Indexing equipment and indexing methods

Abstract

This application relates to a transposition device and a transposition method. The transposition device includes: a fixing tool movable relative to an operating unit; and a transposition feature fixed relative to the fixing tool. The transposition device also includes a sensor configured to detect the transposition feature. The transposition device further includes a controller in communication with the sensor. The controller is configured to position the fixing tool relative to the operating unit based on the position of the transposition feature identified by the sensor.

Description

Technical Field

[0001] This disclosure relates generally to manufacturing, and more specifically to an indexing device and indexing method during manufacturing operations. Background Technology

[0002] Many structures, parts, and components are manufactured using large automated machines that have a fixed base and operate along predetermined tool paths under computer control.

[0003] US Patent 9817402 describes in its abstract that "work cell and factory-level automation requires Automated Guided Vehicles (AGVs) to achieve required positional accuracy and repeatability relative to a support fixture or workbench within the work cell. The AGV uses a laser scanner sensor to measure the distance to objects within the work cell. The distance measurements are filtered to remove objects that are not target features on the support fixture or workbench. Systematic errors or biases of the laser scanner sensor are removed from the filtered distance measurements, and a mathematical filter or estimator is applied to the filtered distance measurements using the random errors of the laser scanner sensor to generate estimated distance measurements. The estimated distance measurements are then used to construct a map of the target features, which is used for path planning and navigation control of the AGV relative to the support fixture or workbench within the work cell."

[0004] EP3653369 describes in its abstract that "a manufacturing system includes a plurality of laminating heads and a head movement system defining a continuous loop laminating path configured to move the laminating heads in series along the laminating path. The manufacturing system also includes at least one laminating mandrel positioned along a portion of the laminating path. Each laminating head is configured to dispense layup material onto at least one laminating mandrel or onto layup material pre-applied to the laminating mandrel, and the laminating heads are moved by the head movement system through one or more rotational movements of the laminating path to lay up the composite laminate."

[0005] EP3733387 describes in its abstract, “A reinforced composite loading system is proposed. The reinforced composite loading system includes: a longitudinal end effector having a first attachment point and a second attachment point; a first rotating arm having a first connector configured to connect to the first attachment point; a first moving system configured to move the first rotating arm within a manufacturing environment; a second rotating arm having a second connector configured to connect to the second attachment point; and a second moving system configured to move the second rotating arm within the manufacturing environment.”

[0006] This manufacturing technology requires precise workpiece indexing relative to the machine. One method of indexing the workpiece involves probing it at different locations to align or "zero" the machine's tooling with the workpiece's instantaneous position based on the detected location. Another method involves using a fixing device to hold the workpiece in a specific, repeatable position. However, both methods are time-consuming and expensive processes, requiring extensive setup each time a workpiece is moved to a new working position or a new workpiece is moved to a new working position. This problem is exacerbated for large structures such as aircraft spars, wing sections, and fuselage sections, which may require a very large number of probe locations or very large fixing devices. Furthermore, these methods are not conducive to continuous manufacturing, which requires the rapid and accurate movement of workpieces from one working position to another. Therefore, those skilled in the art continue to conduct research and development in the field of indexing during manufacturing, and consequently, devices and methods designed to solve the aforementioned problems have become practical. Summary of the Invention

[0007] The following is a non-exhaustive list of examples of the subject matter of this disclosure, which may or may not be required to be protected.

[0008] In one example, the disclosed indexing device includes a fixing tool movable relative to an operating unit and an indexing feature fixed relative to the fixing tool. The indexing device also includes a sensor configured to detect the indexing feature. The indexing device further includes a controller in communication with the sensor. The controller is configured to position the fixing tool relative to the operating unit based on the position of the indexing feature identified by the sensor.

[0009] In one example, the disclosed manufacturing system includes an automated machine located within an operating unit and configured to perform at least one manufacturing operation. The manufacturing system also includes a fixing tool and an indexing feature, the fixing tool being configured to support a workpiece and movable relative to the operating unit, and the indexing feature being fixed relative to the fixing tool. The manufacturing system also includes a sensor configured to engage the indexing feature. The manufacturing system further includes a controller communicating with the sensor and the automated machine. The controller is configured to position the fixing tool relative to the operating unit based on the indexing feature position of the indexing feature identified by the sensor. The controller is also configured to index the automated machine relative to the fixing tool position.

[0010] In one example, the disclosed manufacturing method includes the following steps: (1) moving a fixing tool relative to an operating unit; (2) detecting the rotation feature using a sensor; (3) positioning the fixing tool relative to the operating unit according to the rotation feature position of the rotation feature identified by the sensor; and (4) rotating the automated machine relative to the fixing tool position.

[0011] Other examples of the disclosed apparatus, systems, and methods will become apparent from the following detailed description, accompanying drawings, and appended claims. Attached Figure Description

[0012] Figure 1 This is a schematic block diagram of an example of a transposition device;

[0013] Figure 2 This is a schematic perspective view of an example of a manufacturing system using indexing equipment;

[0014] Figure 3 It is a schematic perspective view of an example of the interface device, indexing features and fixing tools of an indexing device;

[0015] Figure 4 This is a schematic top view of an example of a transposition device;

[0016] Figure 5 This is a schematic top view of an example of a transposition device;

[0017] Figure 6 This is a schematic top view of an example of a transposition device;

[0018] Figure 7 This is a schematic block diagram illustrating an example of a processing operation used to determine the position of a fixing tool in a transposition device.

[0019] Figure 8A This is a schematic perspective view of an example of a gripper for an interface device of a transposition equipment;

[0020] Figure 8B A schematic perspective view of an example of the indexing features of an indexing device;

[0021] Figure 9A This is a schematic perspective view of an example of a gripper for an interface device of a transposition equipment;

[0022] Figure 9B A schematic perspective view of an example of the indexing features of an indexing device;

[0023] Figure 10 This is a schematic three-dimensional plan view of an example of a manufacturing system;

[0024] Figure 11 This is a schematic perspective view of an example of a manufacturing system using indexing equipment;

[0025] Figure 12 This is a schematic top view of an example of a transposition device;

[0026] Figure 13It is a schematic perspective view of an example of the interface device, indexing features and fixing tools of an indexing device;

[0027] Figure 14 This is a schematic top view of an example of a transposition device;

[0028] Figure 15 This is a schematic top view of an example of a transposition device;

[0029] Figure 16 This is a schematic block diagram illustrating an example of a processing operation used to determine the position of a fixing tool in a transposition device.

[0030] Figure 17 It is a schematic perspective view of the indexing features and fixing tools of the indexing device;

[0031] Figure 18 It is a schematic perspective view of the indexing features and fixing tools of the indexing device;

[0032] Figure 19 It is a schematic perspective view of the indexing features and fixing tools of the indexing device;

[0033] Figure 20 This is a schematic three-dimensional plan view of an example of a manufacturing system;

[0034] Figure 21 This is a schematic perspective view of an example of a manufacturing system using indexing equipment;

[0035] Figure 22 This is a schematic top view of an example of a transposition device;

[0036] Figure 23 A schematic perspective view of an example of an interface device, indexing feature, and fixing tool for an indexing device;

[0037] Figure 24 This is a schematic block diagram illustrating an example of a processing operation used to determine the position of a fixing tool in a transposition device.

[0038] Figure 25 This is a schematic front view of an example of the indexing features and fixing tools of an indexing device;

[0039] Figure 26 This is a schematic front view of an example of the indexing features and fixing tools of an indexing device;

[0040] Figure 27 This is a schematic front view of a partial cross-section of an example of the detector, indexing feature, and fixing tool of the interface device of an indexing device;

[0041] Figure 28 This is a schematic three-dimensional plan view of an example of a manufacturing system;

[0042] Figure 29 This is a flowchart illustrating an example of a manufacturing method;

[0043] Figure 30 This is a flowchart illustrating an example of a manufacturing method;

[0044] Figure 31 This is a flowchart illustrating an example of a manufacturing method;

[0045] Figure 32 This is a schematic block diagram of an example controller for a transposition device;

[0046] Figure 33 It is a flowchart of aircraft manufacturing and maintenance methods; and

[0047] Figure 34 It is a block diagram of an aircraft. Detailed Implementation

[0048] The following detailed description refers to the accompanying drawings, which illustrate specific examples described in this disclosure. Other examples with different structures and operations do not depart from the scope of this disclosure. In different drawings, the same reference numerals may denote the same features, elements, or parts.

[0049] The following provides illustrative, non-exhaustive examples of the subject matter according to this disclosure that may, but are not necessarily, claimed. References to “example” herein mean that one or more features, structures, elements, components, characteristics, and / or operational steps described in connection with the example are included in at least one embodiment and / or implementation of the subject matter according to this disclosure. Therefore, the phrases “example,” “another example,” “example,” and similar language throughout this disclosure may, but do not necessarily, refer to the same example. Furthermore, the subject matter characterizing any example may, but does not necessarily include the subject matter characterizing any other example. Moreover, the subject matter characterizing any example may, but does not necessarily, be combined with the subject matter characterizing any other example.

[0050] Overall reference Figures 1 to 33 As an example, this disclosure describes a shifting device 100 for positioning and shifting workpiece 170 during manufacturing operations, a manufacturing system 168 utilizing the shifting device 100, and manufacturing methods 1000, 2000, and 3000 for positioning and shifting workpiece 170 using the shifting device 100.

[0051] Figure 1 An example of an indexing device 100 is illustrated schematically. Typically, the indexing device 100 provides means for accurately and repeatably determining the position of a workpiece 170 relative to a reference system 216 defined by a fixed coordinate system 112. Figure 1An example of a manufacturing system 168 including a rotation device 100 is also schematically shown. The manufacturing system 168 includes or forms at least a portion of an operating unit 106. An automated machine 128 is located within the operating unit 106 and is configured to perform at least one manufacturing operation on a workpiece 170. The operating unit 106 is defined or described by a fixed coordinate system 112 and includes a work envelope 140. The work envelope 140 forms a three-dimensional volume within the operating unit 106 described by the fixed coordinate system 112, in which the automated machine 128 operates.

[0052] Reference Figure 1 The indexing device 100 includes a retaining tool 102. The retaining tool 102 is configured to securely hold a workpiece 170. The retaining tool 102 includes various suitable holding features 260 that allow the workpiece 170 to be secured to or otherwise held to the retaining tool 102. The retaining tool 102 is movable relative to the operating unit 106, for example, relative to an automated machine 128 located within the operating unit 106. For example, the retaining tool 102, together with the workpiece 170 secured to the retaining tool 102, is moved to a working position 258 within the work envelope 140 of the operating unit 106.

[0053] As used herein, the term "working position 258" generally refers to the spatial arrangement of the tooling 102 and thus the workpiece 170 when the tooling 102 moves within the operating unit 106 to perform at least one manufacturing operation on the workpiece 170 by the automated machine 128. This disclosure recognizes and considers that the working position 258 may not be precisely known when the tooling 102 moves within the operating unit 106. Therefore, the indexing device 100 is configured to determine the position of the tooling 102 relative to reference system 216 (also referred to herein as tooling position 118) when the tooling 102 is in working position 258, and thus determine the position of the workpiece 170 relative to reference system 216 (also referred to herein as workpiece position 262).

[0054] The indexing device 100 includes an indexing feature 104. The indexing feature 104 is fixed relative to the fixing tool 102. In other words, the position of the indexing feature 104 relative to the fixing tool 102 is constant and independent of the position (or position change) of the fixing tool 102 relative to the reference frame 216. In one example, the indexing feature 104 is coupled to the fixing tool 102. In another example, the indexing feature 104 is located on the fixing tool 102. In yet another example, the indexing feature 104 forms part of the fixing tool 102 (e.g., is integral with it).

[0055] Throughout this disclosure, the term "position" refers to the linear arrangement of an object along one or more orthogonal axes in three-dimensional space (e.g., along a fixed coordinate system 112). Additionally, in some cases, the term "position" also refers to the angular arrangement (e.g., orientation) of an object about one or more orthogonal axes in three-dimensional space (e.g., about a fixed coordinate system 112). Generally, the "position" of an object refers to the X position (e.g., representing the X coordinates of multiple points on at least a portion of one or more outer surfaces of the object), the Y position (e.g., representing the Y coordinates of multiple points on at least a portion of the outer surfaces), and the Z position (e.g., representing the Z coordinates of multiple points on at least a portion of the outer surfaces) of at least a portion of one or more outer surfaces of the object.

[0056] Still referencing Figure 1 The indexing device 100 includes an interface device 220. The interface device 220 is configured to engage with and position the indexing feature 104 relative to a reference frame 216, for example, within an operating unit 106. The interface device 220 is configured to generate interface data 222 representing the position of the indexing feature 104 relative to the reference frame 216 (also referred to herein as indexing feature position 116). As will be described in more detail herein, the interface device 220 may engage with and position the indexing feature 104 using at least one of a gripper 108, a sensor 184, and a plurality of detectors 202.

[0057] The indexing device 100 also includes a controller 110. The controller 110 communicates with an interface device 220 (e.g., electrical and / or data communication). The controller 110 is configured to process interface data 222 generated by the interface device 220 and determine an indexing feature position 116 based on the interface data 222. The controller 110 is also configured to determine the instantaneous (e.g., real-time, actual) position of the fixture 102, and therefore the workpiece 170, relative to the reference system 216 based on the indexing feature position 116. The automated machine 128 is indexed relative to the fixture 102 based on the determined position of the fixture 102 (fixed tool position 118).

[0058] In the disclosed examples, the geometry of workpiece 170, the geometry of fixture 102, and the geometry of indexing feature 104 are known. As used herein, the “geometry” of an object refers to the object’s dimensions, shape, and form, as well as any surface contours of the object. The geometry of an object can include the object’s internal geometry and / or the object’s external geometry. For example, the geometry of workpiece 170 describes the dimensions, shape, and form of workpiece 170, as well as any surface contours of workpiece 170.

[0059] Furthermore, the workpiece 170 is fixed or otherwise secured to the fixing tool 102 at a known position relative to the fixing tool 102. In other words, the position of the workpiece 170 relative to the fixing tool 102 (workpiece position 262) is known and remains constant, regardless of the position (or change) of the fixing tool 102 relative to the reference system 216, for example, when the fixing tool 102 moves into or out of the operating unit 106. Similarly, the position of the workpiece 170 is also fixed and remains constant relative to the indexing feature 104.

[0060] Therefore, the indexing feature position 116 can be used to determine the tooling position 118. The tooling position 118 can then be used to assume that the workpiece position 262 is within tolerance. In other words, the tooling position 118 represents the instantaneous position of the tooling 102 and the workpiece 170 relative to reference system 216. Thus, throughout this disclosure, unless otherwise stated, the term "tooling position 118" refers to and incorporates the position of the workpiece 170 (workpiece position 262).

[0061] In one example, before the positioning and indexing operations begin, the controller 110 is configured to identify the fixture 102, the indexing feature 104, and the workpiece 170 to which the manufacturing operations will be performed. In one example, the type of fixture, the type of indexing feature, and / or the type of workpiece can be loaded into the program before the positioning and indexing instructions are executed. In another example, the program can proactively identify and select the type of fixture, the type of indexing feature, and / or the type of workpiece from an option database based on one or more predetermined selection criteria.

[0062] Therefore, based on the type of the fixing tool 102, the type of the indexing feature 104, and / or the type of the workpiece 170 identified by the controller 110, the geometry of the fixing tool 102, the geometry of the indexing feature 104, and the geometry of the workpiece 170 are known. For example, the program loads a digital model 120 representing the fixing tool 102, the indexing feature 104, and the workpiece 170. The geometry of the fixing tool 102 (also referred to herein as fixing tool geometry 264), the geometry of the indexing feature 104 (also referred to herein as indexing feature geometry 266), and the geometry of the workpiece 170 (also referred to herein as workpiece geometry 268) are determined by the digital model 120 ( Figure 1 () represents or is extracted from a digital model.

[0063] In one example, digital model 120 includes a digital representation of a fixing tool 102, an indexing feature 104, and a workpiece 170. In another example, digital model 120 includes a digital representation of a combination of a fixing tool 102 having an indexing feature 104 and a workpiece 170 fixed to the fixing tool 102. Thus, digital model 120 represents the position of the indexing feature 104 and / or the workpiece 170 relative to the fixing tool 102.

