Mobile Manufacturing Module

Abstract

The present invention provides a mobile manufacturing module, which includes: a platform, which is configured to receive and support one or more interchangeable manufacturing elements, and the platform is capable of engaging with a removable positioning device, the removable positioning device being configured to enable the platform to move relative to a workpiece when engaged; and one or more supports connected to the platform, the supports being configured to contact a floor to support the platform when the removable positioning device is disengaged.

Description

Technical Field

[0001] This technology involves mobile manufacturing modules. Background Art

[0002] Today, the use of mobile manufacturing manipulators to perform one or more manufacturing operations is well established, particularly for use during assembly and maintenance of workpieces.

[0003] Prior art mobile manufacturing manipulators, such as those shown Figure 1 The Neobotix MMO-700 of item 101 generally comprises a manipulator arm 103 having a base 105 mounted to a mobile platform 107. The platform 107 is configured to support the manipulator arm 103 and is fixedly attached to a platform chassis 109. The platform chassis 109 includes a set of four wheels 111, each of which is omnidirectional and driven via an onboard drive train 113 attached to the platform chassis 109. The onboard drive train 113 comprises a set of interconnected motors, transmissions, and power packs that allow the mobile manufacturing manipulator 101 to be moved to a desired lateral position in the XY floor plane. The platform 107 is also provided with a braking device provided by the drive train, which is configured to limit the movement of the mobile manufacturing manipulator 101 away from the desired lateral position when the braking device is applied.

[0004] In use, each mobile manufacturing manipulator 101 is positioned at a technician's desired lateral and vertical position, allowing the manipulator 101 to be moved to a rough position relative to the workpiece 115, after which the brakes are applied. The technician then directs the manipulator 101 using an associated work attachment 117 or other robot to perform the desired manufacturing operation to a high degree of positional accuracy relative to the workpiece 115. Examples of such manufacturing operations may be drilling operations or surface treatment operations.

[0005] In some production lines, the irregularities in the size, shape, position or structural features of the workpiece require multiple mobile manufacturing manipulators to be operated by one or more technicians. Providing multiple mobile manufacturing manipulators is undesirable because they are relatively expensive tool items, mainly due to the complex and heavy design of the mobile manufacturing manipulator that integrates the manipulator with the platform, platform chassis, power system and braking device into a single device. It is also undesirable that one or more technicians are required to manage the positioning, selection and operation of each mobile manufacturing manipulator, which affects the relevant operating costs of the production line. Depending on the number of technicians, the total manufacturing time for a given workpiece may also increase, which may significantly affect the total cost of operation. This is common in aircraft manufacturing. In addition, it may be necessary to set multiple mobile manufacturing manipulators to approximately the same workpiece position to perform a series of manufacturing operations that require interdependence between multiple manipulators. This may be possible not only due to the above-mentioned tool and technician costs, but also because the movement of multiple mobile manufacturing manipulators to a single area may also be limited by the floor load restrictions of the work area. Summary of the Invention

[0006] It is an object of the present technology to provide a mobile manufacturing manipulator device that overcomes the above described disadvantages of the prior art.

[0007] This object is achieved by the subject matter of the present technology.Other exemplary embodiments will become apparent from the present technology.

[0008] An embodiment of the present technology provides a mobile manufacturing module, which includes: a platform, which is configured to receive and support one or more interchangeable manufacturing elements, and the platform is capable of engaging with a removable positioning device, the removable positioning device being configured to enable the platform to move relative to a workpiece when engaged; and one or more supports, which are connected to the platform, and the one or more supports are configured to contact a floor so as to support the platform when the removable positioning device is disengaged.

[0009] Another embodiment of the present technology provides a mobile manufacturing module, wherein the removable positioning device is further configured to generate a traction force so that the module can be driven by the removable positioning device.

[0010] Yet another embodiment of the present technology provides a mobile manufacturing module wherein the removable positioning device includes a lifting device configured to engage the platform and lift the platform such that contact between the floor and the one or more supports is eliminated.

[0011] Another embodiment of the present technology provides a mobile manufacturing module wherein at least one of the manufacturing elements includes a robotic manipulator.

