APARELHO PARA O POSICIONAMENTO ESTABILIZADO DE UMA ROBÓTICA COLABORATIVA E MÉTODO PARA O POSICIONAMENTO ESTABILIZADO DE UMA ROBÓTICA COLABORATIVA

Abstract

The disclosure refers to an isolated human work platform for the stabilized positioning of collaborative robotics. A base platform is provided, and a work platform is positioned on top of the base platform to support one or more humans. One or more robots are supported on the base platform independently of the work platform, so that the movement of the work platform does not affect the positions of the robots. The work platform is isolated from the robots for the stabilized positioning of the robots, so that the base platform and the work platform together provide a collaborative workspace for robots and humans.

Description

"A device for the stabilized positioning of a collaborative robotic system and a method for the stabilized positioning of a collaborative robotic system" BACKGROUND INFORMATION FIELD OF TECHNIQUE

[001] The disclosure refers, in general, to the field of robotics and more specifically to an isolated human work platform for the stabilized positioning of collaborative robotics. BACKGROUND OF THE INVENTION

[002] Aircraft manufacturers typically rely on the automation of work cells during the process of constructing an airframe assembly. A typical work cell includes a workstation and one or more support facilities in order to clamp and position the airframe assembly.

[003] Currently, robots are being used outside the fuselage assembly, and a certain amount of work inside the fuselage assembly is also done by robots. However, it is desirable to increase the use of robots inside the fuselage assembly, as well as to provide humans with safe access while robots operate inside the fuselage assembly.

[004] However, the platforms used within the fuselage assembly are not isolated and, as a result, tooling at the end of the robot arm within the fuselage assembly may jump or otherwise cause an impact due to the platform movement caused by the movement of a human or machine in the vicinity, resulting in the tooling at the end of the robot arm being in the wrong location or position.

[005] There is a need, in this case, for a work platform that allows humans to work safely within Petition 870260063223, dated 06 / 26 / 2026, page 6 / 77 2 / 27 of the fuselage assembly, and which provides isolated support for the movement of a human or machine without communicating any movement to the robots working within the fuselage assembly. SUMMARY OF THE INVENTION

[006] In order to overcome the limitations described above with respect to the prior art, as well as to overcome other limitations that will become apparent from reading and understanding this descriptive report, this disclosure describes a method and apparatus for the stabilized positioning of a collaborative robotics system.

[007] A base platform is provided, and a work platform is positioned relative to the base platform to support one or more humans. One or more robots are supported on the base platform independently of the work platform. The work platform is isolated from the robots for stabilized robot positioning, so that the base platform and the work platform together provide a collaborative workspace for robots and humans.

[008] The disclosure will be described below with reference to the following descriptive report and drawings BRIEF DESCRIPTION OF THE DRAWINGS

[009] Next, with reference to the drawings, similar reference numerals represent corresponding parts or pieces in their entirety:

[0010] Figure 1 illustrates a typical work cell design for assembling an aircraft fuselage.

[0011] Figures 2A and 2B are side and top perspective views of a work cell design.

[0012] Figures 3A and 3B further illustrate a work platform configuration, with Figure 3A being a side perspective view of the work platform, and Figure 3B being a back view. Petition 870260063223, dated 06 / 26 / 2026, page 7 / 77 3 / 27 of the work platform showing its underside.

[0013] Figures 4A, 4B and 4C further illustrate the configuration of the work platform, robots, gantries and cable conveyor system, with Figure 4A being a side perspective view of the work platform, robots and gantries; Figure 4B being a top view of the work platform, robots and gantries; and Figure 4C being a bottom view of the work platform, robots, gantries and cable conveyor system, showing its underside.

[0014] Figure 5 is a sectional view of the work platform positioned above the base platform, in which the sectional view shows only half of the work platform.

[0015] Figure 6 provides a view in which the work platform has been removed, leaving only the gantries, the cable conveyor system, the individual support stations and the robots.

[0016] Figure 7 is another view of the gantry on one side of the work platform, as well as the individual support stations attached to the gantry, with the robots omitted.

[0017] Figure 8 is another view of the gantry on one side of the work platform, as well as the individual support stations attached to the gantry, showing details of the two transmission belts.

[0018] Figure 9 illustrates the steps of a manufacturing and service method for an aircraft.

[0019] Figure 10 illustrates an aircraft and its components. DETAILED DESCRIPTION

[0020] Figure 1 illustrates a typical work cell design. 10, including one or more support facilities 12 in order to secure and position the fuselage assembly 14 of an aircraft. Currently, robots are used outside the fuselage assembly 14, and a certain amount of work inside the fuselage assembly 14 is Petition 870260063223, dated 06 / 26 / 2026, page 8 / 77 4 / 27 also done by robots. However, it is desired to provide a device for the stabilized positioning of collaborative robotics within the fuselage assembly 14.

[0021] In the present invention, the fuselage assembly 14 is positioned adjacent to a workstation 16 which includes a base platform 18 positioned within the fuselage assembly 14. (Some support structures for the workstation 16 are omitted from this view for clarity). The base platform 18 is independently supported within the fuselage assembly 14 by the workstation 16.

[0022] A work platform 20, which is an isolated movement platform, is positioned relative to the base platform 18. The work platform 20 can be positioned on top of the base platform 18.