[0064] Still refer to Figure 1 During the positioning and indexing operations, controller 110 is configured to match the indexing feature geometry 266 with the indexing feature position 116 represented by interface data 222. For example, controller 110 registers the geometric representation of the indexing feature 104 of digital model 120 with the indexing feature position 116. Controller 110 then determines the position of digital model 120 relative to reference frame 216 (referred to herein as model position 126), thereby positioning digital model 120 in reference frame 216. The registration of digital model 120 with indexing feature position 116 can be performed using any of a variety of data computation techniques that optimally align a set of data points (e.g., representing digital model 120) with a set of reference data points (e.g., representing indexing feature position 116), such as point cloud transformation. Controller 110 then determines the position of fixture 102 and the position of workpiece 170 (fixing tool position 118) based on model position 126 relative to reference frame 216. For example, the fixed tool position 118 is assumed to be the model position 126 within the tolerance.

[0065] Then, the automated machine 128 is rotated relative to the fixed tool 102 based on the fixed tool position 118 relative to the reference frame 216. The automated machine 128 operates relative to the reference frame 216 in at least one dimension of the fixed coordinate system 112 along a well-defined, programmed (e.g., CNC) motion cycle or tool path.

[0066] In one example, the automated machine 128 includes a robotic arm 226 with multiple degrees of freedom and an end effector 228 coupled to the working end of the robotic arm 226. The end effector 228 includes or takes the form of at least one working tool configured to perform at least one manufacturing operation on a workpiece 170. The robotic arm 226 is configured to move the end effector 228 along a predetermined toolpath relative to a fixed tool 102 and the workpiece 170 under computer control based on a fixed tool position 118.

[0067] Typically, the positioning and indexing operations described herein can be performed in conjunction with any of various types of additive or subtractive manufacturing operations, or as an initial step associated with any of various types of additive or subtractive manufacturing operations. Thus, the automated machine 128 can perform any of various types of manufacturing operations on the workpiece 170, including but not limited to drilling operations, milling operations, fastening operations, pre-curing and / or post-curing composite assembly operations (e.g., material layup operations, lamination operations, etc.). Typically, the end effector 228 includes appropriate tools configured to perform the associated manufacturing operations.

[0068] Because the geometry of workpiece 170 is known, and because the position of workpiece 170 relative to fixture 102 is known, or assumed to be within tolerance, the automated machine 128 is indexed relative to fixture 102 based on fixture position 118, thereby indexing the automated machine 128 relative to workpiece 170. Once the automated machine 128 is indexed relative to fixture position 118, the automated machine 128 operates along the programming tool path to perform at least one manufacturing operation on workpiece 170 in a known manner. The geometry of workpiece 170 and the known position of workpiece 170 relative to fixture 102 are incorporated into and taken into account by the programming tool path of the automated machine 128.

[0069] This disclosure recognizes and considers that the geometry of workpiece 170 may change due to manufacturing operations (e.g., assembly or machining) performed on workpiece 170. However, the position of workpiece 170 relative to the stationary tool 102 and the indexing feature 104 will not change due to actions outside of the manufacturing operations. Therefore, any bending, displacement, etc., of workpiece 170 is within tolerance during the manufacturing operations and has no effect on the position of workpiece 170 beyond the tolerances. In other words, at each stop along the entire manufacturing process, the only change in workpiece 170 due to the various manufacturing operations is its geometry.

[0070] Based on theoretical additive or subtractive manufacturing from previous manufacturing operations, changes in the geometry of workpiece 170 caused by any manufacturing operation are also known or assumed to be within tolerances. For example, the workpiece geometry 268 (e.g., represented by digital model 120) is updated based on the additive or subtractive manufacturing operation performed on workpiece 170.

[0071] When the fixing tool 102 and the workpiece 170 move to the subsequent working position 258, for example, to the second operating unit 172 so that the second automated machine 174 ( Figure 10 , Figure 20 and Figure 28When performing subsequent manufacturing operations on workpiece 170, the indexing feature 104 is positioned relative to the fixed tool position 118, the fixed tool position 118 is determined, and the second automated machine 174 is indexed, as described herein. The known (e.g., modified) geometry of workpiece 170 and the known position of workpiece 170 relative to the fixed tool 102 are incorporated into and taken into account by the programming tool path of the second automated machine 174. Therefore, this change in workpiece geometry 268 is taken into account in subsequent positioning and indexing operations, which in turn enables repeatable indexing based on the position of the fixed tool 102.

[0072] Therefore, the examples of the indexing device 100, manufacturing system 168, and methods 1000, 2000, 3000 disclosed herein enable rapid and accurate positioning of the workpiece 170 without the need for expensive and time-consuming setup or positioning operations. Furthermore, the automated machine 128 can be rapidly and accurately indexed relative to the fixed tool 102 and thus relative to the workpiece 170 based on the determined position of the fixed tool 102.

[0073] Figures 1 to 29 Various example implementations of the interface device 220 and the transposition feature 104 of the disclosed transposition device 100 are schematically shown. For example... Figures 1 to 10 As shown, in one example, the interface device 220 includes at least one gripper 108 that provides a contact interface with the indexing feature 104. Figures 11 to 21 As shown, in one example, the interface device 220 includes at least one sensor 184 that provides a non-contact interface with the rotation feature 104. Figures 22 to 29 As shown, in one example, the interface device 220 includes a plurality of detectors 202 that provide a contact interface with the transposition feature 104.

[0074] Overall reference Figure 1 Special reference Figures 2 to 4 In one example, the indexing device 100 includes a retaining tool 102. The retaining tool 102 is movable relative to the operating unit 106. The indexing device 100 also includes an indexing feature 104. The indexing feature 104 is fixed relative to the retaining tool 102. For example, the indexing feature 104 is coupled to the retaining tool 102. In one example, the indexing feature 104 extends from the retaining tool 102.

[0075] exist Figures 2 to 5 In the example shown, the indexing feature 104 is attached to and extends from the front end of the retaining tool 102. In other examples, the indexing feature 104 is attached to another part of the retaining tool 102 (e.g., the side, rear, bottom, etc.) or located on another part of the retaining tool 102.

[0076] In one example, the indexing device 100 includes a gripper 108. The gripper 108 is movable relative to the operating unit 106 and the retaining tool 102. The gripper 108 is configured to engage an indexing feature 104 (e.g., to make physical contact with the indexing feature). The indexing feature 104 is suitably positioned relative to the retaining tool 102 such that at least a portion of the indexing feature 104 is physically accessible by the gripper 108. Conversely, the gripper 108 is suitably positioned relative to the retaining tool 102 such that at least a portion of the gripper 108 is physically accessible by the indexing feature 104. When the gripper 108 is engaged with the indexing feature 104, the position of the gripper 108 (also referred to herein as gripper position 114) is... Figure 1 ) represents or corresponds to the transposition feature position 116 ( Figure 1 In other words, the gripper 108 positions the indexing feature 104 in the reference frame 216.

[0077] refer to Figures 2 to 6 In one example, the gripper 108 includes a hinge mechanism 230 and a gripping head 232 coupled to the working end of the hinge mechanism 230. The hinge mechanism 230 has multiple degrees of freedom and is configured to move the gripping head 232 linearly and / or rotatably about at least one axis of the fixed coordinate system 112 in three-dimensional space, for example.

[0078] The gripper head 232 is configured to engage the indexing feature 104. For example, the gripper head 232 is configured to grip or otherwise securely hold at least a portion of the indexing feature 104. When the gripper head 232 is engaged with the indexing feature 104, the gripper position 114 is the position of the gripper head 232 and represents or corresponds to the indexing feature position 116.

[0079] The articulation mechanism 230 includes at least one suitable drive motor (not shown) to drive the movement of the articulation mechanism 230, such as an electromechanical motor, pneumatic motor, hydraulic motor, etc. The articulation mechanism 230 is also configured to provide position data (e.g., interface data 222) representing the gripper position 114, for example, relative to a reference system 216 in at least one dimension of a fixed coordinate system 112. For example, the articulation mechanism 230 also includes at least one encoder (not shown) and / or at least one sensor (not shown) that converts the movement of the articulation mechanism 230 into an electrical signal representing the gripper position 114. The articulation mechanism 230 also includes other suitable electronic, mechanical, pneumatic, and hydraulic components (not shown). The articulation mechanism 230 operates under computer control, for example, via a controller 110.

[0080] Reference Figure 2 and Figure 4 In one example, the hinge mechanism 230 is coupled to, or forms part of, the automated machine 128. Figure 4 For clarity, the robotic arm 226 and end effector 228 of the automated machine 128 (e.g., for performing at least one manufacturing operation) have been removed. Figure 2 In this example, the automated machine 128 is configured to move the gripper 108 relative to the operating unit 106 and the fixed tool 102 in at least one dimension of the fixed coordinate system 112. In other words, at least a portion or one or more degrees of freedom of the range of motion of the articulated mechanism 230 are provided by the automated machine 128.

[0081] refer to Figure 5 In one example, the articulation mechanism 230 is separate from and independent of the automated machine 128. In this example, the full range of motion or each degree of freedom of the gripper 108 is provided by the articulation mechanism 230 (e.g., it is inherent to the articulation mechanism).

[0082] refer to Figure 6 In another example of the transposition device 100, the interface device 220 ( Figure 1 The device includes more than one gripper 108 (referred to herein as a plurality of grippers 108). In this example, the indexing device 100 includes more than one indexing feature 104 (referred to herein as a plurality of indexing features 104). Each of the indexing features 104 is fixed relative to the retaining tool 102. Each of the grippers 108 is configured to engage and position a corresponding indexing feature among the indexing features 104.

[0083] Reference Figures 1 to 6 The indexing device 100 also includes a controller 110. The controller 110 communicates with the gripper 108. The controller 110 is configured to position the fixing tool 102 relative to the operating unit 106 (e.g., relative to reference frame 216) based on the gripper position 114 of the gripper 108 when the gripper 108 is engaged with the indexing feature 104.

[0084] In one example, controller 110 is configured to determine, for example, a gripper position 114 of gripper 108 relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Controller 110 is also configured to determine, based on gripper position 114 of gripper 108, an indexing feature 104, for example, an indexing feature position 116 relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Controller 110 is also configured to determine, based on indexing feature position 116 of indexing feature 104, a fixing tool 102, for example, a fixing tool position 118 relative to reference frame 216 in at least one dimension of fixed coordinate system 112.

[0085] In one example, controller 110 is configured to represent digital model 120 (representing fixing tool 102 and transposition feature 104) Figure 1 The controller 110 is also configured to convert the model position 126 of the digital model 120 registered to the indexing feature position 116 into the fixed tool position 118 of the fixed tool 102.

[0086] Figure 7 An example of input 234 provided to controller 110 during positioning and rotation operations and output 236 generated by controller 110 is illustrated schematically. In one example, gripper position data 238 is provided to controller 110 by gripper 108. Gripper position data 238 is interface data 222 ( Figure 1 Example of gripper position data 238. In one example, gripper position data 238 is generated by an encoder, sensor, other relative positioning device, or a combination thereof, and represents gripper 108 ( Figure 3 The actual physical position (gripper position 114) relative to reference frame 216. Controller 110 processes gripper position data 238 and determines gripper position 114 based on gripper position data 238. Controller 110 then processes gripper position 114 and determines rotation feature position 116 based on gripper position 114.

[0087] refer to Figures 2 to 6 In one example, when the gripper 108 (e.g., gripper head 232) engages with the indexing feature 104, there is at least one contact point between the gripper 108 and the indexing feature 104. This contact point has XYZ coordinates common to both the gripper 108 and the indexing feature 104. Gripper position data 238 ( Figure 16 The coordinates (XYZ) represent the contact points of the gripper 108, and the gripper position 114 is described by the XYZ coordinates of the contact points of the gripper 108. The controller 110 converts the XYZ coordinates of the contact points of the gripper 108 into the XYZ coordinates of the corresponding contact points of the indexing feature 104. Then, the controller 110 determines the indexing feature position 116 as described by the XYZ coordinates of the contact points of the indexing feature 104.

[0088] In one example, the gripper 108 (e.g., gripper head 232) and the indexing feature 104 include multiple contact points. Therefore, the gripper position 114 is described by the XYZ coordinates of the multiple contact points of the gripper 108, and the indexing feature position 116 is described by the XYZ coordinates of the corresponding multiple contact points of the indexing feature 104.

[0089] It should be noted that increasing the number of contact points between the gripper 108 and the indexing feature 104 provides a larger number of XYZ coordinate data points for processing, which in turn increases the accuracy of the indexing feature position 116 and the fixing tool position 118 during data point alignment during the indexing operation. In one example, the gripper 108 (e.g., gripper head 232) and the indexing feature 104 include at least three contact points.

[0090] Brief reference Figure 8A , Figure 8B , Figure 9A and Figure 9B In one example, the gripper 108 (e.g., gripper head 232) includes at least one contact indexer 148. Figure 8A and Figure 9A ), and the transposition feature 104 includes at least one interface transposition 146 ( Figure 8B and Figure 9B When the gripper 108 (e.g., gripper head 232) engages with the indexing feature 104, the contact indexer 148 engages with the interface indexer 146 such that at least one contact point exists between the contact indexer 148 and the interface indexer 146. This contact point has XYZ coordinates common to both the contact indexer 148 and the interface indexer 146. Gripper position data 238 represents the XYZ coordinates of the contact point of the contact indexer 148, and gripper position 114 is described by the XYZ coordinates of the contact point of the contact indexer 148.

[0091] The controller 110 converts the XYZ coordinates of the contact points of the contact indexer 148 into the XYZ coordinates of the corresponding contact points of the interface indexer 146. The controller 110 determines the indexing feature position 116 as described by the XYZ coordinates of the contact points of the interface indexer 146.

[0092] Typically, the gripper 108 (e.g., gripper head 232) includes multiple contact indexers 148, and the indexing feature 104 includes multiple interface indexers 146, which in turn provide multiple contact points. Therefore, the gripper position data 238 ( Figure 7 The coordinates (XYZ) represent the XYZ coordinates of multiple contact points of the contact indexer 148 of the gripper 108. The gripper position 114 is described by the XYZ coordinates of the contact points of the contact indexer 148 of the gripper 108. The indexing feature position 116 is described by the XYZ coordinates of the corresponding multiple contact points of the interface indexer 146.

[0093] In one example, gripper 108 (e.g., gripper head 232) includes at least three contact shifters 148, and shifting feature 104 includes at least three interface shifters 146, resulting in at least three contact points. In other examples, gripper 108 (e.g., gripper head 232) may include fewer or more contact shifters 148, and shifting feature 104 may include fewer or more interface shifters 146.

[0094] It should be noted that increasing the number of contact indexers 148 and interface indexers 146 increases the number of contact points between the gripper 108 and the indexing feature 104, which in turn provides a greater number of XYZ coordinate data points for processing, which in turn increases the accuracy of the indexing feature position 116 and the fixed tool position 118 during the data point alignment during the indexing operation.

[0095] Refer again Figure 7 The controller 110 is configured to register a digital model 120 representing the fixing tool 102 and the indexing feature 104 to the indexing feature location 116 and determine the model position 126. In one example, the controller 110 is configured to overlap and align the digital model 120 with the XYZ coordinates of the indexing feature location 116 within the describing reference frame 216. The digital model 120 includes data points representing contact points of the indexing feature 104. For example, the digital model 120 includes data points representing the interface index 146 of the indexing feature 104. In one example, the controller 110 performs a best-fit operation (e.g., performs a best-fit algorithm) to align the data points representing contact points of the indexing feature 104 (e.g., data points representing the interface index 146) with the data points representing the XYZ coordinates of the indexing feature location 116. In one example, the best-fit operation includes a rigid body point cloud transformation operation.

[0096] With the digital model 120 registered and aligned with the indexing feature position 116, the controller 110 is configured to convert the model position 126 into a fixed tool position 118 for the fixed tool 102, for example, relative to reference frame 216. For example, the fixed tool position 118 is assumed to be within tolerance, just like the model position 126. Therefore, the fixed tool position 118 represents the instantaneous (e.g., current, real-time) position of the fixed tool 102, and thus the workpiece 170, relative to the operating unit 106 and the automated machine 128.

