved portion 212 may vary within curved portion 210. Transport system 200 may be configured to accommodate this varying geometry and to follow the variations in geometry along the length of spar 202.

As depicted, transport system 200 may include coupler 214 and carrier 216. Coupler

214 and carrier 216 may be examples of implementations for coupler 126 and carrier 128, respectively, in Figure 1. In this illustrative example, coupler 214 may include coupler chassis 218 having first side 215 and second side 217. Second side 217 of coupler chassis 218 may be configured to face first side 204 of web 203. Coupler chassis 218 may be an example of one implementation for coupler chassis 136 in Figure 1.

Coupler 214 may also include coupler alignment system 220 and coupler movement system 222, which may be examples of implementations for coupler alignment system 135 and coupler movement system 134, respectively, in Figure 1. Coupler alignment system 220 may include first magnetic system 221 and second magnetic system 223, which may be examples of implementations for first magnetic system 140 and second magnetic system 142, respectively, in Figure 1.

First magnetic system 221 may include housing 224 and housing 226, as well as a first set of coupler magnets (not shown) retained by these housings. Housing 224 and housing 226 may be an example of one implementation for first number of housings 146 in Figure 1. Housing 224 may have cover 225 and housing 226 may have cover 227 that cover the first set of coupler magnets (not shown) held within housing 224 and housing 226. In some cases, housing 224 and housing 226 may be referred to as magnet packs.

Further, second magnetic system 223 may include housing 228 and housing 230, as well as a second set of coupler magnets (not shown) retained by these housings. Housing 228 and housing 230 may be an example of one implementation for second number of housings 150 in Figure 1. Housing 228 and housing 230 may hold magnets. In some cases, housing 228 and housing 230 may be referred to as trucks, truck assemblies, or magnet trucks.

In this illustrative example, coupler movement system 222 may include rollers 232, 234, 236, 238, 240, and 242. These rollers may be an example of one implementation for number of coupler movement devices 138 in Figure 1. Rollers 232, 234, 236, 238, 240, and 242 may allow coupler 214 to move along spar 202 in a direction substantially parallel to axis 243. Axis 243 may be substantially perpendicular to axis 254. Axis 254 may be substantially parallel to the center axes (not shown) of rollers 232, 234, 236, 238, 240, and 242. As depicted, cover plates 244, 246, 248, and 250 may be attached to coupler chassis 218. These cover plates may be used to cover slots (not shown) that allow housing 228 and housing 230 to move in a direction substantially parallel to axis 251. Axis 251 may be substantially perpendicular to coupler chassis 218 in this illustrative example. Further, axis 251 may be substantially perpendicular to axis 254 and axis 243. Cover plates 244, 246, 248, and 250 may limit the range of movement of housing 228 and housing 230.

Further, housing 228 and housing 230 may be rotatable. For example, without limitation, housing 228 and housing 230 may be configured to rotate in a direction indicated by arrow 252.

Housing 224 and housing 226 may be configured to move in a direction substantially parallel to axis 254. Axis 254 may be a vertical axis relative to coupler chassis 218. As described above, axis 254 may be an axis substantially parallel to the center axes (not shown) of rollers 232, 234, 236, 238, 240, and 242.

The movability of housings 224, 226, 228, and 230 provide coupler 214 with mechanical freedom. This mechanical freedom may allow coupler 214 to accommodate the variations in geometry along spar 202. Carrier 216 may be described in greater detail in

Figure 6 below.

With reference now to Figure 3, an illustration of a top isometric view of coupler 214 from Figure 2 is depicted in accordance with an illustrative embodiment. In this illustrative example, cover 225 of housing 224 and cover 227 of housing 226 from Figure 2 have been removed such that first set of coupler magnets 300 may be seen. First set of coupler magnets 300 may be an example of one implementation for first set of coupler magnets 144 in Figure 1.

As depicted, first set of coupler magnets 300 may include first magnets 302 housed within housing 224 and second magnets 304 housed within housing 226. First magnets 302 may include magnets 306, 308, and 310. Second magnets 304 may include magnets 312, 314, and 316.