[0023] One or more robots 22 may be positioned within the fuselage assembly 14 and supported on the base platform 18 independently of the work platform 20, such that any movement of the work platform 20, for example, a bending or shaking due to movement on the work platform 20, does not affect the position of the robots 22 or the base platform 18.

[0024] The robots 22 are supported independently of the work platform 20 on the gantries 24 positioned on both sides of the work platform 20. The gantries 24 are mounted on and supported by the base platform 18 independently of the work platform 20. The gantries 24, positioned above the base platform 18 and below the work platform 20, are used for positioning the robots 22 along a length of the work platform 20. The robots 22 are placed on the individual support stations 26, which are mounted on the gantries 24.

[0025] Robots 22 are provided with power, control and Petition 870260063223, dated 06 / 26 / 2026, p. 9 / 77 5 / 27 communication, as well as supply and return of parts, through a cable conveyor system 28. The cable conveyor system 28 is positioned on or above the base platform 18 and under the work platform 20 in order to provide a compact solution for supplying the robots 22.

[0026] The work platform 20 has a profile height above the base platform 18 within the fuselage assembly 14. This profile height allows humans 30 to access the interior of the fuselage assembly 14 while standing on the work platform 20. The profile height may be 30.48 centimeters (12 inches) or less, although other embodiments may have a profile height greater than 30.48 centimeters (12 inches).

[0027] At the same time, the work platform 20 places humans 30 at the correct height in order to easily reach work areas within the fuselage assembly 14. Furthermore, the fuselage assembly 14 can rotate, so that humans 30 can reach the upper or lower work areas within the fuselage assembly 14. Therefore, there is no need for ladders when humans 30 work within the fuselage assembly 14.

[0028] The robots 22 and the individual support stations 26 are positioned on the gantries 24 slightly above the base platform 18, and extend over the work platform 20 to a height necessary for positioning the robots 22 for optimal reach within a work area. The robots 22 and the individual support stations 26 have a combined height of approximately 76.20 centimeters (30 inches), which is approximately 45.72 centimeters (18 inches) above the height of 30.48 centimeters (12 inches) of the work platform 20, although other embodiments may have a combined height less than or greater than 76.20 centimeters (30 inches). Petition 870260063223, dated 06 / 26 / 2026, page 10 / 77 6 / 27

[0029] The base platform 18 and the work platform 20 together provide a collaborative workspace for the robots 22 and humans 30 within the fuselage assembly 14. The work platform 20 is isolated from the robots 22 for the stabilized positioning of the robots 22. Specifically, the work platform 20 provides isolated support for movement on it without communicating any movement to the robots 22, thus eliminating positioning errors caused by bending, vibrations, or fluctuations in the height of the work platform 20 due to the movement of the work platform 20.

[0030] Figures 2A and 2B are side and top perspective views of the work cell layout 10, respectively, with the support installation 12 and the fuselage assembly 14 omitted, in which the shape and position of the fuselage assembly 14 are indicated by dashed lines. These figures show the workstation 16 positioned at one end of the fuselage assembly 14 so as to independently support the base platform 18 as well as the work platform 20, both of which are suspended within the fuselage assembly 14.

[0031] These views illustrate an apparatus designed to support four collaborative robots 22 and humans 30 in a small work area, for example, a rear / tail section and a nose section of the fuselage assembly 14. Specifically, the work platform 20 may be narrower than the base platform 18. The work platform 20 is positioned relative to the base platform 18 so as to provide areas 32 for the movement or positioning of the robots 22 and the individual support stations 26, as well as the humans 30, on one or more sides of the work platform 20.

[0032] Work platform 20 is tapered along its Petition 870260063223, dated 06 / 26 / 2026, page 11 / 77 7 / 27 length so as to fit into the narrowing of the fuselage assembly 14, with a forward end 20a wider than the rear end 20b. The forward end 20a of the work platform 20 is positioned at a forward end of the fuselage assembly 14 and the rear end 20b of the work platform 20 is positioned at a rear end of the fuselage assembly 14.

[0033] The tapered configuration of the work platform 20 is used in order to leave areas 32 of the base platform 18 sufficient for the robots 22 and humans 30 to traverse the base platform 18 and be able to maneuver around the work platform 20 at times when the robots 22 need to be serviced or inspected in position. This tapered configuration also allows the use of the same robots 22 in the tapered sections or in the cylindrical sections of the fuselage assembly 14.

[0034] The work platform 20 may have a straight configuration, instead of a tapered configuration. This straight configuration may be used in the cylindrical sections of the fuselage assembly 14.

[0035] Once the fuselage assembly 14 is in position, a platform end support 34 is positioned and integrated into the rear end 20b of the work platform 20 in order to secure the position of the work platform 20. In one embodiment, the platform end support 34 comprises a structure that is itself supported independently of the workstation 16 and the base platform 18.

[0036] The work platform 20 further includes a ramp portion 20c, adjacent to the front end 20a, which is attached via the base platform 18 and the workstation 16, the ramp portion 20c of which facilitates the movement of a human 30 or a tool cart to access the work platform 20. In addition Petition 870260063223, dated 06 / 26 / 2026, page 12 / 77 8 / 27 of this, a 20d elevation is provided along one side (or both sides) of the work platform 20 for humans 30 to stand on.

[0037] Figures 3A and 3B further illustrate the configuration of work platform 20. Figure 3A is a side perspective view of work platform 20, taken from line 3A-3A in Figure 2A, looking in the direction of the arrows; and Figure 3B is a bottom view of work platform 20 showing its underside, taken from line 3B-3B in Figure 3A, looking in the direction of the arrows.