[0097] With the fixed tool position 118 known, the automated machine 128 is indexed or "zeroed" relative to the fixed tool position 118, and a predetermined toolpath is followed to perform manufacturing operations on the workpiece 170. Since the automated machine 128 is indexed relative to the fixed tool 102 based on the fixed tool position 118, the automated machine 128 is also indexed relative to the workpiece 170. The geometry of the workpiece 170 and its known position relative to the fixed tool 102 are incorporated into and considered by the programming toolpath of the automated machine 128.

[0098] Reference Figure 1 and Figure 2 In one example, the indexing device 100 includes an automated machine 128. The automated machine 128 is located in the operating unit 106 and communicates with a controller 110. The controller 110 is configured to index the automated machine 128 relative to a fixed tool position 118 of the fixed tool 102.

[0099] refer to Figure 2 and Figures 4 to 6 In one example, the automated machine 128 includes a frame 134. The frame 134 is configured to provide at least a portion of the range of motion of the automated machine 128 or to provide one or more degrees of freedom to the automated machine 128. In one example, a robotic arm 226 is attached to the frame 134. In one example, the frame 134 is an elevated frame that is movable within the manipulator 106 to move the robotic arm 226 in at least one dimension of the fixed coordinate system 112. In this example, the fixed tool 102 and thus the workpiece 170 are moved to a working position 258 within the manipulator 106, and the frame 134 and / or the robotic arm 226 move relative to the fixed tool 102 such that the end effector 228 follows along a predetermined tool path.

[0100] In another example (not shown), the robotic arm 226 is a separate robot with a fixed base within the operating unit 106. In this example, the fixing tool 102 and thus the workpiece 170 are moved to a working position 258 within the operating unit 106, and the robotic arm 226 moves relative to the fixing tool 102 such that the end effector 228 travels along a predetermined tool path.

[0101] Although the illustrated example of indexing device 100 shows only one automated machine 128 (e.g., a robotic arm 226 with an end effector 228) for performing manufacturing operations on workpiece 170 in operation unit 106, in other examples, indexing device 100 may have any number of additional automated machines 128 (e.g., additional robotic arms 226 and / or additional end effectors 228).

[0102] refer to Figure 1 and Figure 2 In one example, the manufacturing operation includes a pre-cured composite assembly operation or other additive manufacturing operations performed on the pre-cured composite material, such as a composite layup operation and / or a composite lamination operation. In this example, workpiece 170 includes a pre-cured composite laminate (e.g., a layup of a pre-impregnated composite material). The fixing tool 102 includes a mandrel 130 or takes the form of a mandrel. The mandrel 130 is configured to support the composite laminate (workpiece 170). An automated machine 128 is configured to perform the pre-cured manufacturing operation on the composite laminate (workpiece 170). For example, the automated machine 128 includes an automated fiber layup machine 132 (… Figure 1 Alternatively, an automated fiber laying machine can be used.

[0103] In one or more other examples, the manufacturing operation includes other additive manufacturing operations, such as assembly operations, or subtractive manufacturing operations, such as machining operations. In such an example, workpiece 170 is one of a post-curing composite structure, a metal structure, a plastic structure, or other non-composite structure. The retaining tool 102 includes at least one retaining feature 260. Figure 1 The at least one retaining feature is configured to hold the workpiece 170 to the retaining tool 102 during movement to the operating unit 106 and during the manufacturing operation. The automated machine 128 is configured to perform at least one of additive manufacturing and subtractive manufacturing operations on the workpiece 170. In one example, the automated machine 128 is configured to perform a post-curing manufacturing operation on a post-curing composite structure. For example, the automated machine 128 includes any suitable machine tool 270 ( Figure 1 Alternatively, it can be taken in the form of a machine tool.

[0104] In one or more examples, any of the various manufacturing operations described herein is part of a continuous flow manufacturing process. For example, a fixture 102 and a workpiece 170 are pulsed to one of a plurality of operating units forming a continuous flow manufacturing system. At any given operating unit of the plurality of operating units, the manufacturing operation forms part of a continuous flow manufacturing process. In one example, the manufacturing operation includes placing one or more sheets of a pre-cured composite material to partially form a composite laminate. In one example, the manufacturing operation includes assembling or mounting a secondary structure to a post-cured composite or non-composite structure. In one example, the manufacturing operation includes machining one or more features in the post-cured composite or non-composite structure.

[0105] In one example, the retaining tool 102 is moved to working position 258, and as described above, the clamp 108 and indexing feature 104 are used to determine the instantaneous positions of the retaining tool 102 and the workpiece 170 (e.g., retaining tool position 118). Based on the retaining tool position 118 (e.g., the position of the retaining tool 102 and the position of the workpiece 170 relative to the retaining tool 102), the automated fiber layup machine 132 lays and / or consolidates at least a portion of at least one layer of the composite sheet stack.

[0106] refer to Figure 2 and Figures 4 to 6 In one example, the indexing device 100 includes a drive assembly 138 coupled to a gripper 108. The drive assembly 138 is configured to move the gripper 108 relative to a reference frame 216, for example, in at least one dimension of a fixed coordinate system 112. In one example, the drive assembly 138 is coupled to or forms part of a hinge mechanism 230 of the gripper 108, for example, in an example where the gripper 108 is detached from the automated machine 128, such as... Figure 5 and Figure 6 As shown. In another example, drive component 138 is coupled to or formed by automation machine 128, for example, in the example where gripper 108 is coupled to automation machine 128, as shown. Figure 2 and Figure 4 As shown.

[0107] refer to Figure 1 In one example, the gripper 108 is configured to move the retaining tool 102 within the work envelope 140 of the operating unit 106. In one example, the retaining tool 102 and the workpiece 170 are moved to an initial, pre-working position, for example, close to (e.g., at or near) the working position 258 (e.g., outside the operating unit 106). The computer-controlled gripper 108 moves to engage with the indexing feature 104. While engaged with the indexing feature 104, the gripper 108 moves the retaining tool 102 and the workpiece 170 to the working position 258 (e.g., inside the operating unit 106). In this way, as described above, the retaining tool 102 and the workpiece 170 are moved to the working position 258 simultaneously with the determination of the retaining tool position 118. This combined operation further improves the cycle time of the manufacturing operation by enabling the movement operation of the retaining tool 102 and the workpiece 170 and the positioning operation of the retaining tool 102 and the workpiece 170 to be performed substantially simultaneously.

[0108] In another example, the indexing device 100 includes a separate moving mechanism (not shown) that is separate from the gripper 108 and configured to move the fixing tool 102 to a working position 258. In this example, the fixing tool 102 and the workpiece 170 are moved to a pre-working position, and the separate moving mechanism, operated under computer control, moves the fixing tool 102 and the workpiece 170 to the working position 258.

[0109] Figure 8A , Figure 8B , Figure 9A and Figure 9B An example of a gripper 108 and an indexing feature 104 is schematically shown. In one example, the gripper 108 (e.g., gripping head 232) includes a jaw assembly 144 ( Figure 8A and Figure 9A The jaw assembly 144 is configured to clamp, grip, hold, or otherwise securely retain the indexing feature 104. Figure 8B and Figure 9B At least a portion thereof. In one example, the transposition feature 104 includes attachment to the fixing tool 102 ( Figure 8B (Not shown in the image) and a plate 150 extending from the fixing tool 102. Contact indexer 148 ( Figure 8A and Figure 9A ) and interface transducer 146 ( Figure 8B and Figure 9B The grippers 108 (e.g., jaw assembly 144) are configured to contact and engage with each other when the grippers 108 (e.g., plate 150) properly engage the indexing feature 104.

[0110] Reference Figure 8A and Figure 8B In one example, jaw assembly 144 includes a first jaw and a second jaw. The first jaw and the second jaw are movable relative to each other to selectively engage (e.g., clamp) plate 150. In one example, jaw assembly 144 includes a fixed first (e.g., upper) jaw and a second (e.g., lower) jaw movable relative to the first jaw. In one example, each jaw of jaw assembly 144 has a generally flat engagement surface configured to form a firm contact with a corresponding engagement surface in an opposing flat engagement surface of plate 150. Other configurations of jaw assembly 144 and plate 150 are also contemplated.

[0111] In one example, contact transpose 148 ( Figure 8A ) is connected to or disposed on jaw assembly 144, and interface indexer 146 ( Figure 8BThe contact indexer 148 is properly positioned and configured to engage the interface indexer 146 when the jaw assembly 144 clamps the plate 150. In one example, the contact indexer 148 is located on and protrudes from the engagement surface of one of the jaws (e.g., the upper jaw) of the jaw assembly 144, and the interface indexer 146 is located on and protrudes from the engagement surface of one of the engagement surfaces of the plate 150.

[0112] In one example, contact shifter 148 includes at least one contact structure 154, or takes the form of at least one contact structure. Interface shifter 146 includes at least one interface structure 152, or takes the form of at least one interface structure. In one example, interface structure 152 and contact structure 154 have complementary geometries and dimensions such that when gripper head 232 properly engages shifter feature 104, corresponding surfaces of contact structure 154 (e.g., forming contact shifter 148) and corresponding surfaces of interface structure 152 (e.g., forming interface shifter 146) contact each other. Each of contact structure 154 and interface structure 152 includes or takes the form of any of a variety of structural configurations or arrangements.

[0113] In one example, the contact structure 154 and interface structure 152 include, or take the form of, a plurality of mating and complementary point structures. In the example shown, the contact structure 154 includes, or takes the form of, a protrusion formed on (e.g., projecting from) the surface of the gripper head 232, and the interface structure 152 includes, or takes the form of, a hole formed in (e.g., depending from) the surface of the plate 150. In this example, the interface structure 152 is configured to receive at least a portion of the contact structure 154 and mate with at least a portion of the contact structure 154. In another example, this arrangement may be reversed. For example, the contact structure 154 includes, or takes the form of a hole, and the interface structure 152 includes, or takes the form of a protrusion. As an example, a protrusion may be, or may take the form of a pin, a spring-loaded ball bearing, or other protrusion body, and a hole may be, or may take the form of an orifice, a pawl, a recess, or other opening.

[0114] refer to Figure 9A and Figure 9BIn another example, the interface structure 152 of the interface indexer 146 includes a tool ball protruding from or taking the form of a tool ball protruding from the plate 150. The contact structure 154 of the contact indexer 148 includes a mating tool hole or taking the form of a mating tool hole, which is formed by the jaw assembly 144 and configured to receive and mate with the tool ball when the gripper head 232 properly engages the plate 150. In another example, this arrangement may be reversed. For example, the contact structure 154 includes a tool ball or taking the form of a tool ball, while the interface structure 152 includes a tool hole or taking the form of a tool hole.

[0115] Other structural configurations and / or arrangements of the contact shift 148 (e.g., contact structure 154) and interface shift 146 (e.g., interface structure 152) are also conceivable, such as mating and complementary cup-cone configurations, etc.

[0116] Typically, any suitable construction or arrangement of the contact indexer 148 and the interface indexer 146 can be used such that there are at least three contact points between the gripper 108 and the indexing feature 104, which can be used to generate at least three data points representing at least three XYZ coordinates of the indexing feature 104. In most cases, three data points are sufficient to generate the complete three-dimensional position of the fixing tool 102 during the positioning and indexing operations described above.

[0117] In one example, the XZY coordinate positions of at least two of the contact transposes 148 (e.g., at least two of the contact structures 154) are different in at least two dimensions of the fixed coordinate system 112. Similarly, the XZY coordinate positions of at least two of the interface transposes 146 (e.g., at least two of the interface structures 152) are different in at least two dimensions of the fixed coordinate system 112.

[0118] In the example implementation of the positioning and indexing operations described above, the fixing tool 102, and therefore the workpiece 170, is moved to the working position 258 to engage the indexing feature 104 via the gripper 108. With the fixing tool 102 in the working position 258, the position of the indexing feature 104 relative to the reference system 216 is approximately known, or estimated within acceptable tolerances, so that the gripper 108 can be moved relative to the indexing feature 104 to a pre-engaged position under computer control. The controller 110 then performs a search operation in which the gripper 108 moves incrementally along a predetermined search path to find the interface index 146 and align and engage the contact index 148 with the interface index 146. With the contact index 148 and the interface index 146 properly aligned and engaged with each other, the contact index 148 and the interface index 146 share a contact point, and the positioning and indexing operations are performed as described above.

[0119] refer to Figure 8A and Figure 9A In one example, the gripper 108 includes at least one engagement sensor 240. The engagement sensor 240 is configured to determine when the gripper 108 is properly aligned and engaged with the indexing feature 104, for example, when the contact indexer 148 and interface indexer 146 are properly aligned and mated with each other. The engagement sensor 240 includes any of a variety of suitable sensors, or takes the form of any of a variety of suitable sensors, such as depth gauges, pressure sensors, tool detectors, displacement sensors, etc.

[0120] Reference Figures 1 to 6 In one example, the indexing device 100 includes a vehicle 160. The vehicle 160 is configured to support a fixing tool 102. The vehicle 160 is also configured to move the fixing tool 102 relative to the operating unit 106. In one example, the vehicle 160 is configured to move the fixing tool 102, and therefore the workpiece 170, to a working position 258, where a gripper 108 engages the indexing feature 104 to perform the aforementioned positioning and indexing operations. In another example, the vehicle 160 is configured to move the fixing tool 102, and therefore the workpiece 170, relative to the operating unit 106 to a pre-working position, where the gripper 108 engages the indexing feature 104 to perform the aforementioned movement, positioning, and indexing operations.

[0121] refer to Figure 1 In one example, vehicle 160 includes or takes the form of an automated guided vehicle 162. The automated guided vehicle 162 is configured to move autonomously along a predetermined travel path under computer control. In this example, operating unit 106 may include one or more of sensors, guide belts, guide lines, laser targets, and any other suitable navigation mechanisms for moving the automated guided vehicle 162 along the predetermined travel path. In this example, the automated guided vehicle 162, moving along the predetermined travel path, is configured to move the fixing tool 102 to a working position 258 (or pre-working position) so that the gripper 108 locates and engages the indexing feature 104, as described above.

[0122] refer to Figure 1 and Figure 2 In one example, vehicle 160 includes or takes the form of a trolley 164. Trolley 164 is configured to travel along a track 166 extending through operating unit 106. In this example, trolley 164, moving along track 166, is configured to move fixing tool 102 to working position 258 (or pre-working position) so that gripper 108 finds and engages indexing feature 104, as described above.

[0123] In one example, the track 166 is arranged such that the Z-coordinate of the fixing tool 102 and thus the indexing feature 104 is fixed and remains constant as the trolley 164 travels along the track 166 to the working position 258. In this example, the positioning operation performed by the gripper 108 only needs to determine the XY coordinates of the contact point between the gripper 108 and the indexing feature 104.

[0124] refer to Figure 1 and Figure 2 In one example, manufacturing system 168 includes an operating unit 106 and an automated machine 128. The automated machine 128 is located within the operating unit 106 and is configured to perform at least one manufacturing operation. Manufacturing system 168 also includes a fixing tool 102. The fixing tool 102 is configured to support a workpiece 170 and is movable relative to the operating unit 106. Manufacturing system 168 also includes an indexing feature 104. The indexing feature 104 is fixed relative to the fixing tool 102. For example, the indexing feature 104 is coupled to the fixing tool 102.

[0125] Manufacturing system 168 also includes a gripper 108. Gripper 108 is configured to engage indexing feature 104. Manufacturing system 168 also includes a controller 110. Controller 110 communicates with gripper 108 and automated machine 128. Controller 110 is configured to position fixing tool 102 relative to operating unit 106 according to gripper position 114 of gripper 108 engaged with indexing feature 104. Controller 110 is also configured to index automated machine 128 relative to fixing tool position 118 of fixing tool 102.