[0012] Another embodiment of the present technology provides a mobile manufacturing module wherein at least one of the manufacturing elements comprises a container.

[0013] In another embodiment, a mobile manufacturing module is provided wherein at least one of the manufacturing elements comprises a lifting unit.

[0014] In yet another embodiment, a mobile manufacturing module is provided wherein at least one of the manufacturing elements includes a control console.

[0015] Another embodiment of the present technology provides a mobile manufacturing module wherein at least one of the manufacturing elements includes a power distributor.

[0016] Another embodiment of the present technology provides a plurality of mobile manufacturing modules, wherein the plurality of mobile manufacturing modules further include one or more connectors, wherein the one or more connectors are configured to connect the plurality of mobile manufacturing modules to each other, and the one or more connectors are further configured to transmit traction between the plurality of modules, so that the plurality of modules can move as a single modular assembly when each mobile manufacturing module is simultaneously engaged with a removable positioning device.

[0017] The plurality of mobile manufacturing modules may further include one or more connectors configured to transmit lifting forces between the plurality of mobile manufacturing modules.

[0018] The plurality of mobile manufacturing modules may include a pair of mobile manufacturing modules, each of the pair of mobile manufacturing modules being capable of engaging with a corresponding removable positioning device, and each of the pair of mobile manufacturing modules being connected to one or more adjacent mobile manufacturing modules via one or more connectors, wherein each adjacent mobile manufacturing module does not contact the floor when the pair of mobile manufacturing modules engages with its corresponding removable positioning device.

[0019] Another embodiment of the present technology provides a plurality of mobile manufacturing modules, comprising at least two mobile manufacturing modules, each of the at least two mobile manufacturing modules comprising a robotic manipulator configured to work in tandem to perform a series of manufacturing operations.

[0020] Another embodiment of the present technology provides a mobile manufacturing module configured for use in an aircraft production line. A plurality of mobile manufacturing modules may be configured for use in an aircraft production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Embodiments of the present technology will now be described, by way of example only, with reference to the following drawings, in which:

[0022] Figure 1A prior art mobile manipulator which is commercially available from Neobotix GmbH is shown.

[0023] Figure 2 Schematic diagram illustrating a mobile operating module or modules according to embodiments of the present technology.

[0024] Figure 3 An isometric perspective view of a plurality of mobile manufacturing modules is shown in accordance with another embodiment of the present technology.

[0025] Figure 4A and Figure 4B Schematic diagrams of connectors for multiple mobile manufacturing modules in a pre-connected state and a connected state, respectively, are shown according to an embodiment of the present technology.

[0026] Figure 5 A schematic diagram of a production line using a mobile manufacturing module and a plurality of mobile manufacturing modules according to another embodiment of the present technology is shown.

[0027] Figure 6 A schematic diagram of a production line using a mobile manufacturing module and a plurality of mobile manufacturing modules according to yet another embodiment of the present technology is shown.

[0028] Figure 7 A system for moving manufacturing modules according to another embodiment of the present technology is shown. DETAILED DESCRIPTION

[0029] Reference Figure 2 , shows a first mobile manufacturing module 201 engaged with a removable positioning device 203. The removable positioning device 203 is provided with a lifting device 205, which is configured to engage the underside portion of the platform 206 and lift the platform 206 so as to eliminate contact between the support 207 and the floor 209, thereby allowing the module 201 to move. Alternatively, the length of the support 207 can be adjustable so that once the platform 206 is sufficiently lifted to remove the load from the support 207 when the removable positioning device 203 is engaged, the contact can be eliminated. Similarly, once the module is in the desired position, the lifting device 205 can lower the platform 206 so that contact between the support 207 and the floor 209 is reestablished and the removable positioning device 203 can be disengaged for repositioning other modules. This increases the availability of modules and reduces their complexity and therefore reduces costs. The first mobile manufacturing module 201 also includes a platform 206 configured to receive interchangeable manufacturing elements. The interchangeable manufacturing elements for the first module 201 are in the form of robotic manipulators 210 attached to the platform 206 .