Further, cover plates 244, 246, 248, and 250 from Figure 2 have been removed such that slots 318, 320, 322, and 324, respectively, may be more clearly seen. Slot 318 and slot 320 may allow housing 228 to move in a direction substantially parallel to axis 251. Slot 322 and slot 322 may allow housing 230 to move in a direction substantially parallel to axis 251.

Turning now to Figure 4, an illustration of a side view of coupler 214 from Figures 2-3 viewed from first side 215 of coupler 214 is depicted in accordance with an illustrative embodiment. In Figure 4, a side view of coupler 214 is depicted with respect to lines 4-4 in Figure 2. In this illustrative example, roller 400 associated with housing 228 and roller 402 associated with housing 230 may be seen. Roller 400 and roller 402 may be part of coupler movement system 222. Roller 400 and roller 402 may allow housing 228 and housing 230, respectively, to move in a direction substantially parallel to axis 243.

With reference now to Figure 5, an illustration of a bottom isometric view of coupler

214 from Figures 2-4 viewed from second side 217 of coupler 214 is depicted in accordance with an illustrative embodiment. In Figure 5, the bottom isometric view of coupler 214 is depicted with respect to lines 5-5 in Figure 2. In this illustrative example, back 500 of housing 224 and back 502 of housing 226 may be seen.

With reference now to Figure 6, an illustration of a top isometric view of carrier 216 from Figure 2 is depicted in accordance with an illustrative embodiment. In this illustrative example, carrier 216 may include carrier chassis 600 having first side 602 and second side 604. Second side 604 of carrier chassis 600 may face side 205 of web 203. Carrier chassis 600 may be an example of one implementation for carrier chassis 158 in Figure 1.

Further, carrier 216 may also include carrier alignment system 606 and carrier movement system 608, which may be examples of implementations for carrier alignment system 156 and carrier movement system 154, respectively, in Figure 1. Carrier alignment system 606 may include first magnetic system 607 and second magnetic system 609, which may be examples of implementations for first magnetic system 162 and second magnetic system 164, respectively, in Figure 1.

First magnetic system 607 may include housing 610 and housing 612, as well as a first set of carrier magnets (not shown) retained by these housings. Housing 610 may have cover 611 that covers magnets (not shown) held within housing 610. Further, housing 612 has cover 613 that covers magnets (not shown) held within housing 612. Housing 610 and housing 612 may be examples of implementations for first number of housings 168 in Figure 1. In some cases, housing 610 and housing 612 may be referred to as magnet packs.

Further, second magnetic system 609 may also include housing 614 and housing 616, as well as a second set of carrier magnets (not shown) retained by these housings. Housing 614 and housing 616 may also hold magnets (not shown). Housing 614 and housing 616 may be examples of implementations for second number of housings 172 in Figure 1. In some cases, housing 614 and housing 616 may be referred to as trucks, truck assemblies, or magnet trucks.

In this illustrative example, carrier movement system 608 may include rollers 618, 620, 622, 624, 626, and 628. These rollers may be an example of one implementation for number of carrier movement devices 160 in Figure 1. Rollers 618, 620, 622, 624, 626, and 628 may allow carrier 216 to move along spar 202 in a direction substantially parallel to axis 630. Axis 630 may be an axis substantially perpendicular to the center axes of rollers 618, 620, 622, 624, 626, and 628.

In this illustrative example, housing 610 and housing 612 may be fixed relative to carrier chassis 600. In other words, housing 610 and housing 612 may be unable to move relative to carrier chassis 600. However, housing 614 and housing 616 may be moveable relative to carrier chassis 600. In particular, housing 614 and housing 614 may be configured to rotate in a direction indicated by arrow 632.

With reference now to Figure 7, an illustration of another top isometric view of carrier 216 from Figure 6 is depicted in accordance with an illustrative embodiment. In this illustrative example, cover 611 of housing 610 and cover 613 of housing 612 have been removed such that first set of carrier magnets 700 may be seen. First set of carrier magnets 700 may be an example of one implementation for first set of carrier magnets 166 in Figure 1.