[0126] refer to Figure 1 and Figure 7 In one example of manufacturing system 168, controller 110 is configured to determine gripper position 114 of gripper 108 in at least one dimension of fixed coordinate system 112. Controller 110 is also configured to determine indexing feature position 116 of indexing feature 104 in at least one dimension of fixed coordinate system 112 based on gripper position 114 of gripper 108. Controller 110 is also configured to determine tooling position 118 of tooling 102 in at least one dimension of fixed coordinate system 112 based on indexing feature position 116 of indexing feature 104. Controller 110 is further configured to register digital model 120 representing tooling 102 and indexing feature 104 to indexing feature position 116 of indexing feature 104, and to convert model position 126 of digital model 120 registered to indexing feature position 116 into tooling position 118 of tooling 102.

[0127] refer to Figures 1 to 3In one example of manufacturing system 168, fixing tool 102 includes mandrel 130 configured to support composite laminate, and automated machine 128 includes automated fiber layup machine 132 configured to perform at least one composite layup or lamination operation.

[0128] refer to Figure 2 and Figure 4 In one example of manufacturing system 168, gripper 108 is coupled to automated machine 128, and automated machine 128 is configured to move gripper 108 relative to reference frame 216 in at least one dimension of fixed coordinate system 112. (Reference) Figure 5 and Figure 6 In one example, gripper 108 is configured to move independently of automated machine 128. (See reference) Figures 2 to 6 In one example, the gripper 108 is configured to move the fixing tool 102 within the working envelope 140 of the operating unit 106.

[0129] Reference Figure 8A , Figure 8B , Figure 9A and Figure 9B In one example of manufacturing system 168, indexing feature 104 includes at least one interface indexer 146. Holder 108 includes at least one contact indexer 148 configured to engage at least one interface indexer 146.

[0130] refer to Figures 1 to 6 In one example, manufacturing system 168 includes vehicle 160. Vehicle 160 is configured to support and move fixture 102 relative to operating unit 106.

[0131] refer to Figure 1 and Figure 2 In one example, the manufacturing system 168 also includes a track 166. The track 166 extends through the operating unit 106. In this example, the vehicle 160 includes a trolley 164 configured to travel along the track 166 or takes the form of a trolley 164 configured to travel along the track 166.

[0132] refer to Figure 10 In one example, manufacturing system 168 includes a second operating unit 172. Manufacturing system 168 also includes a second automated machine 174. The second automated machine 174 is located in the second operating unit 172 and is configured to perform at least one manufacturing operation on workpiece 170.

[0133] Manufacturing system 168 also includes a second gripper 176. The second gripper 176 is configured to engage indexing feature 104. Controller 110 communicates with the second gripper 176 and the second automated machine 174. Controller 110 is configured to position the fixing tool 102 relative to the second operating unit 172 according to a second gripper position 178 of the second gripper 176 engaged with indexing feature 104. Controller 110 is also configured to index the second automated machine 174 relative to a second fixing tool position 180 of the fixing tool 102. Once indexed, the second automated machine 174 performs at least one manufacturing operation on the workpiece 170.

[0134] Overall reference Figure 1 Special reference Figures 11 to 13 In another example, the indexing device 100 includes a retaining tool 102. The retaining tool 102 is movable relative to the operating unit 106. The device 100 also includes an indexing feature 104. The indexing feature 104 is fixed relative to the retaining tool 102. For example, the indexing feature 104 is located on the retaining tool 102.

[0135] exist Figures 11 to 15 In the example shown, the indexing feature 104 is attached to or located on the top of the fixing tool 102. In other examples, the indexing feature 104 is attached to or located on another part of the fixing tool 102 (e.g., side, front, rear, bottom, etc.).

[0136] In one example, the indexing device 100 includes a sensor 184. The sensor 184 is configured to detect (e.g., visually recognize) the indexing feature 104. The indexing feature 104 is suitably positioned relative to the fixing tool 102 such that at least a portion of the indexing feature 104 is visually accessible by the sensor 184. Conversely, the sensor 184 is suitably positioned relative to the fixing tool 102 such that at least a portion of the sensor 184 is physically accessible by the indexing feature 104. In one example, the indexing feature 104 is located on or formed in the exposed outer surface of the fixing tool 102. The sensor 184 is configured to generate sensor data 186. Figure 1 The sensor data indicates the position of rotation feature 104 (rotation feature position 116). Figure 1 In other words, sensor 184 positions the transposition feature 104 in reference frame 216.

[0137] Reference Figures 11 to 13In one example, sensor 184 includes a hinge mechanism 230 and a sensor head 242 coupled to a working end of the hinge mechanism 230. The hinge mechanism 230 is configured to move the sensor head 242 linearly and / or rotatably in three-dimensional space, such as along at least one axis of a fixed coordinate system 112 and / or about at least one axis of the fixed coordinate system 112.

[0138] The hinge mechanism 230 is also configured to provide position data (e.g., interface data 222). Figure 1 The position data represents the position of sensor 184 (e.g., sensor head 242) relative to reference frame 216. In one example, the position data and sensor data 186 are used to determine the position of the rotation feature position 116 relative to reference frame 216. In one example, and for the purposes of this description, the position data of sensor 184 relative to reference frame 216 is combined with the sensor data 186.

[0139] Reference Figure 13 Sensor head 242 includes or takes the form of any of a variety of machine vision or computer vision systems configured to scan fixture 102 and identify transposition feature 104 based on the scan. In one example, sensor 184 (e.g., sensor head 242) includes or takes the form of a camera configured to capture still images or videos (e.g., sensor data 186) that visually represent fixture 102 and transposition feature 104. In another example, sensor 184 (e.g., sensor head 242) includes or takes the form of a laser scanner configured to project laser light onto fixture 102 and collect laser light deflected back from fixture 102, and generate sensor data 186 representing transposition feature 104 based on the collected laser light.

[0140] In one example, sensor data 186 represents or corresponds to the position 116 of the transposition feature. In one example, the laser scanner is a two-dimensional laser scanner, and sensor data 186 represents the position of the transposition feature 104 in two dimensions (e.g., XY coordinates) of a fixed coordinate system. In another example, the laser scanner is a three-dimensional laser scanner, and sensor data 186 represents the position of the transposition feature in three dimensions (e.g., XYZ coordinates) of a fixed coordinate system.

[0141] Reference Figure 11 and Figure 12 In one example, the hinge mechanism 230 is coupled to or forms part of the automated machine 128. Figure 12For clarity, the robotic arm 226 and end effector 228 of the automated machine 128 (e.g., for performing at least one manufacturing operation) have been removed. Figure 11 In this example, the automated machine 128 is configured to move the sensor 184 relative to the operating unit 106 and the stationary tool 102 in at least one dimension of the fixed coordinate system 112. In other words, at least a portion or one or more degrees of freedom of the range of motion of the articulated mechanism 230 are provided by the automated machine 128.

[0142] Reference Figure 13 In one example, the articulation mechanism 230 is separate from and independent of the automated machine 128. In this example, the full range of motion or each degree of freedom of the sensor 184 is provided by the articulation mechanism 230 (e.g., it is inherent to the articulation mechanism).

[0143] refer to Figure 14 In another example of the transposition device 100, the interface device 220 ( Figure 1 The device includes more than one sensor 184 (referred to herein as a plurality of sensors 184). In this example, the indexing device 100 includes more than one indexing feature 104 (e.g., a plurality of indexing features 104). Each of the indexing features 104 is fixed relative to the fixing tool 102. Each of the sensors 184 is configured to scan, detect, and locate a corresponding indexing feature among at least a portion or multiple of the indexing features 104.

[0144] Reference Figure 1 and Figures 11 to 15 The indexing device 100 also includes a controller 110. The controller 110 communicates with a sensor 184. The controller 110 is configured to position the fixing tool 102 relative to the operating unit 106 based on the indexing feature position 116 of the indexing feature 104 identified by the sensor 184.

[0145] In one example, controller 110 is configured to determine, based on sensor data 186 generated by sensor 184, the position 116 of the rotation feature 104 relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Controller 110 is also configured to determine, based on the position 116 of the rotation feature 104, the position 118 of the fixing tool 102 relative to reference frame 216 in at least one dimension of fixed coordinate system 112.

[0146] In one example, controller 110 is configured to represent digital model 120 (representing fixing tool 102 and transposition feature 104) Figure 1The controller 110 is also configured to convert the model position 126 of the digital model 120 registered to the indexing feature position 116 into the fixed tool position 118 of the fixed tool 102.

[0147] Figure 16 An example of input 234 provided to controller 110 during positioning and rotation operations and output 236 generated by controller 110 is illustrated. In one example, sensor data 186 is provided to controller 110 from sensor 184. Sensor data 186 is interface data 222 ( Figure 1 Example of sensor data 184 (e.g., interface data 222). In one example, sensor data 186 also includes location data representing sensor 184 (e.g., sensor head 242). Figure 13 The actual physical position relative to reference frame 216, such as that generated by an encoder, sensor, other relative positioning device, or a combination thereof. Controller 110 processes sensor data 186 and determines the rotation feature position 116 based on sensor data 186.

[0148] Reference Figures 11 to 15 In one example, sensor 184 (e.g., sensor head 242) moves relative to fixture 102 along a scanning path and scans at least a portion of fixture 102 including rotation feature 104. Sensor 184 may collect sensor data 186. Figure 16 A sufficient number of data points are needed to locate the rotation feature 104 in a single pass, or where multiple passes may be required. The controller 110 is configured to identify and extract data points representing the rotation feature 104. The controller 110 then determines the XYZ coordinates of the data points representing the rotation feature 104 relative to the reference frame 216. The controller 110 then determines the rotation feature position 116, as described by the XYZ coordinates of the data points representing the rotation feature 104 in the sensor data 186.

[0149] The transposition feature 104 includes structures that are visually perceptible and / or computationally distinguishable from the surrounding surface region of the fixing tool 102. For example, the transposition feature 104 includes structural configurations suitable for computational perception and recognition, such as in point cloud processing operations performed on multiple data points of sensor data 186. The transposition feature location 116 is described by the XYZ coordinates of the multiple data points representing the transposition feature 104 in the sensor data 186.

[0150] It should be noted that increasing the number of data points representing the indexing feature 104 in the sensor data 186 provides a greater number of XYZ coordinate data points for processing, which in turn improves the accuracy of the indexing feature position 116 and the fixed tool position 118 during the data point alignment during the indexing operation.

[0151] Controller 110 is configured to register a digital model 120 representing the fixing tool 102 and the indexing feature 104 to the indexing feature location 116 and determine the model position 126. In one example, controller 110 is configured to overlap and align the digital model 120 with the XYZ coordinates of the indexing feature location 116 within the descriptive reference frame 216. The digital model 120 includes data points representing the indexing feature 104. In one example, controller 110 performs a best-fit operation (e.g., performs a best-fit algorithm) to align the data points representing the indexing feature 104 with the data points representing the XYZ coordinates of the indexing feature location 116. In one example, the best-fit operation includes a rigid body point cloud transformation operation.

[0152] With the digital model 120 registered and aligned with the indexing feature position 116, the controller 110 is configured to convert the model position 126 into a fixed tool position 118 for the fixed tool 102, for example, relative to reference frame 216. For example, the fixed tool position 118 is assumed to be within tolerance, just like the model position 126. Therefore, the fixed tool position 118 represents the instantaneous (e.g., current, real-time) position of the fixed tool 102, and thus the workpiece 170, relative to the operating unit 106 and the automated machine 128.

[0153] With the fixed tool position 118 known, the automated machine 128 is indexed or "zeroed" relative to the fixed tool position 118, and a predetermined toolpath is followed to perform manufacturing operations on the workpiece 170. Since the automated machine 128 is indexed relative to the fixed tool 102 based on the fixed tool position 118, the automated machine 128 is also indexed relative to the workpiece 170. The geometry of the workpiece 170 and its known position relative to the fixed tool 102 are incorporated into and considered by the programming toolpath of the automated machine 128.

[0154] Reference Figure 1 and Figure 11 In one example, the indexing device 100 includes an automated machine 128. The automated machine 128 is located in the operating unit 106 and communicates with a controller 110. The controller 110 is configured to index the automated machine 128 relative to a fixed tool position 118 of the fixed tool 102.

[0155] refer to Figure 11 , Figure 12 , Figure 14 and Figure 15 In one example, the automated machine 128 includes a frame 134. In this example, the fixture 102 and thus the workpiece 170 are moved to a working position 258 within the operating unit 106, and the frame 134 and / or the robotic arm 226 coupled to the frame 134 move relative to the fixture 102, such that the end effector 228 travels along a predetermined tool path.

[0156] In another example (not shown), the robotic arm 226 is a separate robot with a fixed base within the operating unit 106. In this example, the fixing tool 102 and thus the workpiece 170 are moved to a working position 258 within the operating unit 106, and the robotic arm 226 moves relative to the fixing tool 102 such that the end effector 228 follows along a predetermined tool path.

[0157] Although the illustrated example of indexing device 100 shows only one automated machine 128 (e.g., a robotic arm 226 with an end effector 228) for performing manufacturing operations on workpiece 170 in operation unit 106, in other examples, indexing device 100 may have any number of additional automated machines 128 (e.g., additional robotic arms 226 and / or additional end effectors 228).

[0158] refer to Figure 1 and Figure 11 In one example, the manufacturing operations include pre-cured composite assembly operations, such as composite lay-up operations and / or composite lamination operations. In this example, workpiece 170 includes a composite laminate (e.g., the lay-up of a composite material). The securing tool 102 includes or takes the form of a mandrel 130. The mandrel 130 is configured to support the composite laminate. The automated machine 128 includes or takes the form of an automated fiber lay-up machine 132.

[0159] In one example, the fixing tool 102 is moved to working position 258, and as described above, the instantaneous positions of the fixing tool 102 and the workpiece 170 are determined using sensor 184 and indexing feature 104 (e.g., fixing tool position 118). Based on the fixing tool position 118 (e.g., the position of the fixing tool 102 and the position of the workpiece 170 relative to the fixing tool 102), the automated fiber layup machine 132 lays and / or consolidates at least a portion of at least one layer of the composite sheet stack.

[0160] In one or more other examples (not explicitly shown), the manufacturing operation includes another assembly operation or machining operation. In such an example, workpiece 170 may be a post-cured composite workpiece, a metal workpiece, a plastic workpiece, or other non-composite workpiece. The retaining tool 102 includes suitable retaining features 260 (…). Figure 1 The retaining feature is configured to hold the workpiece 170 in place during movement to the operating unit 106 and during the manufacturing operation. The automated machine 128 includes any suitable machine tool or takes any suitable form.

[0161] Reference Figure 12 , Figure 14 and Figure 15 In one example, the indexing device 100 includes a drive assembly 138 coupled to a sensor 184. The drive assembly 138 is configured to move the sensor 184 (e.g., sensor head 242) relative to a reference frame 216, such as in one or more dimensions of a fixed coordinate system 112. In one example, the drive assembly 138 is coupled to or forms part of a hinge mechanism 230 of the sensor 184, for example in an example where the sensor 184 is detached from the automated machine 128, such as... Figure 14 and Figure 15 As shown. In another example, the drive component 138 is coupled to or formed by the automation machine 128, for example, in the example where the sensor 184 is coupled to the automation machine 128, as shown. Figure 11 and Figure 12 As shown.

[0162] In one example, the indexing device 100 includes a separate moving mechanism (not shown) configured to move the fixing tool 102 to the working position 258.

[0163] refer to Figure 13 In one example, the transposition feature 104 includes at least one interface structure 192. Figure 13 In the example shown, the transposition feature 104 includes two interface structures 192. However, in other examples, the transposition feature 104 includes any number of interface structures 192.

[0164] In one example, the interface structure 192 is located on the surface 194 (e.g., an exposed surface) of the fixing tool 102. In other words, the interface structure 192 is appropriately positioned so as not to be fixed to the workpiece 170 of the fixing tool 102. Figure 13(Not shown) Covered or otherwise obscured. Interface structure 192 is appropriately positioned so that it can be visually accessed by sensor 184 during the aforementioned positioning and transposition operations. Interface structure 192 includes any of a variety of different structures that can be visually perceived and / or computationally distinguished from the surface 194 of the fixing tool 102 surrounding the transposition feature 104. Figures 17 to 20 Various examples of interface structure 192 are illustrated schematically.