[0038] The work platform 20 may have a tapered configuration, with the wider portion 20a (the front end 20a) at a front end of the work platform 20 and the narrower portion 20b (the rear end 20b) at a rear end of the work platform 20. The work platform 20 further includes the ramp portion 20c adjacent to the front end 20a, which slopes downward from the work platform 20 so as to accommodate over or above the base platform 18 (not shown).

[0039] In addition, the work platform 20 has a planar top surface 20a, 20b, 20c, as shown in Figure 3A, and a ribbed bottom surface 20e with longitudinal braces 20f, as shown in Figure 3B. Figure 3b also shows the underside of the projection 20d of the work platform 20.

[0040] Figures 4A, 4B and 4C further illustrate the configuration of the work platform 20, the robots 22, the gantries 24, the individual support stations 26 and the cable conveyor system 28. Figure 4A is a side perspective view of the work platform 20 (including the front end 20a, the rear end 20b and the ramp 20c), the robots 22, the gantries 24 and the individual support stations 26, taken from line 4A-4A in Figure 2B, looking in the direction of the arrows; Figure 4B is a top view of the work platform 20 (including the front end 20a, the rear end 20b and the ramp 20c). Petition 870260063223, dated 06 / 26 / 2026, page 13 / 77 9 / 27 rear end 20b, ramp 20c and shoulder 20d), of the robots 22, of the gantries 24 and of the individual support stations 26, taken from line 4B-4B in Figure 4A, looking in the direction of the arrows; and Figure 4C is a bottom view of the work platform 20 (including front end 20a, rear end 20b, ramp 20c, shoulder 20d and braces 20f), of the robots 22, of the gantries 24, of the individual support stations 26 and of the cable conveyor system 28, taken from line 4C-4C in Figure 4A, looking in the direction of the arrows.

[0041] There may be separate gantries 24 on each side of the work platform 20. Each of the robots 22 is placed on an individual support station 26 which is fixed to its respective gantries 24. The robots 22 and the individual support stations 26 are fully supported by the gantries 24, which, in turn, are supported by the base platform 18 (not shown), and are not affected by the movement of the work platform 20.

[0042] When designing the gantry cranes 24, the need was identified to independently position two robots 22 on each side of the work platform 20 using only a single gantry crane 24. Current systems allow only one robot to be positioned along a gantry crane 24. The single gantry crane 24 will allow independent control of the direction of two robots 22 on one side of the work platform 20 to their respective specified locations with high precision.

[0043] Each of the two robots 22 on one side of the work platform 20 moves laterally along the side of the work platform 20 through the single gantry 24. Specifically, the gantry 24 allows each of the robots 22 to traverse a substantial portion of the length of the work platform 20 on one side of the work platform 20, except for the space occupied by the other robot 22, as well as the space on the opposite side of the other robot 22. Petition 870260063223, dated 06 / 26 / 2026, p. 14 / 77 10 / 27

[0044] The cable carrier system 28 is positioned at least partially under the work platform 20 and conforms to the tapered configuration of the work platform 20. The cable carrier system 28 provides a set of cables 36 for each of the robots 22. Although shown as individual elements, each of the cables 36 may comprise a bundle of power, control and communication cables, as well as supply and return tubes.

[0045] The cable conveyor system 28 is designed to be integrated into the work platform 20, but can be used independently of it. When designing the cable conveyor system 28, there is no concept available for stacking and fitting the two pairs of cables 36 that will serve the four robots 22 in a narrow tapered configuration within a compact space between the base platform 18 and the work platform 20. The cable conveyor system 28 provides a unique method for stacking and fitting pairs of cables 36 on the robots 22 on each side of the work platform 20, while preventing the cables 36 from interfering with each other and still allowing a wide range of motion.

[0046] Furthermore, the longitudinal struts 20f of the work platform 20 support at least portions of the cables 36 above the base platform 18 for stacking the cable pairs 36 so that they do not interfere with each other. Specifically, an upper cable 36 of a pair is supported by the longitudinal struts 20f above a lower cable 36 of the pair, which will allow the upper cable 36 to slide over the lower cable and the lower cable 36 to slide under the upper cable 36, without the cables 36 making contact.

[0047] Figure 5 is a sectional view of the work platform 20 positioned above the base platform 18, in which the sectional view shows only the left half of the work platform 20, Petition 870260063223, dated 06 / 26 / 2026, p. 15 / 77 11 / 27 with the right half of work platform 20 removed, taken from line 5-5 in Figure 2A, looking in the direction of the arrows.

[0048] The forward end 20a of the work platform 20 is mounted on one or more climbing columns 38, 40 mounted on the base platform 18, while the rear end 20b of the work platform 20 cantilevers over the base platform 18. Once the fuselage assembly 14 is in position, the platform end support 34 is positioned and integrated into the rear end 20b of the work platform 20 in order to secure the position of the work platform 20.

[0049] The riser column 38 is also a support structure, and consists of a lower flange 38a, a triangular vertical mesh element 38b, and an upper flange 38c, wherein the triangular vertical mesh element 38b connects the lower flange 38a to the upper flange 38c. The lower flange 38a is mounted on the base platform 18, and the work platform 20 is mounted on the upper flange 38c.