[0030] Also shown are a plurality of mobile manufacturing modules 211 including a second mobile manufacturing module 213 connected to a third mobile manufacturing module 215. Second mobile manufacturing module 213 and third mobile manufacturing module 215 are both shown disengaged from the removable positioning device and such that supports 217, 219 of second mobile manufacturing module 213 and third mobile manufacturing module 215, respectively, are in contact with the floor and support platforms 221, 223 of second mobile manufacturing module 213 and third mobile manufacturing module 215, respectively.

[0031] The second mobile manufacturing module 213 includes a manufacturing element in the form of a robotic manipulator 225 attached to a platform 221. The manipulator 225 is smaller than the manipulator 210 of the first mobile manufacturing module 201.

[0032] The third mobile manufacturing module 215 comprises a manufacturing element in the form of a container 227 attached to its corresponding platform 223. The container is configured to engage a corresponding standardized docking unit.

[0033] The fourth mobile manufacturing module 229 is shown disengaged from the removable positioning device 203 adjacent to the second module 213 and the third module 215. The fourth mobile manufacturing module 229 includes a manufacturing element in the form of a container 231 attached to a platform 232. The container is configured to engage a corresponding standardized docking unit.

[0034] Manufacturing elements 210, 225, 227, and 231 can be interchanged and attached to each of the modules 201, 213, 215, 229 via interfaces provided at each of the platforms 206, 221, 223, 232. This is advantageous because it enables standardization of interfaces and the ability to modify or adjust each module to provide specific functionality in a manufacturing operation.

[0035] Each module 201, 213, 215, 229 also includes a plurality of corresponding connectors 233 that are configured to engage with each other so that each module 201, 213, 215, 229 can be connected to each other, thereby transmitting traction or lifting forces between the multiple modules 201, 213, 215, 229. The connectors 233 allow the multiple modules 211 to be moved as a single modular assembly when the multiple modules 211 are connected, and each mobile manufacturing module is simultaneously engaged with one or more removable positioning devices. The connectors 233 also allow one or more redundant modules that are not needed during a particular manufacturing period or at a certain point in time to be removed, thereby increasing accessibility to the work area and freeing up modules that can be used for other manufacturing operations.

[0036] One or more of the modules 201, 213, 215, 229 may also be connected to at least a console 235 that is interchangeable with or otherwise connected to the module's platform and identifies the manufacturing elements of one or more modules. The console may include hardware and software components configured to enable controlled interaction between the manufacturing elements of each of the modules, thereby enabling interaction, collaboration, or merging of functionality between the modules.

[0037] An exemplary interaction may include automatically loading or removing fasteners from a particular module or a container attached to a particular module.Another exemplary interaction may include automated and intelligent module merging according to a set of prescribed tasks in one or more manufacturing operations.

[0038] The console 235 may provide an interface that allows a technician to pause a manufacturing operation or portion of a manufacturing operation, or to overrule a module merge decision. In such cases, the console 235 may also be configured to calculate and provide alternative manufacturing operation solutions in real time. Input to the console 235 may be provided using teach-in, direct command programming via an input device such as a keyboard or mouse, voice control, or gesture recognition.

[0039] Additionally, one or more of the modules 201 , 213 , 215 , 229 may also be connected to at least one power distributor, which may further provide direct charging or inductive charging for the one or more modules and their corresponding manufacturing elements.

[0040] Reference Figure 3 , shows another embodiment of the present technology comprising a pair of modules 301 , 303 adjacent to each other and connected by a set of four connectors 304 (2 connectors per side) according to the previous embodiment.

[0041] The first module 301 is interchangeably equipped with a first manipulator 307 that is smaller than a second manipulator 309 that is interchangeably equipped to the second module 303. A removable lifting device 306 with a lifting device lifts the modules 301, 303 in the indicated +Z direction, eliminating contact between the floor and the corresponding supports 305 and 305 of each module 301, 303, so that the modules can be repositioned to an assembly position adjacent to the wing-shaped workpiece. Connector 304 is a rigid rod removably attached to the module. In this embodiment, the rigid rod is configured to transmit lifting forces (- / +Z directions) and traction forces (in the XY plane) between module 301 and module 303. Once in position, the removable positioning device 306 with a lifting device lowers the two modules 301, 303 in the indicated Z direction, and then disconnects the modules 301, 303 and repositions them to another set of modules for use in a separate operation.