As depicted, first set of carrier magnets may include first magnets 701 held within housing 610 and second magnets 702 held within housing 612. First magnets 701 may include magnets 704, 706, and 708. Second magnets 702 may include magnets 710, 712, and 714.

Turning now to Figure 8, an illustration of a side view of carrier 216 from Figures 6- 7 viewed from first side 602 of carrier 216 is depicted in accordance with an illustrative embodiment. In Figure 8, a side view of carrier 216 is depicted with respect to lines 8-8 in Figure 6. In this illustrative example, roller 800 and roller 802 may be seen. Roller 800 may be associated with housing 614 and roller 802 may be associated with housing 616.

Roller 800 and roller 802 may be part of carrier movement system 608. Roller 800 and roller 802 may allow housing 614 and housing 616, respectively, to move in a direction substantially parallel to axis 630.

With reference now to Figure 9, an illustration of a bottom isometric view of carrier 216 from Figures 6-8 viewed from second side 604 of carrier 216 is depicted in accordance with an illustrative embodiment. In Figure 9, the bottom isometric view of carrier 216 is depicted with respect to lines 9-9 in Figure 6. In this illustrative example, back 900 of housing 610 and back 902 of housing 612 may be seen.

With reference now to Figure 10, an illustration of an enlarged isometric view of housing 228 from Figures 2-5 is depicted in accordance with an illustrative embodiment. In this illustrative example, housing 228 may have first portion 1000 and second portion 1001. As depicted, elongate member 1002 and elongate member 1004 may be associated with first portion 1000 of housing 228.

Elongate member 1002 and elongate member 1004 may be configured to fit within slot 318 and slot 320, respectively, in Figure 3. Elongate member 1002 and elongate member 1004 may be allowed to slide within slot 318 and slot 320, respectively, in Figure 3. Further, elongate member 1002 and elongate member 1004 may allow housing 228 to be rotated.

Turning now to Figure 11, an illustration of a partially phantom view of housing 228 from Figure 10 is depicted in accordance with an illustrative embodiment. In this illustrative example, first portion 1000 of housing 228 may be shown in phantom such that magnets 1100 may be seen. Magnets 1100 may include magnet 1102 and magnet 1104. Magnets 1100 may be an example of one implementation for a portion of second set of coupler magnets 148 in Figure 1. Housing 230 in Figure 2 and both housing 614 and housing 616 in Figure 6 may be implemented in a manner similar to housing 228.

With reference now to Figures 12-17, illustrations of transport system 200 from

Figures 2-11 adjusting to the varying geometry of spar 202 are depicted in accordance with an illustrative embodiment. In Figures 12-17, transport system 200 may be depicted from a view taken with respect to lines 12-12 in Figure 6.

With reference now to Figure 12, an illustration of transport system 200 positioned relative to spar 202 is depicted in accordance with an illustrative embodiment. As depicted, transport system 200 may include drive system 1200. Drive system 1200 may be used to move coupler 214 and carrier 216 along spar 202.

In this illustrative example, drive system 1200 may include first set of drive magnets 1202 and second set of drive magnets 1204. First set of drive magnets 1202 may be configured to magnetically attract second set of coupler magnets 1206 of second magnetic system 223 of coupler 214. Second set of coupler magnets 1206 may be retained by housing 228 and housing 230 (not shown, but as seen in Figure 2). Further, second set of drive magnets 1204 may be configured to magnetically attract second set of carrier magnets 1208 of second magnetic system 609 of carrier 216. Second set of carrier magnets 1208 may be retained by housing 614 and housing 616 (not shown, but as seen in Figure 6). In this manner, coupler 214 and carrier 216 may be magnetically coupled to drive system 1200.

Further, first set of coupler magnets 300 of first magnetic system 221 of coupler 214 may be magnetically attracted to first set of carrier magnets 700 of first magnetic system 607 of carrier 216 through web 203. In this manner, coupler 214 may magnetically couple carrier 216 to web 203.

Drive system 1200 may be driven to move along the length of spar 202. The magnetic coupling between coupler 214 and drive system 1200 and between carrier 216 and drive system 1200 may cause coupler 214 and carrier 216 to move with drive system 1200 along the length of spar 202.