[0050] Similarly, the riser column 40 is a support structure, and is provided with a lower flange 40a, a vertical triangular mesh element 40b, and an upper flange 40c, wherein the vertical triangular mesh element 40b connects the lower flange 40a to the upper flange 40c. The lower flange 40a is mounted on the base platform 18, and the work platform 20 is mounted on the upper flange 40c.

[0051] It should be noted that only a portion of the riser column 40 is shown with the right half of the work platform 20 removed, for example, about half of the riser column 40, with the remaining portion of the riser column 40 hidden under the left half of the work platform 20. It should also be noted that there is another riser column 38 hidden under the left half of the work platform. Petition 870260063223, dated 06 / 26 / 2026, p. 16 / 77 12 / 27 work 20, with the hidden riser column 38 positioned on the opposite side of the riser column 38 shown in Figure 5.

[0052] The ramp portion 20c of the work platform 20 is also mounted on the riser columns 38, 40 in order to provide easy access from the base platform 18. The ramp portion 20c of the work platform 20 is supported on or above the triangular vertical mesh element 38b. The ramp portion 20c of the work platform 20 is also supported on or above the triangular vertical mesh element 40b.

[0053] The riser columns 38, 40 for the work platform are positioned on the base platform 18 in such a way that they do not interfere with the gantries 24 or the cable carrier system 28. The riser columns 38, 40 allow the gantries 24 and the cable carrier system 28 to be positioned between the work platform 20 and the base platform 18.

[0054] The riser column 40 may also include a support section 40d for at least parts of the cables 36 positioned intermediately above the vertical blanket element 40b, for stacking the cable pairs 36 so that they do not interfere with each other. Specifically, an upper cable 36 of a pair is supported by the support section 40d above a lower cable 36 in the pair, which will allow the upper cable 36 to slide over the lower cable and the lower cable 36 to slide under the upper cable 36, without the cables 36 making contact.

[0055] As noted above, there may be a gantry 24 positioned adjacent to each inner edge of the work platform 20 in order to move the robots 22 along a length of the work platform 20. The gantry 24 is made of a square main support steel tube 42 which is anchored near the riser column 38 at one end, i.e., at a front end 18a of the Petition 870260063223, dated 06 / 26 / 2026, page 17 / 77 13 / 27 base platform 18, so that the weight of the gantry 24 is supported from the front end 18a of the base platform 18. A remainder of the main square support steel tube 42 is cantilevered and positioned over the base platform 18 towards another end, i.e., at a rear end 18b of the base platform 18, so that the gantry 24 is isolated from the movement of the work platform 20. The main square support steel tube 42 is then coupled to the platform end support 34 at the rear end 18b of the base platform 18. Another gantry 24 is present on the left side of the work platform 20, in a mirror image of the gantry 24 shown, but is obscured by the work platform 20 in this view.

[0056] The work platform 20 further includes one or more removable access panels 44.In the example in Figure 5, there is an access panel 44 on the left half of the work platform 20 shown, but there is also a similarly placed access panel on the right half of the work platform 20 which has been omitted. The removable access panels 44 are designed to provide access to the gantry components 24 and the cable carrier system 28 under the work platform 20, for example, for repair, installation and / or removal purposes.

[0057] Figure 6 provides a view in which the work platform has been removed, but with its profile indicated in dashed lines, leaving only the robots 22, the gantries 24, the individual support stations 26 and the cable conveyor system 28.

[0058] Cable carrier system 28 holds cables 36a, 36b, 36c, 36d in a cross configuration in the space between the base platform 18 and the work platform 20. Specifically, the cable conveyor system 28 positions the four cables 36a, 36b, 36c, 36d so as to independently supply the four robots. Petition 870260063223, dated 06 / 26 / 2026, p. 18 / 77 14 / 27 22a, 22b, 22c, 22d without interfering with each other and still allowing a full range of motion for cables 36a, 36b, 36c, 36d.

[0059] The shape of the work platform 20 helps to orient the cable carrier system 28. In addition, cable sections 36a and 36c are fixed as shown in position 28a and cable sections 36b and 36d are fixed as shown in position 28b, where they intersect, in order to pivot, which will allow cables 36a, 36b, 36c, 36d to develop from a minimum radius to a maximum radius without slipping from the fixed positions as shown in positions 28a, 28b, which keeps the correct amount of cable 36a, 36b, 36c, 36d in place at all times. Securing cables 36a, 36b, 36c, 36d in positions 28a, 28b prevents cables 36a, 36b, 36c, 36d from sliding backward across the crossing area and interfering with any opposing cable sets 36a, 36b, 36c, 36d.

[0060] Cables 36a, 36b or 36c, 36d for robots 22a, 22b or Cables 22c and 22d on the first side of the work platform 20 are powered from a second side of the work platform 20 opposite the first side of the work platform 20 at the first end of the work platform 20, and cables 36a, 36b or 36c, and 36d for robots 22a, 22b, or 22c, and 22d on the second side of the work platform 20 are powered from the first side of the work platform 20 opposite the second side of the work platform 20 at the first end of the work platform 20. For example, cables 36a and 36b for the two robots 22a and 22b on the right side of the work platform 20 rest on the base platform 18 and are powered from a left side of the base platform 18 at the front end 20a of the work platform 20. Cables 36c and 36d for the two robots 22c, 22d on the left side of the work platform 20 are fed from the right side of the platform. Petition 870260063223, dated 06 / 26 / 2026, p. 19 / 77 15 / 27 work 20 at the front end 20a of the work platform 20.