[0042] Reference Figure 4A , shows lifting connector 401 in more detail in a pre-connected state. Connector 401 comprises a male element 403 and a female element 405, which are correspondingly conically shaped elements. Male element 403 is fixedly attached to a support of a first module 407, and female element 405 is fixedly attached to an adjacent support of a second module 409. In the pre-connected state, an end portion 411 centered about axis 413 of male element 403 is positioned above a corresponding central axis 415 of female element 405.

[0043] Reference Figure 4B , showing in more detail the connected state Figure 4A During connection, the first module 407 with the male element 403 moves to contact the female element 405 of the second module 409 at point P. Further movement causes the end 411 of the male element 403 to apply a lifting load L in the positive Z direction to the female element 405, which lifts the second module 409 as the first module 407 gradually approaches the second module 409 under the pulling force T.

[0044] Reference Figure 5, multiple mobile manufacturing modules 501, 502, 503 are shown connected and interchangeably connected to a large manipulator 504, a small manipulator 505, and a container 506, respectively, and interacting with a control console 507. The control console 507 can be programmed by a technician 508 via an interface to enable the manipulators 504, 505 to cooperatively interact, thereby causing the manipulators 504, 505 to perform operational steps in a manufacturing operation with each other, the container 506, and the technician 508. The manufacturing operation involves technician 508 instructing the modules 501, 502, 503 to position themselves near a wing 509, in this case, the workpiece, in the same manner as previously described. Once in position, a removable positioning device 510 allows the modules 501, 502, 503 to be disconnected and repositioned to another module 511 supplemented by a standardized docking unit 513. As technician 508 performs a manufacturing operation, manipulators 504, 505 assist by holding various structural elements, such as pipes, retaining panels, unscrewing panels, positioning or screwing pipes, in the desired position. Manipulators 504, 505 interact with each other, wherein, for example, the large manipulator 504 carries the tools or materials required by technician 508, while the smaller manipulator 505 supports navigation or control tasks, i.e., by using manufacturing elements including cameras, scanners or other sensors to monitor manufacturing steps or by pushing a tool's trigger button. The smaller manipulator 505 can also assist by also holding materials or tools for the technician.

[0045] Reference Figure 6 , it should be considered that a pair of removable positioning devices 601 can be used to move multiple mobile manufacturing modules 603, 605, 606, 607 connected to each other via connectors 602. A pair of removable positioning devices 601 can engage the corresponding pair of modules 603 and 607 shown, and the pair of removable positioning devices 601 can be used to pull and push the multiple connected mobile manufacturing modules 603, 605, 606, 607. This is advantageous in situations where the weight of the modules almost exceeds the pulling capacity of a single removable positioning device 601.

[0046] In this embodiment, the connectors 602 are configured to transmit traction and lifting forces between adjacent modules 603, 605, 606, and 607, such that when the lifting devices are engaged at the end modules 603 and 607 via their respective removable positioning devices 601, each adjacent mobile manufacturing module 605 and 607 does not contact the floor. Then, when the corresponding removable positioning devices 601 are moved, traction is transmitted between the connectors 602, allowing the multiple modules to move as a single modular assembly. Alternatively, the intermediate modules 605 and 606 may include supports whose lengths may be adjustable so that, upon engagement of the removable positioning devices 601, contact between the supports and the floor can be eliminated once the platform is sufficiently raised to remove the load from the supports.

[0047] This pair of removable positioning devices 601 can interact to provide a more accurate fail-safe positioning system.In addition, the removable positioning devices 601 can interact as a master / slave combination or in a flexible guide (depending on the direction of movement).

[0048] Reference Figure 7 , shows a system 701 in which individual modules 703, substantially identical to those previously described, can be moved by one or more removable positioning devices 705 having functional autonomy so that the modules 703 can self-organize to perform a series of manufacturing operations. The modules described are provided with an interactive means via a console or any other suitable alternative so that the interaction is automatic without the need for technician input and self-optimizes according to the desired manufacturing operation.