In this illustrative example, transport system 200 may be configured to maintain alignment between second set of coupler magnets 1206 and first set of drive magnets 1202 with respect to alignment axis 1210 as drive system 1200 is moved along the length of spar 202. Further, transport system 200 may also be configured to maintain alignment between second set of carrier magnets 1208 and second set of drive magnets 1204 with respect to alignment axis 1212 as drive system 1200 is moved along the length of spar 202. When proper alignment has been achieved between coupler 214, carrier 216, and drive system 1200, distance 1216 between axis 1210 and axis 1212 may be substantially constant as drive system 1200 moves along spar 202.

Additionally, transport system 200 may be configured to maintain alignment between first set of coupler magnets 300 and first set of carrier magnets 700 with respect to alignment axis 1214 as drive system 1200 is moved along the length of spar 202. Distance 1218 may be a fixed distance in this illustrative example. However, distance 1220 may be changed in order to maintain proper alignment between first set of coupler magnets 300 and first set of carrier magnets 700.

At the current position of drive system 1200 relative to spar 202, web 203 may be at angle 1222 relative to second flange 208. Further, web 203 may have thickness 1224. As depicted, position 1226 of housing 228 relative to coupler chassis 218 and position 1228 of first magnetic system 221 may provide the proper alignment between coupler 214, carrier 216, and drive system 1200. In this illustrative example, position 1226 of housing 228 has elongate member 1002 associated with housing 228 in the middle of slot 318.

With reference now to Figure 13, an illustration of transport system 200 positioned relative to a thicker portion of web 203 is depicted in accordance with an illustrative embodiment. In this illustrative example, web 203 has thickness 1300, which may be greater than thickness 1224 in Figure 12. To accommodate this greater thickness, while maintaining proper alignment between coupler 214, carrier 216, and drive system 1200, housing 228 may be moved towards web 203 to position 1302. With reference now to Figure 14, an illustration of transport system 200 positioned relative to a thinner portion of web 203 is depicted in accordance with an illustrative embodiment. In this illustrative example, web 203 has thickness 1400, which may be smaller than thickness 1224 in Figure 12. To accommodate this smaller thickness, while maintaining proper alignment between coupler 214, carrier 216, and drive system 1200, housing 228 may be moved away from web 203 to position 1402.

With reference now to Figure 15, an illustration of transport system 200 positioned relative to web 203 having an acute angle relative to first flange 206 is depicted in accordance with an illustrative embodiment. In this illustrative example, web 203 is at angle 1500 relative to first fiange 206. Angle 1500 may be wider than angle 1222 in Figure 12.

At this narrower angle, the ability of housing 228 and housing 614 to rotate relative to coupler chassis 218 and carrier chassis 600, respectively, may allow alignment to be maintained between coupler 214 and drive system 1200 and between carrier 216 and drive system 1200. Further, to accommodate this narrower angle, while maintaining proper alignment between coupler 214, carrier 216, and drive system 1200, housing 224 may be moved in a direction away from housing 228 to position 1502, resulting in distance 1504 that is greater than distance 1220 in Figure 12.

With reference now to Figure 16, an illustration of transport system 200 positioned relative to web 203 having an obtuse angle relative to first flange 206 is depicted in accordance with an illustrative embodiment. In this illustrative example, web 203 is at angle 1600 relative to first flange 206. Angle 1600 may be wider than angle 1222 in Figure 12.

At this wider angle, the ability of housing 228 and housing 614 to rotate relative to coupler chassis 218 and carrier chassis 600, respectively, may allow alignment to be maintained between coupler 214 and drive system 1200 and between carrier 216 and drive system 1200. Further, to accommodate this wider angle, while maintaining proper alignment between coupler 214, carrier 216, and drive system 1200, housing 224 may be moved in a direction towards housing 228 to position 1602, resulting in distance 1604 that is smaller than distance 1220 in Figure 12.

In this manner, as depicted in Figures 12-16, transport system 200 may have the mechanical freedom needed for transport system 200 to follow the varying geometry of spar 202. In particular, coupler 214 and carrier 216 may be able to make adjustments to follow the variations in the geometry of spar 202.