[0061] In the cable carrier system 28, cables 36a, 36b, Cables 36c and 36d are crossed so as to communicate with robots 22a, 22b, 22c, and 22d, such that cables 36a, 36b, 36c, and 36d can flow from a point adjacent to the front end 20a on one side of the work platform 20 to a point adjacent to the rear end 20b and the front end 20a on the opposite side of the work platform 20. For example, cable 36a connects to robot 22a; cable 36b connects to robot 22b; cable 36c connects to robot 22c; and cable 36d connects to robot 22d. Cables 36a and 36b run from a point adjacent to the front end 20a of the work platform 20 on the left side of the work platform 20 to a point adjacent to the rear end 20b of the front end 20a of the work platform 20 on the right side of the work platform 20.Cables 36c and 36d run from a point adjacent to the front end 20a of the work platform 20 on the right side of the work platform 20 to a point adjacent to the rear end 20b and the front end 20a of the work platform 20 on the left side of the work platform 20.

[0062] Cables 36a, 36b, 36c, 36d are stacked and grouped so that a first cable 36a, 36b or 36c, 36d can reach any location on the back (towards the rear end 20b) of a second cable 36b, 36a or 36d, 36c, and a second cable 36a, 36b or 36c, 36d can reach any location on the front (towards the front end 20a) of the first cable 36b, 36a or 36d, 36c. For example, cables 36a and 36b are stacked and bundled so that cable 36a can reach any location on the back (towards the rear end 20b) of cable 36b, and cable 36b can reach any location on the front (towards the front end 20a) of cable 36a. Petition 870260063223, dated 06 / 26 / 2026, p. 20 / 77 16 / 27 Similarly, cables 36c and 36d are stacked and bundled so that cable 36c can reach any location on the back (towards the rear end 20b) of cable 36d, and cable 36d can reach any location on the front (towards the front end 20a) of cable 36c.

[0063] Furthermore, cables 36a, 36b, 36c, 36d are stacked and grouped, so that on each side of the work platform 20, a first robot 22a, 22b, 22c, 22d can move towards a first end (20a or 20b) of the work platform 20, while a second robot 22a, 22b, 22c, 22d moves towards a second end (20b or 20a) of the work platform 20, without cables 36a, 36b, 36c, 36d interfering with each other.For example, a robot 22a can move towards the front end 20a of the work platform 20, while another robot 22b moves towards the rear end 20b of the work platform 20, without cables 36a and 36b interfering with each other; and a robot 22c can move towards the front end 20a of the work platform 20, while another robot 22d moves towards the rear end 20b of the work platform 20, without cables 36c and 36d interfering with each other.

[0064] Otherwise, there will be the problem of a potential restriction of movement of the four robots 22a, 22b, 22c, 22d. Current cable rail systems do not fit together or are stacked in a crisscross pattern in order to provide the full reach required in this configuration. Cable carrier system 28 allows cables 38, 38b, 38c, 38d to be connected to robots 22a, 22b, 22c, 22d in a very small workspace, while not interfering with each other.

[0065] Figure 7 is another view of portal 24 on one side of Petition 870260063223, dated 06 / 26 / 2026, p. 21 / 77 17 / 27 work platform 20 (not shown), as well as the individual support stations 26a, 26b fixed to the gantry 24, with the robots 22 omitted. When designing the gantry 24, the need to independently position two robots 22 using only a single gantry 24 was identified. Current systems allow only one robot to be positioned along a gantry. The system of the present disclosure allows independent steering control of both robots 22 to specific locations on a single gantry 24 with high precision.

[0066] The gantry 24 includes a plurality of transmission belts 46a, 46b so as to independently position the individual support stations 26a, 26b (and the robots 22 placed on it). There may be two belts 46a, 46b running along the length of the gantry 24, in which the two belts 46a, 46b are positioned vertically relative to each other. The upper belt 46a may drive the rear individual support station 26a, and the lower belt 46b may drive the front individual support station 26b, although this configuration may be reversed.

[0067] Each of the individual support stations 26a, 26b on one side of the work platform 20 moves laterally along the side of the work platform 20 by means of the drive belts 46a, 46b. Specifically, the drive belts 46a, 46b allow each of the individual support stations 26a, 26b to move along the length of the work platform 20, except for the space occupied by the other individual support station 26a, 26b, located on one side of the work platform 20.

[0068] Each of the individual support stations 26a, 26b includes a base 48 that extends under the main square support tube 42 of the gantry 24 in order to balance the individual support station 26a, Petition 870260063223, dated 06 / 26 / 2026, p. 22 / 77 18 / 27 26b (and robot 22 placed on top of it).

[0069] The main square support tube 42 is equipped with two guide rails 50a, 50b, each with an upper guide rail 50a and a lower guide rail 50b. Each of the individual support stations 26a, 26b includes a support 52 mounted on the base 48 to the guide rails 50a, 50b of the gantry 24 in order to provide movement and support to the individual support station 26a, 26b (and to the robot 22 positioned on it).

[0070] Each of the individual support stations 26a, 26b cantilever from the rails 50a, 50b, so that the individual support station 26a, 26b and the robot 22 placed on it are supported from an inner side of the gantry 24, and that the weight of the individual support station 26a, 26b and the robots 22 does not affect either the base platform 18 during the positioning of the fuselage assembly 14 or the work platform 20.