[0165] refer to Figure 17 In one example, in the example of the transposition feature 104, the interface structure 192 is continuous and extends longitudinally along the surface 194 (e.g., the top surface) of the fixing tool 102. In other words, the interface structure 192 can be a continuous interface structure. In one example, the interface structure 192 can be linear, such as... Figure 17 As shown. In another example, interface structure 192 can be non-linear.

[0166] refer to Figure 18 In another example of the transposition feature 104, the interface structure 192 is discontinuous and extends longitudinally along the surface 194 of the fixing tool 102. In other words, the interface structure 192 can be multiple discontinuous interface point structures (e.g., also referred to herein as multiple interface structures 192). In one example, the multiple interface structures 192 can be arranged linearly, such as... Figure 18 As shown. In another example, multiple interface structures 192 can be arranged non-linearly.

[0167] In one example, the interface structure 192 is a continuous groove formed in (e.g., hanging from) the surface 194 of the fixing tool 102. In another example, the interface structure 192 is a continuous ridge formed in (e.g., protruding from) the surface 194 of the fixing tool 102. In yet another example, each of the plurality of interface structures 192 includes a hole formed in (e.g., hanging from) the surface 194. In yet another example, each of the plurality of interface structures 192 includes a protrusion formed in (e.g., protruding from) the surface 194.

[0168] In the example shown, the transposition feature 104 includes two interface structures 192. In other examples, the transposition feature 104 includes any number of interface structures 192. Other structural configurations and / or arrangements of the interface structures 192 are also conceivable.

[0169] refer to Figure 19In another example, the interface structure 192 is formed by the edge of the fixing tool 102. In one example, the edge extends continuously and longitudinally along the fixing tool 102. In one example, the edge is formed by the intersection of two exposed surfaces 194 of the fixing tool 102 (e.g., a top surface and a side surface). In the example shown, the interface structure 192 of the transposition feature 104 includes, or is formed by, the two edges of the fixing tool 102. In other examples, the interface structure 192 of the transposition feature 104 includes, or is formed by, any number of edges.

[0170] In another example, interface structure 192 includes a combination of two or more types of structures, such as grooves, ridges, a series of holes, a series of protrusions, and edges. Various other configurations of interface structure 192 are also conceivable.

[0171] In an example where the rotation feature 104 includes two or more interface structures 192, the interface structures 192 (e.g., grooves, ridges, holes, protrusions, and edges) are not parallel to each other (e.g., they are oriented at an angle to each other). The non-parallel arrangement of the interface structures 192 provides non-parallel data points in the sensor data 186, which can be combined during processing to derive the XYZ coordinates of multiple data points relative to the reference frame 216 in more than one dimension of the fixed coordinate system 112.

[0172] Reference Figures 11 to 15 In one example, the indexing device 100 includes a vehicle 160. The vehicle 160 is configured to support and move the fixing tool 102 relative to the operating unit 106. In one example, the vehicle 160 is configured to move the fixing tool 102, and thus the workpiece 170, to a working position 258, where a sensor 184 scans and detects (e.g., visually identifies) the indexing feature 104 to perform the aforementioned positioning and indexing operations.

[0173] refer to Figure 1 In one example of the indexing device 100, vehicle 160 includes or takes the form of an automated guided vehicle 162. (See reference) Figure 1 and Figure 11 In one example, vehicle 160 includes or takes the form of a trolley 164. Trolley 164 is configured to travel along track 166 extending through operating unit 106.

[0174] In one example, track 166 is arranged such that the Z-coordinate of the fixing tool 102 and thus the indexing feature 104 is fixed and remains constant as the trolley 164 travels along track 166 to the working position 258. In this example, the positioning operation performed by sensor 184 only needs to determine the XY coordinates of the indexing feature 104.

[0175] refer to Figure 1 and Figure 11 In another example, manufacturing system 168 includes an operating unit 106 and an automated machine 128. The automated machine 128 is located within the operating unit 106 and is configured to perform at least one manufacturing operation. Manufacturing system 168 also includes a fixing tool 102. The fixing tool 102 is configured to support a workpiece 170 and is movable relative to the operating unit 106. Manufacturing system 168 also includes an indexing feature 104. The indexing feature 104 is fixed relative to the fixing tool 102. For example, the indexing feature 104 is located on the fixing tool 102.

[0176] Manufacturing system 168 also includes a sensor 184. Sensor 184 is configured to detect (e.g., visually identify) the rotation feature 104. Manufacturing system 168 also includes a controller 110 in communication with sensor 184 and automated machine 128. Controller 110 is configured to position fixture 102 relative to operating unit 106 based on rotation feature position 116 of rotation feature 104 identified by sensor 184. Controller 110 is also configured to rotate automated machine 128 relative to fixture position 118 of fixture 102.

[0177] refer to Figure 1 and Figure 16 In one example of manufacturing system 168, controller 110 is configured to determine the indexing feature position 116 of indexing feature 104 in at least one dimension of fixed coordinate system 112 based on sensor data 186 generated by sensor 184. Controller 110 is also configured to determine the tooling position 118 of tooling 102 in at least one dimension of fixed coordinate system 112 based on the indexing feature position 116 of indexing feature 104. Controller 110 is further configured to register a digital model 120 representing tooling 102 and indexing feature 104 to the indexing feature position 116 of indexing feature 104; and to convert the model position 126 of digital model 120 registered to indexing feature position 116 into the tooling position 118 of tooling 102.

[0178] refer to Figure 1 , Figure 11 and Figure 13In one example of manufacturing system 168, fixing tool 102 includes mandrel 130 configured to support composite laminate, and automated machine 128 includes automated fiber layup machine 132 configured to perform at least one composite layup or lamination operation.

[0179] refer to Figure 11 and Figure 12 In one example of manufacturing system 168, sensor 184 is coupled to automated machine 128, and automated machine 128 is configured to move sensor 184 relative to stationary tool 102 in at least one dimension of fixed coordinate system 112. (See reference...) Figure 14 and Figure 15 In one example, sensor 184 is configured to move independently of automated machine 128.

[0180] Reference Figure 13 and Figures 17 to 19 In one example of manufacturing system 168, the indexing feature 104 includes at least one interface structure 192 located on the surface 194 of the fixing tool 102. The interface structure 192 can be visually detected (e.g., perceived and identifiable) by sensor 184.

[0181] refer to Figure 1 and Figures 11 to 15 In one example, manufacturing system 168 includes vehicle 160. Vehicle 160 is configured to support and move fixture 102 relative to operating unit 106.

[0182] refer to Figure 1 and Figure 11 In one example, the manufacturing system 168 also includes a track 166. The track 166 extends through the operating unit 106. In this example, the vehicle 160 includes a trolley 164 configured to travel along the track 166 or takes the form of a trolley 164 configured to travel along the track 166.

[0183] Reference Figure 20 In one example, manufacturing system 168 includes a second operating unit 172. Manufacturing system 168 also includes a second automated machine 174. The second automated machine 174 is located in the second operating unit 172 and is configured to perform at least one manufacturing operation on workpiece 170.

[0184] Manufacturing system 168 also includes a second sensor 198. The second sensor 198 is configured to detect (e.g., visually identify) the indexing feature 104. Controller 110 communicates with the second sensor 198 and the second automated machine 174. Controller 110 is configured to position the fixing tool 102 relative to the second operating unit 172 based on a second indexing feature position 200 of the indexing feature 104 identified by the second sensor 198. Controller 110 is also configured to index the second automated machine 174 relative to a second fixing tool position 180 of the fixing tool 102. Once indexed, the second automated machine 174 performs at least one manufacturing operation on the workpiece 170.

[0185] Overall reference Figure 1 Special reference Figures 21 to 23 In another example, the indexing device 100 includes a retaining tool 102. The retaining tool 102 is movable relative to the operating unit 106. The indexing device 100 also includes an indexing feature 104. The indexing feature 104 is fixed relative to the retaining tool 102. For example, the indexing feature 104 is formed by the retaining tool 102, or is otherwise disposed on the retaining tool 102.

[0186] exist Figures 21 to 23 In the example shown, the indexing feature 104 is attached to at least one side of the tool 102 or located on at least one side of the fixing tool 102. In other examples, the indexing feature 104 is attached to another part of the fixing tool 102 (e.g., opposite side, front, rear, top, bottom, etc.) or located on another part of the fixing tool 102.

[0187] In one example, the indexing device 100 includes a plurality of detectors 202. The plurality of detectors 202 are movable relative to the operating unit 106 and the fixing tool 102. The plurality of detectors 202 are configured to engage (for example, to form physical contact with the indexing feature 104). The indexing feature 104 is suitably positioned relative to the fixing tool 102 such that at least a portion of the indexing feature 104 is physically accessible by the plurality of detectors 202. Conversely, the plurality of detectors 202 are suitably positioned relative to the fixing tool 102 such that at least a portion of the plurality of detectors 202 is physically accessible by the indexing feature 104. With the plurality of detectors 202 engaged with the indexing feature 104, the plurality of positions of the plurality of detectors 202 (also referred to herein as the plurality of detector positions 204) ( Figure 1 ) represents or corresponds to the transposition feature position 116 ( Figure 1 In other words, multiple detectors 202 locate the transposition feature 104 in the reference frame 216.

[0188] Reference Figures 21 to 23In one example of the indexing device 100, a plurality of detectors 202 form part of a detector assembly 250 (e.g., detector assembly 250 includes a plurality of detectors 202). The detector assembly 250 includes a drive mechanism 252 coupled to each of the plurality of detectors 202 associated with the detector assembly 250. The drive mechanism 252 is configured to move each of the plurality of detectors 202 (e.g., also collectively referred to as detectors 202 and individually referred to as detectors 202) relative to a stationary tool 102 in at least one dimension of a fixed coordinate system 112. For example, the drive mechanism 252 is configured to cause each detector 202 to be linearly translated (e.g., extended and retracted) in one dimension of the fixed coordinate system 112 (e.g., the Y direction).

[0189] The drive mechanism 252 includes at least one suitable drive motor (not shown) to drive the movement of the detector 202, such as an electromechanical motor, pneumatic motor, hydraulic motor, etc. The detector assembly 250 is also configured to provide position data (e.g., interface data 222) representing multiple positions of the detector 202 relative to the reference system 216 in at least one dimension of the fixed coordinate system 112 (e.g., multiple detector positions 204). For example, the detector assembly 250 also includes at least one encoder (not shown) and / or at least one sensor (not shown) that converts the movement of each detector 202 into an electrical signal representing the detector position 204 of the corresponding detector 202. The detector assembly 250 also includes other suitable electronic, mechanical, pneumatic, and hydraulic components (not shown). The drive mechanism 252 operates under computer control, for example, via a controller 110.

[0190] exist Figure 21 and Figure 22 In the example shown, the indexing device 100 includes, for example, two detector assemblies 250 opposite to each other, such that a detector 202 associated with each of the detector assemblies 250 engages, for example, a corresponding indexing feature 104 disposed on the opposite side of the fixing tool 102. In another example, the indexing device 100 includes a detector assembly 250 such that a detector 202 associated with the detector assembly 250 engages a indexing feature 104 disposed on the fixing tool 102.

[0191] Reference Figure 1 and Figures 21 to 23 The indexing device 100 also includes a controller 110. The controller 110 communicates with a plurality of detectors 202. The controller 110 is configured to position the fixing tool 102 relative to the operating unit 106 based on a plurality of detector positions 204 of the plurality of detectors 202 when the plurality of detectors 202 are engaged with the indexing feature 104.

[0192] In one example of the indexing device 100, a controller 110 is configured to determine, for example, multiple detector positions 204 of a plurality of detectors 202 relative to a reference frame 216 in at least one dimension of a fixed coordinate system 112. The controller 110 is also configured to determine, for example, an indexing feature position 116 of an indexing feature 104 relative to the reference frame 216 in at least one dimension of the fixed coordinate system 112 based on the multiple detector positions 204 of the plurality of detectors 202. The controller 110 is also configured to determine, for example, an anchoring tool position 118 of an anchoring tool 102 relative to the reference frame 216 in at least one dimension of the fixed coordinate system 112 based on the anchoring feature position 116 of the anchoring feature 104.

[0193] In one example, controller 110 is configured to represent digital model 120 (representing fixing tool 102 and transposition feature 104) Figure 1 The controller 110 is also configured to convert the model position 126 of the digital model 120 registered to the indexing feature position 116 into the fixed tool position 118 of the fixed tool 102.

[0194] Figure 24 An example of input 234 provided to controller 110 during positioning and rotation operations and an output 236 generated by controller 110 is illustrated schematically. In one example, detector position data 254 is provided to controller 110 by detector assembly 250. Detector position data 254 is interface data 222 ( Figure 1 Example of ). In one example, detector position data 254 is generated by an encoder, sensor, other relative positioning device, or a combination thereof, and represents the actual physical position of multiple detectors 202 (detector position 204) ( Figure 13 The controller 110 processes the detector position data 254 and determines the detector position 204 based on the detector position data 254. The controller 110 then processes the detector position 204 and determines the transposition feature position 116 based on the detector position 204.

[0195] refer to Figures 21 to 23 In one example, when detector 202 is engaged with transposition feature 104, there are multiple contact points between detector 202 and transposition feature 104. Each of these contact points has XYZ coordinates that are common to both detector 202 and transposition feature 104. Detector position data 254 ( Figure 24The coordinates (XYZ coordinates) represent the contact points of detector 202 (e.g., the XYZ coordinates of the contact points of each detector 202), and detector position 204 is described by the XYZ coordinates of the contact points of detector 202. Controller 110 converts the XYZ coordinates of the contact points of detector 202 into the XYZ coordinates of the corresponding contact points of the rotation feature 104. Then, controller 110 determines the rotation feature position 116 as described by the XYZ coordinates of the contact points of the rotation feature 104.

[0196] In one example, detector assembly 250 includes at least two detectors 202 corresponding to at least two contact points between detector 202 and transposition feature 104, which in turn provides at least two XYZ coordinates describing the transposition feature position 116 of transposition feature 104. In another example, detector assembly 250 includes at least three detectors 202 corresponding to at least three contact points between detector 202 and transposition feature 104, which in turn provides at least three XYZ coordinates describing the transposition feature position 116 of transposition feature 104. In yet another example, a combination of detectors 202 from two or more detector assemblies 250 corresponds to at least three contact points between detector 202 and transposition feature 104, which in turn provides at least three XYZ coordinates describing the transposition feature position 116 of transposition feature 104.

[0197] In one example, multiple contact points are provided by a detector 202 of a detector assembly 250, and these detector engagements are disposed on a rotation feature 104 on the retaining tool 102. In another example, some of the contact points are provided by a detector 202 associated with a first detector assembly 250, which engages on a first portion of a rotation feature 104 (or first rotation feature 104) on a first side (or first surface) of the retaining tool 102, and some of the contact points are provided by a detector 202 associated with a second detector assembly 250, which engages on a second portion of a rotation feature 104 (or second rotation feature 104) on a second side (or second surface) of the retaining tool 102.

[0198] It should be noted that increasing the number of contact points between the detector 202 and the indexing feature 104 (e.g., by increasing the number of detectors 202 that engage with the indexing feature 104) provides a larger number of XYZ coordinate data points for processing, which in turn improves the accuracy of the indexing feature position 116 and the fixing tool position 118 during data point alignment in the indexing operation.

[0199] In the example shown, detector 202 (e.g., of the opposing detector assembly 250) is arranged to engage the portion of indexing feature 104 (or different indexing feature 104) disposed on the opposite side (e.g., side surface) of retaining tool 102. In other examples (not shown), detector 202 (e.g., from an additional or alternative detector assembly 250) is arranged to engage the portion of indexing feature 104 (or different indexing feature 104) disposed on another portion or another surface (e.g., top, bottom, front, rear, etc.) of retaining tool 102.

[0200] Reference Figure 27 In one example, detector 202 includes a contact indexer 148, and indexing feature 104 includes an interface indexer 146. When detector 202 engages with indexing feature 104, a contact point exists between contact indexer 148 and interface indexer 146. This contact point has XYZ coordinates that are common to both contact indexer 148 and interface indexer 146. Detector position data 254 represents the XYZ coordinates of the contact point of contact indexer 148 of detector 202, and detector position 204 of detector 202 is described by the XYZ coordinates of the contact point of contact indexer 148 of detector 202.