The illustrations of transport system in Figures 2-16 are not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be optional.

The different components shown in Figures 2-12 may be illustrative examples of how components shown in block form in Figure 1 can be implemented as physical structures. Additionally, some of the components in Figures 2-12 may be combined with components in Figure 1, used with components in Figure 1, or a combination of the two.

With reference now to Figure 17, an illustration of a process for transporting a payload along an object is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated in Figure 17 may be implemented using transport system 100 in Figure 1.

The process may begin by positioning coupler 126 at first side 122 of object 104 and carrier 128 at second side 124 of object 104 (operation 1700). Carrier 128 may be configured to carry, for example, without limitation, payload 102. Next, coupler 126 may be coupled to carrier 128 through object 104 (operation 1702). In operation 1702, coupler 126 may be magnetically coupled to carrier 128 though object 104. Further, coupler 126 and carrier 128 may then be coupled to drive system 130 through object 104 (operation 1704). Coupler 126 may be magnetically coupled to carrier 128 though object 104 in operation 1704.

Thereafter, drive system 130 may be driven along a length of object 104 to move coupler 126 and carrier 128 along object 104 (operation 1706), with the process terminating thereafter. Coupler 126 and carrier 128 may be configured to follow a varying geometry of object 104 as coupler 126 and carrier 128 are moved.

With reference now to Figure 18, an illustration of a process for transporting a payload along an object is depicted in the form of a flowchart in accordance with an illustrative embodiment. The process illustrated in Figure 18 may be implemented using transport system 100 in Figure 1.

The process may begin by positioning coupler 126 at first side 122 of web 112 and carrier 128 at second side 124 of web 112 in which web 112, first flange 118, and second flange 120 form spar 110 (operation 1800). Carrier 128 may be configured to carry payload 102. Next, coupler 126 may be magnetically coupled to carrier 128 using first set of coupler magnets 144 held in first number of housings 146 associated with coupler structure 132 of coupler 126 and first set of carrier magnets 166 held in first number of housings 168

associated with carrier structure 152 of carrier 128 (operation 1802).

Further, coupler 126 may be magnetically coupled to drive system 130 through first flange 118 using second set of coupler magnets 148 held within second number of housings 150 associated with coupler structure 132 and first set of drive magnets 174 in drive system 130 (operation 1804). Carrier 128 may be magnetically coupled to drive system 130 through second flange 120 using second set of carrier magnets 170 held within second number of housings 172 associated with carrier structure 152 and second set of drive magnets 176 in drive system 130 (operation 1806).

Thereafter, drive system 130 may be driven along a length of spar 110 to move coupler 126, carrier 128, and payload 102 carried by carrier 128 along spar 110 (operation 1808). As coupler 126 and carrier 128 are moved by drive system 130, a varying geometry of spar 110 may be followed by coupler 126 and carrier 128 (operation 1810), with the process terminating thereafter.

Operation 1810 may be performed by performing at least one of the following three operations. At least one of second number of housings 150 associated with coupler structure 132 may be moved relative to coupler structure 132 to maintain alignment between second set of coupler magnets 148 and first set of drive magnets 174 as drive system 130 moves coupler structure 132. At least one of second number of housings 172 associated with carrier structure 152 may be moved relative to carrier structure 152 to maintain alignment between second set of carrier magnets 170 and second set of drive magnets 176 as drive system 130 moves carrier structure 152. Further, at least one of first number of housings 146 associated with coupler structure 132 may be moved relative to coupler structure 132 to maintain alignment between first set of coupler magnets 144 and first set of carrier magnets 166 as drive system 130 moves coupler 126 and carrier 128.

Illustrative embodiments of the disclosure may be described in the context of aircraft manufacturing and service method 1900 as shown in Figure 19 and aircraft 2000 as shown in Figure 20. Turning first to Figure 19, an illustration of an aircraft manufacturing and service method is depicted in accordance with an illustrative embodiment. During pre-production, aircraft manufacturing and service method 1900 may include specification and design 1902 of aircraft 2000 in Figure 20 and material procurement 1904.