[0071] The support 52 of the individual support stations 26a, 26b also includes one or more bearing blocks 54a, 54b which are fixed to both ends of one of the drive belts 46a, 46b. A belt tensioning mechanism 56 connects the bearing blocks 54a, 54b and ensures that proper tension is maintained on the drive belt 46a, 46b.

[0072] Cables 36 for robots 22 are supported by base 48 of individual support station 26a, 26b, and are routed through an opening 58 in support 52 of individual support station 26a, 26b to robot 22 placed on it.

[0073] Figure 8 is another view of the gantry 24 on one side of the work platform 20, as well as of the individual support stations 26 attached to the gantry 24, showing details of the two transmission belts 46a, 46b.

[0074] Each of the belts 46a, 46b may include a motor 60a, 60b, and one or more pulleys 62a, 62b. Specifically, the belt Petition 870260063223, dated 06 / 26 / 2026, page 23 / 77 The upper 19 / 27 pulley 46a is driven by the motor pulley 60a, with the belt 46a wrapped around pulleys 62a, and the lower 46b pulley is driven by the motor pulley 60b, with the belt 46b wrapped around pulleys 62b. Pulleys 62a and 62b are used so that the transmission motors 60a and 60b are positioned near one front end of the work platform 20 for ease of access and maintenance via the access panels 44. A similar configuration of pulleys 62a and 62b is positioned at the other end of the gantry 24, but without motors 60a and 60b.

[0075] The front sides of belts 46a, 46b are exposed on the main square support tube 42 between the upper guide rail 50a and the lower guide rail 50b. The return sides of belts 46a, 46b are inside the main square support tube 42.

[0076] Finally, cable 36 on robot 22 is seated on the base. 48, it threads through the opening 58 of the support 52, and extends under the lower guide rail 50b as well as under the straps 46a, 46b. AIRCRAFT ASSEMBLY

[0077] The present invention can be described in the context of a method of manufacturing and servicing an aircraft 64 carried out in steps 66 to 78, as shown in Figure 9, and an aircraft 80 consisting of components 82 - 94, as shown in Figure 10.

[0078] As shown in Figure 9, during pre-production, an example of method 64 may include the specification and design 66 of the aircraft 80 and the purchase of material 68. During production, the manufacture of components or a sub-assembly of components 70 and the integration of systems 72 of the aircraft 80 takes place. Then, the aircraft 80 may undergo certification and clearance 74 in order to be put into service 76. While in service 76 for a customer, the aircraft 80 is scheduled for routine maintenance and servicing 78 (which includes modification, reconfiguration, refurbishment, or the like). Petition 870260063223, dated 06 / 26 / 2026, page 24 / 77 20 / 27 The base platform 18, the work platform 20, the robots 22 and other elements, as described in this document, may be used at least in steps 70 and 72 of method 64.

[0079] Each of the processes in method 64 can be performed or executed by a systems integrator, a third party, and / or an operator (e.g., a customer). For descriptive purposes, a systems 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, or the like.

[0080] As shown in Figure 10, an aircraft 80 produced by exemplary method 64 may include a fuselage 82 with a plurality of systems 84 and an interior 86. Examples of high-level systems 84 include one or more of a propulsion system 88, an electrical system 90, a hydraulic system 92, and an environmental system 94. Any number of other systems may be included. Although an example of an aircraft is shown, the principles of this disclosure may be applied to other industries, such as the automotive industry.

[0081] The apparatus and methods incorporated herein may be employed during any one or more stages of production method 64. For example, the components or subassemblies corresponding to production process 70 may be made or manufactured in a manner similar to the components or subassemblies produced while the aircraft 80 is in service 76. Similarly, one or more apparatus embodiments, method embodiments, or a combination thereof may be used during production stages 70 and 72, for example, when Petition 870260063223, dated 06 / 26 / 2026, p. 25 / 77 21 / 27 substantially if an assembly is expedited or if the cost of an aircraft 80 is reduced. Similarly, one or more apparatus types, method types, or a combination thereof may be used while the aircraft 80 is in service 76, for example, and without limitation, in maintenance and service 78.

[0082] This disclosure also refers to the following clauses, which should not be confused with the claims.

[0083] 1. An apparatus for the stabilized positioning of a collaborative robotics system, the apparatus comprising: a base platform (18); a work platform (20) positioned relative to the base platform (18) so as to support one or more humans (30); and one or more robots (22) supported on the base platform (18) independently of the work platform (20); the work platform (20) being isolated from the robots (22) for the stabilized positioning of the robots (22), so that the base platform (18) and the work platform (20) together provide a collaborative workspace for the robots (22) and for humans (30).

[0084] A2. The device is also provided in accordance with the paragraph. A1, in which the base platform (18) and the work platform (20) are positioned within an aircraft fuselage assembly (14).

[0085] A3. The device is also provided in accordance with the paragraph. A2, in which the work platform (20) is positioned above the base platform (18) within the fuselage assembly (14).

[0086] A4. The device is also provided in accordance with the paragraph. A2, in which the base platform (18) is independently supported within the fuselage assembly (14).

[0087] A5. The device is also provided in accordance with the paragraph. Petition 870260063223, dated 06 / 26 / 2026, page 26 / 77 22 / 27 A4, further comprise a workstation (16) positioned at one end of the fuselage assembly (14) so ​​as to independently support the base platform (18) positioned within the fuselage assembly (14).