[0201] The controller 110 converts the XYZ coordinates of the contact points of the contact indexer 148 into the XYZ coordinates of the corresponding contact points of the interface indexer 146. The controller 110 determines the indexing feature position 116 as described by the XYZ coordinates of the contact points of the interface indexer 146.

[0202] Typically, multiple detectors 202 include or form multiple contact transducers 148, and transducer features 104 include or form multiple interface transducers 146, which in turn provide multiple contact points. Therefore, detector position data 254 ( Figure 24 The coordinates (XYZ) represent the XYZ coordinates of multiple contact points of the contact indexers 148 of the multiple detectors 202. The multiple detector positions 204 are described by the XYZ coordinates of the contact points of the contact indexers 148 of the multiple detectors 202. The indexing feature positions 116 are described by the XYZ coordinates of the corresponding multiple contact points of the interface indexers 146.

[0203] It should be noted that increasing the number of contact indexers 148 and interface indexers 146 increases the number of contact points between detector 202 and indexing feature 104, which in turn provides a greater number of XYZ coordinate data points for processing. This, in turn, increases the accuracy of the indexing feature position 116 and the fixed tool position 118 during data point alignment during the indexing operation. In one example, detector assembly 250 (e.g., multiple detectors 202) includes at least three contact indexers 148, and indexing feature 104 includes at least three interface indexers 146.

[0204] Refer again Figure 24 The controller 110 is configured to register a digital model 120 representing the fixing tool 102 and the indexing feature 104 to the indexing feature location 116 and determine the model position 126. In one example, the controller 110 is configured to overlap and align the digital model 120 with the XYZ coordinates of the indexing feature location 116 within the describing reference frame 216. The digital model 120 includes data points representing contact points of the indexing feature 104. For example, the digital model 120 includes data points representing the interface index 146 of the indexing feature 104. In one example, the controller 110 performs a best-fit operation (e.g., performs a best-fit algorithm) to align the data points representing contact points of the indexing feature 104 (such as data points representing the interface index 146) with data points representing the XYZ coordinates describing the indexing feature location 116. In one example, the best-fit operation includes a rigid body point cloud transformation operation.

[0205] With the digital model 120 registered and aligned with the indexing feature position 116, the controller 110 is configured to convert the model position 126 into a fixed tool position 118 of the fixed tool 102 relative to the reference system 216. For example, the fixed tool position 118 is assumed to be within tolerance, just like the model position 126. Therefore, the fixed tool position 118 represents the instantaneous (e.g., current, real-time) position of the fixed tool 102 and thus the workpiece 170 relative to the operating unit 106 and the automated machine 128.

[0206] With the fixed tool position 118 known, the automated machine 128 is indexed or "zeroed" relative to the fixed tool position 118, and a predetermined toolpath is followed to perform manufacturing operations on the workpiece 170. Since the automated machine 128 is indexed relative to the fixed tool 102 based on the fixed tool position 118, the automated machine 128 is also indexed relative to the workpiece 170. The geometry of the workpiece 170 and its known position relative to the fixed tool 102 are incorporated into and considered by the programming toolpath of the automated machine 128.

[0207] Reference Figure 1 and Figure 21 In one example, the indexing device 100 includes an automated machine 128. The automated machine 128 is located in the operating unit 106. The automated machine 128 communicates with a controller 110. The controller 110 is configured to index the automated machine 128 relative to a fixed tool position 118 of a fixed tool 102.

[0208] refer to Figure 22 and Figure 23In one example, the automated machine 128 includes a frame 134. In this example, the fixture 102 and thus the workpiece 170 are moved to a working position 258 within the operating unit 106, and the frame 134 and / or the robotic arm 226 coupled to the frame 134 move relative to the fixture 102, such that the end effector 228 travels along a predetermined tool path.

[0209] In another example (not shown), the robotic arm 226 is a separate robot with a fixed base within the operating unit 106. In this example, the fixing tool 102 and thus the workpiece 170 are moved to a working position 258 within the operating unit 106, and the robotic arm 226 moves relative to the fixing tool 102 such that the end effector 228 travels along a predetermined tool path.

[0210] Although the illustrated example of indexing device 100 shows only one automated machine 128 (e.g., a robotic arm 226 with an end effector 228) for performing manufacturing operations on workpiece 170 in operation unit 106, in other examples, indexing device 100 may have any number of additional automated machines 128 (e.g., additional robotic arms 226 and / or additional end effectors 228).

[0211] refer to Figure 1 and Figure 22 In one example, the manufacturing operations include pre-cured composite assembly operations, such as composite lay-up operations and / or composite lamination operations. In this example, workpiece 170 includes a composite laminate (e.g., the lay-up of a composite material). The securing tool 102 includes or takes the form of a mandrel 130. The mandrel 130 is configured to support the composite laminate. The automated machine 128 includes or takes the form of an automated fiber lay-up machine 132.

[0212] In one example, the fixing tool 102 is moved to working position 258, and as described above, multiple detectors 202 and indexing features 104 are used to determine the instantaneous positions of the fixing tool 102 and the workpiece 170 (e.g., fixing tool position 118). Based on the fixing tool position 118 (e.g., the position of the fixing tool 102 and the position of the workpiece 170 relative to the fixing tool 102), the automated fiber layup machine 132 lays and / or consolidates at least a portion of at least one layer of the composite sheet stack.

[0213] In one or more other examples (not explicitly shown), the manufacturing operation includes another assembly operation or machining operation. In such an example, workpiece 170 may be a post-cured composite workpiece, a metal workpiece, a plastic workpiece, or other non-composite workpiece. The retaining tool 102 includes suitable retaining features 260 (…). Figure 1The retaining feature is configured to hold the workpiece 170 in place during movement to the operating unit 106 and during the manufacturing operation. The automated machine 128 includes any suitable machine tool or takes any suitable form.

[0214] In one example, the indexing device 100 includes a separate moving mechanism (not shown) configured to move the fixing tool 102 to the working position 258.

[0215] Figure 25 and Figure 26 An example of the transposition feature 104 is shown schematically. Figure 27 An example of detector 202 and transposition feature 104 is schematically shown. Typically, transposition feature 104 includes at least one interface transposition 146. In one example, interface transposition 146 is disposed (e.g., positioned or formed on) the surface 194 of the retaining tool 102. Each of the plurality of detectors 202 includes a contact transposition 148. Figure 27 The contact transducer 148 is movable relative to at least one interface transducer 146. The contact transducer 148 is configured to engage the interface transducer 146 so that the detector 202 can locate the transducer feature 104.

[0216] refer to Figure 27 In one example, each detector 202 includes a detector head 208. The detector 202 is configured to move relative to the fixed tool 102 in at least one dimension of the fixed coordinate system 112 to engage the detector head 208 with the indexing feature 104. In one example, each detector 202 includes a detector shaft 256. The detector head 208 is coupled to an end of the detector shaft 256. A drive mechanism 252 is configured to extend and retract the detector shaft 256 to move the detector head 208.

[0217] In one example, the interface shifter 146 includes or is formed of at least one interface structure 206 located on or 194 of the fixing tool 102. For example, the interface shifter 146 is formed by a portion of the interface structure 206, such as a portion of the surface of the interface structure 206. In one example, the contact shifter 148 includes or is formed of a detector head 208. In this example, the detector head 208 is the contact structure of the contact shifter 148. For example, the contact shifter 148 is formed by a portion of the detector head 208, such as a portion of the surface of the detector head 208.

[0218] In one example, the detector head 208 is configured to engage the interface structure 206 such that the contact pivot 148 contacts the interface pivot 146. The contact pivot 148 and the interface pivot 146 are configured to contact and engage with each other when the detector 202 (e.g., the detector head 208) properly engages the pivot feature 104 (e.g., the interface structure 206).

[0219] refer to Figure 25 In one example of the transposition feature 104, the interface structure 206 is continuous and extends longitudinally along the surface 194 (e.g., the side surface) of the fixing tool 102. In other words, the interface structure 206 can be a continuous interface structure. In one example, the interface structure 206 can be linear, such as... Figure 25 As shown. In another example, interface structure 206 can be non-linear.

[0220] Reference Figure 26 In another example of the transposition feature 104, the interface structure 206 is discontinuous and extends longitudinally along the surface 194 of the fixing tool 102. In other words, the interface structure 206 can be multiple discontinuous interface point structures (e.g., also referred to herein as multiple interface structures 206). In one example, the multiple interface structures 206 can be arranged linearly. In another example, the multiple interface structures 206 can be arranged non-linearly, such as... Figure 26 As shown.

[0221] In one example, the detector head 208 and the interface structure 206 have complementary geometries and dimensions such that when the detector 202 properly engages the transposition feature 104, the corresponding surfaces of the detector head 208 (e.g., forming contact transposition 148) and the corresponding surfaces of the interface structure 206 (e.g., forming interface transposition 146) contact each other. Each of the detector head 208 and the interface structure 206 includes any of a variety of structural configurations, or takes the form of any of a variety of structural configurations.

[0222] In one example, interface structure 206 is a continuous groove formed in (e.g., hanging from) the surface 194 of the retaining tool 102. In this example, probe head 208 is configured to be inserted into a portion of interface structure 206. In another example, interface structure 206 is a continuous ridge formed in (e.g., protruding from) the surface 194 of the retaining tool 102. In this example, probe head 208 is configured to receive a portion of interface structure 206. In another example, each of the plurality of interface structures 206 includes a hole formed in (e.g., hanging from) the surface 194. In this example, probe head 208 is configured to be inserted into interface structure 206. In another example, each of the plurality of interface structures 206 includes a protrusion formed in (e.g., protruding from) the surface 194. In this example, probe head 208 is configured to receive interface structure 206.

[0223] Other structural configurations and / or arrangements of the contact transposition 148 (e.g., detector head 208) and interface transposition 146 (e.g., interface structure 206) are also conceivable.

[0224] In another example of the transposition feature 104, the interface structure 206 includes at least one surface 194 (e.g., an outer surface) of the retaining tool 102 or takes the form of at least one surface 194 of the retaining tool 102. In other words, the surface 194 of the retaining tool 102 is the interface structure 206 of the interface transposition 146. Each of the plurality of detectors 202 is configured to move a detector head 208 into contact with the surface 194 of the retaining tool 102. For example, a drive mechanism 252 causes a detector shaft 256 to extend to move the detector head 208 into contact with the surface 194, and thus positions a contact transposition 148 formed by a portion of the surface of the detector head 208 into contact with an interface transposition 146 formed by a portion of the surface 194 of the retaining tool 102.

[0225] Reference Figure 27 In one example of the indexing device 100, the detector assembly 250 includes a displacement sensor 210. The displacement sensor 210 communicates with each of a plurality of detectors 202. The displacement sensor 210 is configured to measure the displacement of the plurality of detectors 202 (e.g., each of the detectors 202) in at least one dimension of a fixed coordinate system 112 as the plurality of detectors 202 move to contact the indexing feature 104. In one example, the displacement sensor 210 generates displacement data representing the displacement or movement of the detector 202 and corresponding to detector position 204. This displacement data is the detector position data 254 provided to the controller 110. Figure 24 Examples of ).

[0226] Reference Figures 21 to 23 In one example, the indexing device 100 includes a vehicle 160. The vehicle 160 is configured to support and move the fixing tool 102 relative to the operating unit 106. In one example, the vehicle 160 is configured to move the fixing tool 102, and thus the workpiece 170, to a working position 258, where a plurality of detectors 202 extend to engage with the indexing feature 104 to perform the aforementioned positioning and indexing operations.

[0227] refer to Figure 1 In one example of the indexing device 100, vehicle 160 includes or takes the form of an automated guided vehicle 162. (See reference...) Figure 1 and Figure 22 In one example of the indexing device 100, the vehicle 160 includes or takes the form of a trolley 164. The trolley 164 is configured to travel along a track 166 extending through the operating unit 106.

[0228] In one example, track 166 is arranged such that the Z-coordinate of the fixing tool 102, and thus the indexing feature 104, is fixed and remains constant as the trolley 164 travels along track 166 to the working position 258. In this example, the positioning operation performed by the multiple detectors 202 only needs to determine the XY coordinates of the indexing feature 104.

[0229] refer to Figure 1 and Figure 21 In another example, manufacturing system 168 includes an operating unit 106 and an automated machine 128. The automated machine 128 is located within the operating unit 106 and is configured to perform at least one manufacturing operation. Manufacturing system 168 also includes a fixing tool 102. The fixing tool 102 is configured to support a workpiece 170 and is movable relative to the operating unit 106. Manufacturing system 168 also includes an indexing feature 104. The indexing feature 104 is fixed relative to the fixing tool 102. For example, the indexing feature 104 is located on the fixing tool 102.

[0230] Manufacturing system 168 also includes a plurality of detectors 202. The plurality of detectors 202 are movable relative to operating unit 106 and fixture 102. The plurality of detectors 202 are configured to engage indexing feature 104. Manufacturing system 168 also includes a controller 110 communicating with the plurality of detectors 202 and automated machine 128. Controller 110 is configured to position fixture 102 relative to operating unit 106 based on plurality of detector positions 204 of the plurality of detectors 202 engaged with indexing feature 104. Controller 110 is also configured to index automated machine 128 relative to fixture position 118 of fixture 102.

[0231] refer to Figure 1 and Figure 24 In one example of manufacturing system 168, controller 110 is configured to determine multiple detector positions 204 of a plurality of detectors 202, for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Controller 110 is also configured to determine, based on the multiple detector positions 204 of the plurality of detectors 202, a shift feature 104, for example, a shift feature position 116 relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Controller 110 is further configured to determine a tooling position 118 of tooling 102 relative to reference frame 216 in at least one dimension of fixed coordinate system 112 based on the shift feature position 116 of shift feature 104. Controller 110 is also configured to register a digital model 120 representing tooling 102 and shift feature 104 to the shift feature position 116 of shift feature 104, and to convert the model position 126 of digital model 120 registered to the shift feature position 116 into the tooling position 118 of tooling 102.

[0232] refer to Figure 1 and Figure 21 In one example of manufacturing system 168, the fixing tool 102 includes a mandrel 130 configured to support the composite laminate or takes the form of a mandrel 130, and the automated machine 128 includes an automated fiber layup machine 132 or takes the form of an automated fiber layup machine 132.

[0233] refer to Figure 21 and Figure 22 In one example of manufacturing system 168, a plurality of detectors 202 are configured to engage indexing feature 104 when the retaining tool 102 is within the work envelope 140 of the operating unit 106. In one example of manufacturing system 168, indexing feature 104 includes or takes the form of at least one surface 194 of the retaining tool 102. Each of the plurality of detectors 202 moves along at least one dimension of a fixed coordinate system 112 to contact at least one surface 194.

[0234] Reference Figure 23 and Figures 25 to 27In one example of manufacturing system 168, the indexing feature 104 includes at least one interface indexer 146 located on surface 194 of the retaining tool 102. Each of the plurality of detectors 202 includes a contact indexer 148 movable relative to the at least one interface indexer 146 and configured to engage the at least one interface indexer 146. In one example, the interface indexer 146 includes an interface structure 206, and the contact indexer 148 includes a detector head 208 of a corresponding detector among the plurality of detectors 202. The detector head 208 is configured to engage the interface structure 206 such that the contact indexer 148 contacts the interface indexer 146.

[0235] refer to Figure 1 and Figures 21 to 23 In one example, manufacturing system 168 includes vehicle 160. Vehicle 160 is configured to support and move fixture 102 relative to operating unit 106.

[0236] refer to Figure 1 and Figure 21 In one example, the manufacturing system 168 also includes a track 166. The track 166 extends through the operating unit 106. In this example, the vehicle 160 includes a trolley 164 configured to travel along the track 166 or takes the form of a trolley 164 configured to travel along the track 166.

[0237] refer to Figure 28 In one example, manufacturing system 168 includes a second operating unit 172 and a second automated machine 174. The second automated machine 174 is located in operating unit 106 and is configured to perform at least one manufacturing operation.