During production, component and subassembly manufacturing 1906 and system integration 1908 of aircraft 2000 in Figure 20 takes place. Thereafter, aircraft 2000 in

Figure 20 may go through certification and delivery 1910 in order to be placed in service 1912. While in service 1912 by a customer, aircraft 2000 in Figure 20 is scheduled for routine maintenance and service 1914, which may include modification, reconfiguration, refurbishment, and other maintenance or service. Each of the processes of aircraft manufacturing and service method 1900 may be performed or carried out by a system integrator, a third party, and/or an operator. In these examples, the operator may be a customer. For the purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and major- system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator may be an airline, a leasing company, a military entity, a service organization, and so on.

With reference now to Figure 20, an illustration of an aircraft is depicted in which an illustrative embodiment may be implemented. In this example, aircraft 2000 is produced by aircraft manufacturing and service method 1900 in Figure 19 and may include airframe 2002 with plurality of systems 2004 and interior 2006. Examples of systems 2004 include one or more of propulsion system 2008, electrical system 2010, hydraulic system 2012, and environmental system 2014. Any number of other systems may be included. Although an aerospace example is shown, different illustrative embodiments may be applied to other industries, such as the automotive industry.

Apparatuses and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service method 1900 in Figure 19. In particular, transport system 100 from Figure 1 may be used to carry a payload, such as payload 102, during any one of the stages of aircraft manufacturing and service method 1900. For example, without limitation, transport system 100 from Figure 1 may be used during at least one of system integration 1908, routine maintenance and service 1914, or some other stage of aircraft manufacturing and service method 1900.

In one illustrative example, components or subassemblies produced in component and subassembly manufacturing 1906 in Figure 19 may be fabricated or manufactured in a manner similar to components or subassemblies produced while aircraft 2000 is in service 1912 in Figure 19. As yet another example, one or more apparatus embodiments, method embodiments, or a combination thereof may be utilized during production stages, such as component and subassembly manufacturing 1906 and system integration 1908 in Figure 19. One or more apparatus embodiments, method embodiments, or a combination thereof may be utilized while aircraft 2000 is in service 1912 and/or during maintenance and service 1914 in Figure 19. The use of a number of the different illustrative embodiments may substantially expedite the assembly of and/or reduce the cost of aircraft 2000.

The flowcharts and block diagrams in the different depicted embodiments illustrate the architecture, functionality, and operation of some possible implementations of apparatuses and methods in an illustrative embodiment. In this regard, each block in the flowcharts or block diagrams may represent a module, a segment, a function, and/or a portion of an operation or step.

In some alternative implementations of an illustrative embodiment, the function or functions noted in the blocks may occur out of the order noted in the figures. For example, in some cases, two blocks shown in succession may be executed substantially concurrently, or the blocks may sometimes be performed in the reverse order, depending upon the

functionality involved. Also, other blocks may be added in addition to the illustrated blocks in a flowchart or block diagram.

The description of the different illustrative embodiments has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Further, different illustrative embodiments may provide different features as compared to other desirable embodiments. The embodiment or embodiments selected are chosen and described in order to best explain the principles of the embodiments, the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

CLAIMS:

What is claimed is: 1. An apparatus comprising:

a coupler (126) configured to be positioned at a first side (122) of an object (104); a carrier (128) configured to be positioned at a second side (124) of the object (104) in which the coupler (126) and the carrier (128) are configured to be coupled to each other through the object (104); and

a drive system (130) configured to be positioned opposite both the coupler (126) and the carrier (128) and configured to be driven along a length of the object (104) to move the coupler (126) and the carrier (128) along the object (104) in which the coupler (126) and the carrier (128) are configured to follow a varying geometry of the object (104) as the coupler (126) and the carrier (128) are moved.

2. The apparatus of claim 1, wherein the coupler (126) comprises:

a coupler structure (132);

a coupler alignment system (135) associated with the coupler structure (132) and configured to allow the coupler (126) to be magnetically coupled to and aligned with the carrier (128); and

a coupler movement system (134) associated with the coupler structure (132) and configured to allow the coupler structure (132) to move along the object (104).