[0088] A6. The device is also provided in accordance with the paragraph. A2, in which the work platform (20) is used by humans (30) in order to access the interior of the fuselage assembly (14).

[0089] A7. The device is also provided in accordance with the paragraph. A1, in which the work platform (20) is supported by one or more riser columns (38,40) mounted on the base platform (18) at one end and is coupled to an independent support structure (34) at the other end, in order to provide isolated support for movement on the same, without communicating any movement to the robots (22), thus eliminating positioning errors caused by bending, vibrations or fluctuations in the height of the work platform (20) due to the movement of the work platform (20).

[0090] A8. The device is also provided in accordance with the paragraph. A1, in which the robots (22) are supported on at least one gantry (24) positioned on each or both sides of the work platform (20), and the gantry (24) comprises a rail system for positioning the robots (22) using a transmission belt (46a, 46b).

[0091] A9. The device is also provided in accordance with the paragraph. A8, in which the gantry (24) is mounted on and supported by the base platform (18) independently of the work platform (20).

[0092] A10. The apparatus according to paragraph A1 is also provided, in which a cable conveyor system (28) provides the cable (36) with rails for the robots (22) which are stacked and directed in such a way that they are independent of each other with respect to Petition 870260063223, dated 06 / 26 / 2026, page 27 / 77 23 / 27 other.

[0093] A11. The apparatus is also provided in accordance with paragraph A10, in which the cable carrier system (28) is positioned on or above the base platform (18) and under the work platform (20).

[0094] B1. A method for the stabilized positioning of a collaborative robotics, the method comprising: the provision of a base platform (18); the positioning of a work platform (20) in relation to the base platform (18) in order to support one or more humans (30); the support of one or more robots (22) on the base platform (18) independently of the work platform (20); and the isolation of the work platform (20) from the robots (22) for the stabilized positioning of the robots (22), so that the base platform (18) and the work platform (20) together provide a collaborative workspace for the robots (22) and for the humans (30).

[0095] B2. The method in accordance with paragraph [number] is also provided. B1, in which the base platform (18) and the work platform (20) are positioned within an aircraft fuselage assembly (14).

[0096] B3. The method in accordance with paragraph [number] is also provided. B2, in which the work platform (20) is positioned above the base platform (18) within the fuselage assembly (14).

[0097] B4. The method in accordance with the paragraph is also provided. B2, in which the base platform (18) is independently supported within the fuselage assembly (14).

[0098] B5. The method in accordance with the paragraph is also provided. B4, further understand the positioning of a workstation (16) at one end of the fuselage assembly (14) so ​​as to Petition 870260063223, dated 06 / 26 / 2026, page 28 / 77 24 / 27 independently support the base platform (18) in position within the fuselage assembly (14).

[0099] B6. The method in accordance with the paragraph is also provided. B2, in which the work platform (20) is used by humans (30) in order to access the interior of the fuselage assembly (14).

[00100] B7. The method in accordance with the paragraph is also provided. B1, in which the work platform (20) is supported by one or more riser columns (38, 40) mounted on the base platform (18) at one end and is coupled to an independent support structure (34) at the other end, in order to provide isolated support for movement on the same, without communicating any movement to the robots (22), thus eliminating positioning errors caused by bending, vibrations or fluctuations in the work platform (20) due to the movement of the work platform (20).

[00101] B8. The method in accordance with the paragraph is also provided. B1, whereby the robots (22) are supported on at least one gantry (24) positioned on each or both sides of the work platform (20), and the gantry (24) comprises a rail system for positioning the robots (22) using a transmission belt (46a, 46b).

[00102] B9. The method in accordance with the paragraph is also provided. B8, in which the portal (24) is mounted on and supported by the base platform (18) independently of the work platform (20).

[00103] B10. The method according to paragraph is also provided. B1, in which a cable conveyor system (28) provides cable rails for robots (22) that are stacked and directed in such a way that they are independent of each other.

[00104] B11. The method according to paragraph is also provided. B10, in which the cable carrier system (28) is positioned Petition 870260063223, dated 06 / 26 / 2026, page 29 / 77 25 / 27 on or above the base platform (18) and under the work platform (20).

[00105] C1. A method for assembling an aircraft fuselage, comprising: the provision of a base platform (18) within a fuselage assembly (14); the positioning of a work platform (20) in relation to the base platform (18) in order to support one or more humans (30) within the fuselage assembly (14); the support of one or more robots (22) on the base platform (18) within the fuselage assembly (14) independently of the work platform (20); and the isolation of the work platform (20) from the robots (22) for the stabilized positioning of the robots (22), so that the base platform (18) and the work platform (20) together provide a collaborative workspace for the robots (22) and for humans (30).

[00106] C2. The method in accordance with the paragraph is also provided. C1, in which the base platform (18) and the work platform (20) are positioned within an aircraft fuselage assembly (14).

[00107] C3. The method in accordance with the paragraph is also provided. C2, in which the work platform (20) is positioned above the base platform (18) within the fuselage assembly (14).

[00108] C4. The method in accordance with the paragraph is also provided. C2, in which the base platform (18) is independently supported within the fuselage assembly (14).

[00109] C5. The method in accordance with the paragraph is also provided. C4, further understand the positioning of a workstation (16) at one end of the fuselage assembly (14) so ​​as to Petition 870260063223, dated 06 / 26 / 2026, page 30 / 77 26 / 27 independently support the base platform (18) in position within the fuselage assembly (14).