[0238] Manufacturing system 168 also includes a second plurality of detectors 212. The second plurality of detectors 212 are movable relative to the second operating unit 172 and the fixing tool 102. The second plurality of detectors 212 are configured to engage the indexing feature 104. Controller 110 communicates with the second plurality of detectors 212 and the second automated machine 174. Controller 110 is configured to position the fixing tool 102 relative to the second operating unit 172 according to a second plurality of detector positions 214 of the second plurality of detectors 212 engaged with the indexing feature 104. Controller 110 is also configured to index the second automated machine 174 relative to a second fixing tool position 180 of the fixing tool 102. Once indexed, the second automated machine 174 performs at least one manufacturing operation on the workpiece 170.

[0239] Reference Figure 10 , Figure 20 and Figure 28In one example of manufacturing system 168, track 166 extends from operating unit 106 to second operating unit 172 and extends through second operating unit 172. In other words, track 166 links operating unit 106 and second operating unit 172 together. Figure 10 , Figure 20 and Figure 28 As shown, in one example, operation unit 106 and second operation unit 172 are arranged in a sequentially linked order. In these examples, manufacturing system 168 is a continuous flow manufacturing system in which at least a portion of one or more manufacturing operations is performed in each operation unit. Although in Figure 10 , Figure 20 and Figure 28 The example shows only two operation units (e.g., operation unit 106 and second operation unit 172), but in other examples, manufacturing system 168 may include any number of operation units.

[0240] exist Figure 10 , Figure 20 and Figure 28 In the example shown, as the fixture 102 and workpiece 170 travel continuously along the manufacturing system 168, the entire fixture 102 and the entire workpiece 170 reside in one of the corresponding operations in the operating unit 106 and the second operating unit 172. However, in another example, the fixture 102 and workpiece 170 extend between more than one operating unit of the manufacturing system 168. For example, a first portion (or first segment) of the fixture 102 and a first portion (or first segment) of the workpiece 170 are located in operating unit 106, and a second portion (or second segment) of the fixture 102 and a second portion (or second segment) of the workpiece 170 are located in the second operating unit 172. In this example of the manufacturing system 168, operating unit 106 and the second operating unit 172 are interdependent, such that a manufacturing operation performed in the second operating unit 172 builds upon or adds to a manufacturing operation performed in operating unit 106. This arrangement is particularly advantageous for examples where the fixture 102 and workpiece 170 are large, elongated structures. For example, workpiece 170 may be a wing spars, wing sections or fuselage sections of an aircraft, and the fixing tool 102 is a fixing device configured to support and securely hold large workpiece 170.

[0241] In other examples (not shown) of manufacturing system 168, operating unit 106 and second operating unit 172 are positioned separately and are independent of each other. In this example, vehicle 160 (e.g., automated guided vehicle 162) is configured to move along a predetermined travel path to move the stationary tool 102 and workpiece 170 between different operating units.

[0242] In the example shown herein, the fixing tool 102 is a rigid body, and the indexing feature 104 is coupled to the fixing tool 102. However, in other examples, the fixing tool 102 and the vehicle 160 form a rigid body. For example, the fixing tool 102 and the vehicle 160 may be integrated as a single integral component. In these examples, the position of the indexing feature 104 is also fixed relative to the vehicle 160. For example, the indexing feature 104 may be coupled to the vehicle 160, disposed on the vehicle 160, or otherwise associated with the vehicle 160, rather than with the fixing tool 102.

[0243] As described herein, the positioning and indexing operations advantageously enable the fixture 102 and workpiece 170 to be moved to an approximate position within the operating unit 106 relative to the automated machine 128. For example, the instantaneous position of the fixture 102 (e.g., fixture position 118) determined by the aforementioned gripper 108, sensor 184, or detector 202 becomes the working position 258, through which the automated machine 128 indexes itself. This operation improves the cycle time of the manufacturing operation by eliminating the need for incremental indexing of the automated machine 128 relative to the workpiece 170 and the need to use immovable fixing devices to position the workpiece 170 in a specific predetermined position.

[0244] As described herein, the positioning and indexing operations also advantageously enable the subsequent fixture 102 and workpiece 170 to be positioned at moderately different working positions within the operating unit 106 and relative to the automated machine 128. In other words, the working position 258 of the fixture 102 and workpiece 170 (where the manufacturing operation is performed) does not need to be the same, fixed, and repeatable position for the subsequent workpiece 170.

[0245] Although not explicitly shown, in one or more examples of the indexing device 100 and / or manufacturing system 168, the interface device 220 includes a combination (e.g., two or more) of a gripper 108, a sensor 184, and / or a detector 202. The combination of the gripper 108, sensor 184, and / or detector 202 is used to engage with a corresponding indexing feature 104 to position and index the fixing tool 102 based on the position of the indexing feature 104.

[0246] Figure 29 This is a flowchart illustrating an example of manufacturing method 1000. (General reference) Figures 1 to 10 Special reference Figure 29Method 1000 includes the step of fixing workpiece 170 to fixing tool 102 (block 1002). When workpiece 170 is fixed to fixing tool 102, the position of workpiece 170 (workpiece position 262) is fixed and known relative to fixing tool 102. Additionally, the geometry of workpiece 170 (workpiece geometry 268) is known. According to method 1000, fixing tool 102 is positioned relative to operating unit 106 (e.g., relative to reference system 216), and then workpiece 170 is positioned relative to operating unit 106 (e.g., relative to reference system 216).

[0247] Method 1000 includes the step of moving the fixing tool 102 relative to the operating unit 106 (block 1004). Method 1000 also includes the step of engaging the indexing feature 104 with the gripper 108 (block 1006). The position of the indexing feature 104 (indexing feature position 116) is fixed and known relative to the fixing tool 102. In one example, the indexing feature 104 is coupled to the fixing tool 102. Method 1000 also includes the step of positioning the fixing tool 102 relative to the operating unit 106 according to the position of the gripper 108 (gripper position 114) when the gripper 108 is engaged with the indexing feature 104 (block 1010).

[0248] Method 1000 includes the step of indexing the automated machine 128 relative to the position of the fixed tool 102 (fixed tool position 118) (block 1016). According to method 1000, the automated machine 128 is indexed relative to the position of the fixed tool 102 (fixed tool position 118), and then indexed relative to the position of the workpiece 170 (workpiece position 262). Method 1000 also includes the step of performing at least one manufacturing operation on the workpiece 170 using the automated machine 128 (block 1018). When the automated machine 128 is indexed relative to the position of the fixed tool 102 (fixed tool position 118), the geometry of the workpiece 170 (workpiece geometry 268) and the position of the workpiece 170 relative to the fixed tool 102 (workpiece position 262) are incorporated into and taken into account by the programming tool path of the automated machine 128 during the execution of the manufacturing operation.

[0249] In one example, method 1000 includes the step of determining the position of gripper 108 relative to operating unit 106 (gripper position 114) (block 1008), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Method 1000 also includes the step of determining the position of shift feature 104 relative to operating unit 106 (shift feature position 116) based on the position of gripper 108 (gripper position 114) (block 1012), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Method 1000 also includes the step of determining the position of fixing tool 102 relative to operating unit 106 (fixing tool position 118) based on the position of shift feature 104 (shift feature position 116) (block 1014), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112.

[0250] In one example, method 1000 includes the step of registering a digital model 120 representing a fixing tool 102 and an indexing feature 104 to a position (indexing feature position 116) of the indexing feature 104. Method 1000 also includes the step of converting the position (model position 126) of the digital model 120 registered to the indexing feature 104 to the position (fixing tool position 118) of the fixing tool 102. In other words, when the digital model 120 is registered to the position (indexing feature position 116) of the indexing feature 104, the position (fixing tool position 118) of the fixing tool 102 is assumed (within tolerance) to be the same as the position (model position 126) of the digital model 120.

[0251] In one example, method 1000 includes the step of moving the retaining tool 102 to a working position 258 (e.g., within the working envelope 140 of the operating unit 106) using a gripper 108, while simultaneously (e.g., substantially simultaneously) performing the steps of determining the position of the gripper 108 (gripper position 114) (block 1008) and determining the position of the indexing feature 104 (indexing feature position 116) (block 1008).

[0252] In one example, method 1000 includes, for example, engaging an interface shift 146 of the shift feature 104 with a contact shift 148 of the gripper 108 when performing the step of engaging the shift feature 104 with the gripper 108 (block 1004). Method 1000 also includes generating gripper position data 238 representing the XYZ coordinates of a contact point between the contact shift 148 and the interface shift 146.

[0253] In one example, method 1000 includes the step of clamping a plate 150 with indexing feature 104 using jaw assembly 144 of clamp 108. Method 1000 also includes the step of engaging an interface index 146 coupled to plate 150 with a contact index 148 coupled to jaw assembly 144.

[0254] Figure 30 This is a flowchart illustrating an example of manufacturing method 2000. (General reference) Figure 1 and Figures 11 to 20 Special reference Figure 30 In one example, method 3000 includes the step of fixing workpiece 170 to fixing tool 102 (block 2002). With workpiece 170 fixed to fixing tool 102, the position of workpiece 170 (workpiece position 262) is fixed and known relative to fixing tool 102. Additionally, the geometry of workpiece 170 (workpiece geometry 268) is known. According to method 1000, the fixing tool 102 is positioned relative to operating unit 106 (e.g., relative to reference frame 216), and subsequently, the workpiece 170 is positioned relative to operating unit 106 (e.g., relative to reference frame 216).

[0255] Method 2000 includes the step of moving the fixing tool 102 relative to the operating unit 106 (block 2004). Method 2000 also includes the step of detecting (e.g., visually identifying) the indexing feature 104 using the sensor 184 (block 2006). The position of the indexing feature 104 (indexing feature position 116) is fixed and known relative to the fixing tool 102. In one example, the indexing feature 104 is located on the fixing tool 102. Method 2000 also includes the step of positioning the fixing tool 102 relative to the operating unit 106 based on the position of the indexing feature 104 (indexing feature position 116) detected by the sensor 184 (block 2008).

[0256] Method 2000 further includes the step of indexing the automated machine 128 relative to the position of the fixed tool 102 (fixed tool position 118) (block 2014). According to method 2000, the automated machine 128 is indexed relative to the position of the fixed tool 102 (fixed tool position 118), and then indexed relative to the position of the workpiece 170 (workpiece position 262). Method 2000 further includes the step of performing at least one manufacturing operation on the workpiece 170 using the automated machine 128 (block 2016). When the automated machine 128 is indexed relative to the position of the fixed tool 102 (fixed tool position 118), the geometry of the workpiece 170 (workpiece geometry 268) and the position of the workpiece 170 relative to the fixed tool 102 (workpiece position 262) are incorporated into and taken into account by the programming tool path of the automated machine 128 during the execution of the manufacturing operation.

[0257] In one example, method 2000 includes the step of determining the position of the rotation feature 104 relative to the operation unit 106 (rotation feature position 116) based on sensor data 186 generated by sensor 184 (block 2010), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Method 2000 also includes the step of determining the position of the fixing tool 102 relative to the operation unit 106 (fixing tool position 118) based on the position of rotation feature 104 (rotation feature position 116) (block 2012), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112.

[0258] In one example, method 2000 includes the step of registering a digital model 120 representing a fixing tool 102 and an indexing feature 104 to a position (indexing feature position 116) of the indexing feature 104. Method 2000 also includes the step of converting the position (model position 126) of the digital model 120 registered to the indexing feature 104 to the position (fixing tool position 118) of the fixing tool 102. In other words, when the digital model 120 is registered to the position (indexing feature position 116) of the indexing feature 104, the position (fixing tool position 118) of the fixing tool 102 is assumed (within tolerance) to be the same as the position (model position 126) of the digital model 120.

[0259] In one example, method 2000 includes the step of using sensor 184 to detect (e.g., visually detect) at least one interface structure 192 of the transposition feature 104, the at least one interface structure being located on the surface 194 of the fixing tool 102. Method 2000 also includes the step of generating sensor data 186 representing the XYZ coordinates of the interface structure 192.

[0260] Figure 31 This is a flowchart illustrating an example of manufacturing method 3000. (General reference) Figure 1 and Figures 21 to 28 Special reference Figure 30 Method 3000 includes the step of fixing workpiece 170 to fixing tool 102 (block 3002). When workpiece 170 is fixed to fixing tool 102, the position of workpiece 170 (workpiece position 262) is fixed and known relative to fixing tool 102. Additionally, the geometry of workpiece 170 (workpiece geometry 268) is known. According to method 1000, fixing tool 102 is positioned relative to operating unit 106 (e.g., relative to reference system 216), and then workpiece 170 is positioned relative to operating unit 106 (e.g., relative to reference system 216).

[0261] Method 3000 includes the step of moving the fixing tool 102 relative to the operating unit 106 (block 3004). Method 3000 also includes the step of engaging the indexing feature 104 with the plurality of detectors 202 (block 3006). The position of the indexing feature 104 (indexing feature position 116) is fixed and known relative to the fixing tool 102. In one example, the indexing feature 104 is coupled to the fixing tool 102. Method 3000 also includes the step of positioning the fixing tool 102 relative to the operating unit 106 according to the positions of the plurality of detectors 202 (plural detector positions 204) when the plurality of detectors 202 are engaged with the indexing feature 104 (block 3010).

[0262] Method 3000 further includes the step of indexing the automated machine 128 relative to the position of the fixed tool 102 (fixed tool position 118) (block 3016). According to method 3000, the automated machine 128 is indexed relative to the position of the fixed tool 102 (fixed tool position 118), and then indexed relative to the position of the workpiece 170 (workpiece position 262). Method 3000 further includes the step of performing at least one manufacturing operation on the workpiece 170 using the automated machine 128 (block 3018). When the automated machine 128 is indexed relative to the position of the fixed tool 102 (fixed tool position 118), the geometry of the workpiece 170 (workpiece geometry 268) and the position of the workpiece 170 relative to the fixed tool 102 (workpiece position 262) are incorporated into and taken into account by the programming tool path of the automated machine 128 during the execution of the manufacturing operation.

[0263] In one example, method 3000 includes the step of determining the positions of a plurality of detectors 202 relative to the operating unit 106 (plural detector positions 204) (block 3008), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Method 3000 also includes the step of determining the position of the shift feature 104 relative to the operating unit 106 (shift feature position 116) based on the positions of the plurality of detectors 202 (plural detector positions 204) (block 3012), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112. Method 3000 also includes the step of determining the position of the fixing tool 102 relative to the operating unit 106 (fixing tool position 118) based on the position of the shift feature 104 (shift feature position 116) (block 3014), for example, relative to reference frame 216 in at least one dimension of fixed coordinate system 112.

[0264] In one example, method 3000 includes the step of registering a digital model 120 representing a fixing tool 102 and an indexing feature 104 to a position (indexing feature position 116) of the indexing feature 104. Method 3000 also includes the step of converting the position (model position 126) of the digital model 120 registered to the indexing feature 104 (indexing feature position 116) to the position (fixing tool position 118) of the fixing tool 102. In other words, when the digital model 120 is registered to the position (indexing feature position 116) of the indexing feature 104, the position (fixing tool position 118) of the fixing tool 102 is assumed (within tolerance) to be the same as the position (model position 126) of the digital model 120.

[0265] In one example, method 3000 includes the step of moving the fixation tool 102 to a working position 258 (e.g., within the working envelope 140 of the operating unit 106). Method 3000 also includes the step of moving a plurality of detectors 202 to contact the transposition feature 104 along at least one dimension of the fixed coordinate system 112.

[0266] In one example, method 3000 includes, for example, engaging an interface shift 146 of the shift feature 104 with a contact shift 148 of each of the detectors 202 when performing the step of engaging the shift feature 104 with the plurality of detectors 202 (block 3006). Method 3000 also includes generating detector position data 254 representing the XYZ coordinates of the contact point between the contact shift 148 and the interface shift 146.

[0267] In one example, method 3000 includes the step of engaging the interface structure 206 of the transposition feature 104 with the detector head 208 of the detector 202. Method 1000 also includes the step of engaging the interface transposition 146 formed by the interface structure 206 with the contact transposition 148 formed by the detector head 208.

[0268] Figure 32 An example of controller 110 is schematically shown, and more specifically, a computing device 224 of controller 110 is shown. Controller 110 includes any suitable programmable controller configured to control one or more manufacturing processes and perform one or more computational or data processing operations. Operations performed by various examples and / or portions of the disclosed indexing device 100, manufacturing system 168, and methods 1000, 2000, 3000 are implemented under computer control provided by controller 110. Controller 110 can be any number of programmable controllers and / or includes any number of computing devices 224.