[0049] Where the foregoing description refers to integers or components having known, obvious, or foreseeable equivalents, such equivalents are incorporated herein as if individually set forth. By way of example, it should be understood that while the exemplary embodiments described above have been presented with respect to workpieces that are aircraft wings, these modules can be used to perform similar manufacturing operations on any other aircraft component, such as a tail unit, fuselage, powerplant, or pylon or landing gear element. It should also be understood that the exemplary embodiments described above have both interior and exterior applications for any aircraft or space structure.

[0050] Reference should be made to the claims to determine the true scope of the present technology, which should be understood to include any such equivalents. The reader will also understand that integers or features of the present technology described as preferred, advantageous, convenient, etc. are optional and do not limit the scope of the independent claims. Furthermore, it should be understood that in some embodiments of the present invention, such optional integers or features, while potentially beneficial, may not be desirable and, therefore, may not be present in other embodiments.

Claims

1. A mobile manufacturing system, comprising at least two mobile manufacturing modules, characterized in that: The mobile manufacturing module is constructed to include: a platform configured to receive and support one or more interchangeable manufacturing elements via an interface provided at the platform, and the platform being engageable with a removable positioning device configured to enable movement of the platform relative to a workpiece when engaged; and one or more supports connected to the platform, the one or more supports configured to contact a floor to support the platform when the removable positioning device is disengaged, In which, the mobile manufacturing system also includes one or more connectors that connect adjacent mobile manufacturing modules to each other and are capable of transmitting traction and lifting forces between adjacent mobile manufacturing modules, the connector being constructed to include a male element and a female element, the male element and the female element being correspondingly conically shaped elements, the male element being fixedly attached to a support of one of the mobile manufacturing modules, and the female element being fixedly attached to a support of another of the mobile manufacturing modules, wherein, in a pre-connected state of the connector, an end portion of the male element centered on the axis of the male element is positioned above the corresponding central axis of the female element, during connection of the connector, the male element contacts the female element and thereby applies a lifting load to the female element, and the lifting load lifts the other of the mobile manufacturing modules as one of the mobile manufacturing modules gradually approaches the other of the mobile manufacturing modules under traction.

2. The mobile manufacturing system according to claim 1, wherein: The removable positioning device is further configured to generate a traction force such that the mobile manufacturing module can be driven by the removable positioning device.

3. The mobile manufacturing system according to claim 1 or claim 2, wherein: The removable positioning device includes a lifting device configured to engage the platform and lift the platform such that contact between the floor and the one or more supports is eliminated.

4. The mobile manufacturing system according to claim 1 or claim 2, wherein: At least one of the manufacturing elements includes a robotic manipulator.

5. The mobile manufacturing system according to claim 1 or claim 2, wherein: At least one of the manufacturing elements comprises a container.

6. The mobile manufacturing system according to claim 1 or claim 2, wherein: At least one of the manufacturing elements comprises a lifting unit.

7. The mobile manufacturing system according to claim 1 or claim 2, wherein: At least one of the manufacturing elements includes a console.

8. The mobile manufacturing system according to claim 1 or claim 2, wherein: At least one of the manufacturing elements comprises a power distributor.

9. The mobile manufacturing system according to claim 1 or claim 2, wherein: One or more of the connectors are configured to connect a plurality of mobile manufacturing modules to one another, the plurality of mobile manufacturing modules being movable as a single modular assembly by means of the connectors when each mobile manufacturing module is simultaneously engaged with the removable positioning device.

10. The mobile manufacturing system according to claim 1 or claim 2, wherein: The mobile manufacturing system includes a pair of mobile manufacturing modules, each of which is capable of being engaged with a corresponding removable positioning device, and each of the pair of mobile manufacturing modules is connected to one or more adjacent mobile manufacturing modules through one or more connectors, wherein each adjacent mobile manufacturing module does not contact the floor when the pair of mobile manufacturing modules are engaged with their corresponding removable positioning devices.

11. The mobile manufacturing system according to claim 1 or claim 2, wherein: The at least two mobile manufacturing modules each include a robotic manipulator configured to work in tandem to perform a series of manufacturing operations.

12. The mobile manufacturing system according to claim 1 or claim 2, wherein: The mobile manufacturing system is configured for use in an aircraft production line.

Images