[00110] C6. The method in accordance with the paragraph is also provided. C2, in which the work platform (20) is used by humans (30) in order to access the interior of the fuselage assembly (14).

[00111] C7. The method in accordance with the paragraph is also provided. C1, in which the work platform (20) is supported by one or more riser columns (38, 40) mounted on the base platform (18) at one end and is coupled to an independent support structure (34) at the other end, in order to provide isolated support for movement on the same, without communicating any movement to the robots (22), thus eliminating positioning errors caused by bending, vibrations or fluctuations in the height of the work platform (20) due to the movement of the work platform (20).

[00112] C8. The method in accordance with the paragraph is also provided. C1, whereby the robots (22) are supported on at least one gantry (24) positioned on each or both sides of the work platform (20), and the gantry (24) comprises a rail system for positioning the robots (22) using a transmission belt (46a, 46b).

[00113] C9. The method in accordance with the paragraph is also provided. C8, in which the portal (24) is mounted on and supported by the base platform (18) independently of the work platform (20).

[00114] C10. The method according to paragraph is also provided. C1, in which a cable conveyor system (28) provides the cable (36) with rails for the robots (22) which are stacked and directed in such a way that they are independent of each other.

[00115] C11. The method according to paragraph is also provided. C10, in which the cable carrier system (28) is positioned Petition 870260063223, dated 06 / 26 / 2026, page 31 / 77 27 / 27 on or above the base platform (18) and under the work platform (20).

Claims

1. Apparatus for the stabilized positioning of a collaborative robotics, the apparatus characterized in that it comprises: a base platform (18); a work platform (20) positioned relative to the base platform (18) so as to support one or more humans (30); and one or more robots (22) supported on the base platform (18) independently of the work platform (20); the work platform (20) being isolated from the robots (22) for the stabilized positioning of the robots (22), so that the base platform (18) and the work platform (20) together provide a collaborative workspace for the robots (22) and for the humans (30); the base platform (18) and the work platform (20) are positioned within an aircraft fuselage assembly (14); and the base platform (18) is independently supported within the fuselage assembly (14).

2. Apparatus, according to claim 1, characterized in that the work platform (20) is positioned above the base platform (18) within the fuselage assembly (14).

3. Apparatus, according to claim 1, characterized in that it further comprises a workstation (16) positioned at one end of the fuselage assembly (14) so ​​as to independently support the base platform (18) positioned within the fuselage assembly (14).

4. Apparatus, according to claim 1, characterized in that the work platform (20) is used by humans Petition 870260063223, dated 06 / 26 / 2026, page 33 / 77 2 / 4 (30) in order to access the interior of the fuselage assembly (14).

5. Apparatus, according to claim 1, characterized in that the work platform (20) is supported by one or more riser columns (38, 40) mounted on the base platform (18) at one end and is coupled to an independent support structure (34) at the other end.

6. Apparatus, according to claim 1, characterized in that the robots (22) are supported on at least one gantry (24) positioned on each or both sides of the work platform (20), and the gantry (24) comprises a rail system for positioning the robots (22) using a transmission belt (46a, 46b).

7. Apparatus, according to claim 6, characterized in that the gantry (24) is mounted on and supported by the base platform (18) independently of the work platform (20).

8. Apparatus, according to claim 1, characterized in that a cable conveyor system (28) provides cable rails for the robots (22), wherein the rails are stacked and directed so as to be independent of each other.

9. Apparatus, according to claim 8, characterized in that the cable carrier system (28) is positioned on or above the base platform (18) and under the work platform (20).

10. Method for the stabilized positioning of a collaborative robotics applicable to an apparatus as defined in claim 1, characterized in that it comprises the steps of: providing a base platform (18); positioning a work platform (20) relative to the base platform (18) so as to support one or more humans (30); Petition 870260063223, dated 06 / 26 / 2026, p.34 / 77 3 / 4 support one or more robots (22) on the base platform (18) independently of the work platform (20); and isolate the work platform (20) from the robots (22) for the stabilized positioning of the robots (22), so that the base platform (18) and the work platform (20) together provide a collaborative workspace for the robots (22) and for humans (30); wherein the base platform (18) and the work platform (20) are positioned within an aircraft fuselage assembly (14); and wherein the base platform (18) is independently supported within the fuselage assembly (14).

11. Method according to claim 10, characterized in that the work platform (20) is positioned above the base platform (18) within the fuselage assembly (14).

12. Method according to claim 10, characterized in that it further comprises the step of positioning a workstation (16) at one end of the fuselage assembly (14) so ​​as to independently support the base platform (18) in position within the fuselage assembly (14).

13. Method according to claim 10, characterized in that the work platform (20) is used by humans (30) in order to access the interior of the fuselage assembly (14).

14. Method according to claim 10, characterized in that the work platform (20) is supported by one or more riser columns (38, 40) mounted on the base platform (18) at one end and is coupled to an independent support structure (34) at the other end. Petition 870260063223, dated 06 / 26 / 2026, p. 35 / 77 4 / 4 15. Method according to claim 10, characterized in that the robots (22) are supported on at least one gantry (24) positioned on one or both sides of the work platform (20), and the gantry (24) comprises a rail system for positioning the robots (22) using a transmission belt (46a, 46b).

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