3. The apparatus of claim 2, wherein the coupler alignment system (135) comprises: a first number of housings ( 146);

a first set of coupler magnets (144) held in the first number of housings (146) and configured for use in magnetically coupling the coupler (126) to the carrier (128) through the object (104);

a second number of housings (150); and

a second set of coupler magnets (148) held in the second number of housings (150) and configured for use in magnetically coupling the coupler (126) to the drive system (130) through the object (104).

4. The apparatus of claim 3, wherein the first number of housings (146) and the second number of housings (150) are configured to move relative to the coupler structure (132).

5. The apparatus of claim 1, wherein the carrier (128) comprises:

a carrier structure (152) configured to carry a payload (102);

a carrier alignment system (156) associated with the carrier structure (152) and configured to allow the carrier (128) to be magnetically coupled to and aligned with the coupler (126); and

a carrier movement system (154) associated with the carrier structure (152) and configured to allow the carrier structure (152) to move along the object (104) with a reduced amount of friction.

6. The apparatus of claim 5, wherein the carrier alignment system (156) comprises: a first set of carrier magnets (166) held in a first number of housings (168) and configured for use in magnetically coupling the carrier (128) to the coupler (126) through the object (104);

a second set of carrier magnets (170) held in a second number of housings (172) and configured for use in magnetically coupling the carrier (128) to the drive system (130) through the object (104); wherein the first number of housings (168) and the second number of housings (172) are configured to move relative to the carrier structure (152).

7. The apparatus of claim 1, wherein the object (104) is a spar (110).

8. A method for transporting a payload (102) along an object (104), the method comprising:

coupling (1702) a coupler (126) to a carrier (128) through the object (104);

coupling (1704) the coupler (126) and the carrier (128) to a drive system (130) through the object (104); and

driving (1706) the drive system (130) along a length of the object (104) to move the coupler (126) and the carrier (128) along the object (104).

9. The method of claim 8 further comprising:

following, by the carrier (128) and the coupler (126), a varying geometry of the object (104) as the coupler (126) and the carrier (128) are moved along the object (104).

10. The method of claim 8 further comprising:

positioning (1700) the coupler (126) at a first side (122) of the object (104) and the carrier (128) at a second side (124) of the object (104) in which the carrier (128) is configured to carry the payload (102).

11. The method of claim 8, wherein coupling the coupler (126) to the carrier (128) through the object (104) comprises:

magnetically (1802) coupling the coupler (126) to the carrier (128) using a first set of coupler magnets (144) held in a first number of housings (146) associated with a coupler structure (132) of the coupler (126) and a first set of carrier magnets (166) held in a first number of housings (168) associated with a carrier structure (152) of the carrier (128).

12. The method of claim 11, wherein coupling the coupler (126) and the carrier (128) to the drive system (130) through the obj ect ( 104) comprises :

magnetically (1804) coupling the coupler (126) to the drive system (130) using a second set of coupler magnets (148) held within a second number of housings (150) associated with the coupler structure (132) and a first set of drive magnets (174) in the drive system (130); and

magnetically (1806) coupling the carrier (128) to the drive system (130) using a second set of carrier magnets (170) held within a second number of housings (172) associated with the carrier structure (152) and a second set of drive magnets (176) in the drive system (130).

13. The method of claim 12 further comprising:

moving at least one of the second number of housings (150) associated with the coupler structure (132) relative to the coupler structure (132) to maintain alignment between the second set of coupler magnets (148) and the first set of drive magnets (174) as the drive system (130) moves the coupler structure (132).

14. The method of claim 12 further comprising:

moving at least one of the second number of housings (150) associated with the carrier structure (152) relative to the carrier structure (152) to maintain alignment between the second set of carrier magnets (170) and the second set of drive magnets (176) as the drive system (130) moves the carrier structure (152).

15. The method of claim 12 further comprising:

moving at least one of the first number of housings (146) associated with the coupler structure (132) relative to the coupler structure (132) to maintain alignment between the first set of coupler magnets (144) and the first set of carrier magnets (166) as the drive system (130) moves the coupler structure (132) and the carrier structure (152).