[0269] The computing device 224 is an example of a data processing system for performing one or more functions provided by the disclosed transposition device 100 and manufacturing system 168, or for implementing one or more operational steps of the disclosed methods 1000, 2000, 3000. The computing device 224 includes a communication bus 602 that provides communication between a processor unit 604, a memory 606, a permanent memory 608, a communication unit 610, an input / output (“I / O”) unit 612, and a display 614.

[0270] Communication bus 602 includes one or more buses, such as a system bus or an input / output bus. Communication bus 602 can be implemented using any suitable type of architecture that provides data transfer between different components or devices attached to the bus system.

[0271] Processor unit 604 is any properly programmed computer processor configured to execute instructions, such as software instructions loaded onto memory 606. Processor unit 604 can be any number of processors, a multiprocessor core, a microprocessor, or any other type of processor, depending on the implementation of controller 110.

[0272] Memory 606 and persistent memory 608 are examples of storage device 616. Storage device 616 is any hardware capable of storing information, including but not limited to data, program code in functional form, and / or other suitable temporary and / or permanent information. For example, memory 606 may be random access memory or any other suitable volatile or non-volatile storage device. Memory 606 may also be referred to as a non-transitory computer-readable storage medium.

[0273] The persistent memory 608 can take various forms depending on its implementation. The persistent memory 608 may include one or more components or devices. For example, the persistent memory 608 may be a hard disk drive, flash memory, rewritable optical disk, rewritable magnetic tape, or some combination thereof.

[0274] The communication unit 610 provides communication with other data processing systems or devices, for example, via wired and / or wireless communication links. The communication unit 610 may include one or more devices for sending and receiving data, such as a network interface card, a modem, or a network adapter.

[0275] The input / output unit 612 enables data input and output with other devices connected to the controller 110. For example, the input / output unit 612 can provide a connection for input via a keyboard, mouse, and / or other suitable input devices. Furthermore, the input / output unit 612 can send output to the display 614 to display information.

[0276] Instructions for operating systems, applications, and / or programs may reside in storage device 616, which communicates with processor unit 604 via communication bus 602. In one example, computer-implemented instructions are in functional form on persistent memory 608. The instructions are loaded into memory 606 for execution by processor unit 604. One or more of the processes and / or operations described herein are executed by processor unit 604 using computer-implemented instructions.

[0277] The computer-implemented instructions may be referred to as program code, computer-usable program code, or computer-readable program code that is readable and executable by at least one processor of processor unit 604. The program code may be implemented on various physical or computer-readable storage media, such as memory 606 or permanent memory 608.

[0278] In one example, program code 618 is functionally located on a computer-readable medium 620, and this program code can be selectively removed and loaded onto or transferred to a computing device 224 for execution by a processor unit 604. In one example, program code 618 and computer-readable medium 620 form a computer program product 622. Computer-readable medium 620 may be a computer-readable storage medium 624 or a computer-readable signal medium 626.

[0279] Computer-readable storage medium 624 may include, but is not limited to, optical discs or disks inserted into or placed in a drive or other device that is part of persistent storage 608 for transfer to a storage device, such as a hard disk drive, that is part of persistent storage 608. Computer-readable storage medium 624 may take the form of persistent storage, such as a hard disk drive, thumb drive, network device, cloud, flash memory, optical disc, disk, etc. Computer-readable storage medium 624 is connected to or otherwise transferred to computing device 224.

[0280] In one example, the operations performed by various examples of the disclosed transposition device 100 and manufacturing system 168, as well as the operational steps implemented by various examples and / or portions of the disclosed methods 1000, 2000, 3000, and / or thereof, may be implemented as or utilize a computer program product comprising a non-transitory computer-readable storage medium and computer control instructions stored on the non-transitory computer-readable storage medium and executed by a computer processor.

[0281] Therefore, the various implementations of the devices, systems, and methods described herein can be implemented as digital electronic circuit systems, integrated circuit systems, specially designed ASICs (Application-Specific Integrated Circuits), computer hardware, firmware, software, and / or combinations thereof. Various implementations can include implementations in one or more computer programs executable and / or interpretable on a programmable system, which includes at least one programmable processor, at least one input device, and at least one output device. The at least one programmable processor can be dedicated or general-purpose, and is coupled to receive data and instructions from and send data and instructions to a storage system.

[0282] Computer programs (also known as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented in high-level procedural and / or object-oriented programming languages ​​and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0283] While one or more of the examples described herein relate to fully automated manufacturing systems and operations, in one or more other examples, indexing device 100, manufacturing system 168, and methods 1000, 2000, 3000 are used in conjunction with partially automated or manually automated manufacturing systems and operations, wherein a stationary tool 102 is positioned relative to a workstation, and the manufacturing machine is indexed relative to the stationary tool 102 to perform one or more manufacturing operations on workpiece 170. Such manufacturing operations include subtractive manufacturing operations, additive manufacturing operations, and assembly operations performed on workpiece 170. In one example, manufacturing operations are performed on post-cured composite materials or other materials. In another example, manufacturing operations, such as composite lay-up operations and composite lamination operations, are performed on pre-cured composite materials.

[0284] Now for reference Figure 33 and Figure 34 Examples of the indexing device 100, manufacturing system 168, and methods 1000, 2000, and 3000 can be used in the environment of aircraft manufacturing and repair method 1100, such as... Figure 33 The flowchart and aircraft 1200 are shown as follows, Figure 34 It is shown schematically.

[0285] Figure 34 This is an illustrative example of aircraft 1200. Aircraft 1200 includes a fuselage 1202 and multiple advanced systems 1204. Examples of advanced systems 1204 include one or more of a propulsion system 1208, an electrical system 1210, a hydraulic system 1212, and an environmental system 1214. In other examples, aircraft 1200 may include any number of other types of systems, such as communication systems, guidance systems, etc. Component 170 may be any of the structure, component, sub-component, part, and portion of the fuselage 1202 or interior 1206. For example, component 170 may be any of an aircraft spars, wing section, fuselage section, internal panel, external skin panel, etc.

[0286] like Figure 33 As shown, during pre-production, the aircraft manufacturing and maintenance method 1100 may include the specifications and design of the aircraft 1200 (block 1102) and material procurement (block 1104). During the production of the aircraft 1200, the manufacturing of components and sub-assemblies of the aircraft 1200 (block 1106) and system integration (block 1108) may be performed. Subsequently, the aircraft 1200 may undergo certification and delivery (block 1110) to enter service (block 1112). Routine maintenance and repair (block 1114) may include modification, refactoring, refurbishment, etc., of one or more systems of the aircraft 1200.

[0287] Figure 33Each process of the aircraft manufacturing and maintenance method 1100 shown can be performed or implemented by a system integrator, a third party, and / or an operator (e.g., a customer). For the purposes of this specification, a system integrator can include, but is not limited to, any number of spacecraft manufacturers and master system subcontractors; a third party can include, but is not limited to, any number of suppliers, subcontractors, and vendors; and an operator can be an airline, leasing company, maintenance organization, etc.

[0288] Examples of the indexing device 100, manufacturing system 168, and methods 1000, 2000, and 3000 shown and described herein can be found in... Figure 33 The manufacturing and maintenance method 1100 shown in the flowchart is employed during any one or more stages. In one example, the implementation of the disclosed indexing device 100, manufacturing system 168, and methods 1000, 2000, 3000 can form part of component and sub-component manufacturing (block 1106) and / or system integration (block 1108). For example, assembling the aircraft 1200, fuselage 1202, and / or its components using the implementation of the disclosed indexing device 100, manufacturing system 168, and methods 1000, 2000, 3000 can correspond to component and sub-component manufacturing (block 1106) and can be prepared in a manner similar to that of components or sub-components prepared when the aircraft 1200 is in service (block 1112). Furthermore, the disclosed implementations of the transfer device 100, manufacturing system 168, and methods 1000, 2000, and 3000 can be used during system integration (block 1108) and certification and delivery (block 1110). Similarly, for example, but not limited to, the disclosed implementations of the transfer device 100, manufacturing system 168, and methods 1000, 2000, and 3000 can be utilized when the aircraft 1200 is in service (block 1112) and during maintenance and repair (block 1114).

[0289] refer to Figure 1 and Figure 34 It also disclosed the use of a transposition device 100 ( Figure 1 Manufacturing 1200 aircraft ( Figure 34 The method and use of manufacturing system 168 (part of the process) Figure 1 Manufacturing 1200 aircraft ( Figure 34 (This is part of the method. See reference.) Figure 29 and Figure 34 It also disclosed that according to method 1000 ( Figure 29 (This is part of the assembled aircraft 1200.) (See reference...) Figure 30 and Figure 34 It also disclosed the method according to 2000 ( Figure 30 (This is part of the assembled aircraft 1200.) (See reference...) Figure 31 and Figure 34 It also disclosed that according to method 3000 ( Figure 31 ( ) is a part of the assembled aircraft 1200. This part of the aircraft 1200 includes one or more of the structure, components, parts, assemblies and subassemblies of any of the fuselage 1202, interior 1206 and advanced systems 1204.

[0290] As used herein, a system, apparatus, device, structure, article, element, component, or hardware "constructed" to perform a specified function is actually capable of performing the specified function without any changes, rather than merely having the potential to perform the specified function after further modification. In other words, for the purpose of performing the specified function, a system, apparatus, structure, article, element, component, or hardware "constructed" to perform the specified function is specifically selected, created, implemented, utilized, programmed, and / or designed. As used herein, "constructed" means an existing characteristic of a system, apparatus, structure, article, element, component, or hardware that enables the system, apparatus, structure, article, element, component, or hardware to perform the specified function without further modification. For the purposes of this disclosure, a system, apparatus, structure, article, element, component, or hardware described as "constructed" to perform a particular function may additionally or alternatively be described as "suitable" and / or "operating as" to perform that function.

[0291] For the purposes of this disclosure, the terms "connected," "linked," and similar terms refer to two or more elements that are joined, linked, fastened, attached, connected, communicated, or otherwise associated with each other (e.g., mechanically, electrically, fluidly, optically, electromagnetically). In various examples, the elements may be associated directly or indirectly. As an example, element A may be directly associated with element B. As another example, element A may be indirectly associated with element B, for example, via another element C. It should be understood that not all associations between the various disclosed elements are necessarily represented. Therefore, connections other than those shown in the figures may also exist.

[0292] As used herein, the terms “about” and “approximately” refer to or indicate a condition that is close to, but not exactly close to, the condition still performs the desired function or achieves the desired result. As an example, the terms “approximately” and “approximately” refer to a condition within an acceptable predetermined tolerance or precision. For example, the terms “approximately” and “approximately” refer to a condition within 10% of the stated condition. However, the terms “approximately” and “approximately” do not preclude a condition that is exactly the stated condition.

[0293] In the above-mentioned Figure 1 , Figure 7 , Figure 16 , Figure 25 , Figure 32 and Figure 34In this text, boxes may represent functional elements, features, or components, and the lines connecting the boxes do not necessarily imply any particular structure. Therefore, the illustrated structures can be modified, added to, and / or omitted. Furthermore, those skilled in the art will understand that not all of the above... Figures 1 to 29 , Figure 32 and Figure 34 The elements described and illustrated herein must be included in every example, and not all elements described herein must be described in every illustrative example. Unless otherwise expressly stated, the elements mentioned above... Figures 1 to 29 , Figure 32 and Figure 34 The illustrations in the examples described are not intended to imply any structural limitations on the illustrative examples. On the contrary, while an illustrative structure is indicated, it should be understood that this structure can be modified as appropriate.

[0294] exist Figures 29 to 31 and Figure 33 Referring to the above, boxes may represent operations, steps, and / or parts thereof, and the lines connecting the boxes do not imply any particular order or dependency between the operations or their parts. It will be understood that it is not necessary to represent all dependencies between the various disclosed operations. Figures 29 to 31 and Figure 33 The additional disclosures describing the operations of the disclosed methods herein should not be construed as requiring a specific order of operations. Rather, while an illustrative order is indicated, it should be understood that the order of operations can be modified where appropriate. Therefore, the operations shown can be modified, added to, and / or omitted, and some operations can be performed in a different order or simultaneously. Furthermore, those skilled in the art will understand that it is not necessary to perform all the described operations.

[0295] Furthermore, references to features, advantages, or similar language used throughout this specification do not imply that all features and advantages that can be implemented with respect to the examples disclosed herein should be, or be, included in any single example. Rather, language relating to features and advantages is to mean that a particular feature, advantage, or characteristic described in conjunction with an example is included in at least one example. Therefore, discussion of features, advantages, and similar language used throughout this disclosure may, but does not necessarily, refer to the same examples.

[0296] The features, advantages, and characteristics described in one example can be combined in any suitable manner in one or more other examples. Those skilled in the art will recognize that the examples described herein can be practiced without the presence of one or more specific features or advantages of a particular example. In other cases, additional features and advantages that may not be present in all examples may be recognized in some examples. Furthermore, although various examples of the indexing device 100, manufacturing system 168, and methods 1000, 2000, 3000 have been shown and described, modifications will occur to those skilled in the art upon reading the specification. This application includes the foregoing modifications but is limited only by the scope of the claims.

[0297] Furthermore, this document provides the following examples, which are not intended to be confusing with the appended claims and relate to:

[0298] 1. A transposition device, comprising:

[0299] A fixed tool that is movable relative to the operating unit;

[0300] The rotation feature is fixed relative to the fixing tool;

[0301] A sensor configured to detect the transposition feature; and

[0302] A controller that communicates with the sensor, wherein the controller is configured to position the fixing tool relative to the operating unit by means of the position of the rotation feature identified by the sensor.

[0303] 2. The device according to Example 1, wherein the controller is further configured to determine the position of the rotation feature in at least one dimension of the fixed coordinate system by sensor data generated by the sensor; and to determine the position of the fixing tool in the at least one dimension of the fixed coordinate system by the position of the rotation feature.

[0304] 3. The device according to Example 2, wherein the controller is further configured to register a digital model representing the fixing tool and the transposition feature to the transposition feature position of the transposition feature; and to convert the model position of the digital model registered to the transposition feature position to the fixing tool position of the fixing tool.

[0305] 4. The device according to Example 2 or 3, wherein the controller is further configured to rotate the automated machine relative to the position of the fixing tool.

[0306] 5. The apparatus according to Example 4, wherein the fixing tool includes a mandrel configured to support a pre-cured composite laminate; and the automated machine is configured to perform a pre-curing manufacturing operation on the pre-cured composite laminate.

[0307] 6. The apparatus according to Example 4 or 5, wherein the fixing tool includes a retaining feature configured to fix the post-cured composite structure; and the automated machine is configured to perform a post-curing manufacturing operation on the post-cured composite structure.

[0308] 7. The device according to any one of Examples 4-6, wherein the sensor is coupled to the automated machine; and the automated machine is configured to move the sensor relative to the fixed device tool.

[0309] 8. The device according to any one of the foregoing examples, wherein the sensor includes at least one of a camera and a laser scanner.

[0310] 9. The device according to any one of the foregoing examples, wherein the transposition feature includes an interface structure located on the surface of the fixing tool.

[0311] 10. The device according to Example 9, wherein the interface structure is visually perceptible by the sensor.

[0312] 11. A method for manufacturing a part of an aircraft using any of the aforementioned examples.

[0313] 12. A manufacturing system, comprising:

[0314] An automated machine located in an operating unit and configured to perform at least one manufacturing operation;

[0315] A fixing tool, configured to support the workpiece and movable relative to the operating unit;

[0316] The rotation feature is fixed relative to the fixing tool;

[0317] A sensor configured to detect the transposition feature; and

[0318] A controller that communicates with the sensors and the automated machine; and wherein:

[0319] The controller is configured to position the fixing tool relative to the operating unit by means of the position of the rotation feature identified by the sensor; and

[0320] The controller is also configured to rotate the automated machine relative to the position of the fixture tool.

[0321] 13. The system according to Example 12, wherein the controller is further configured to:

[0322] The position of the rotation feature in at least one dimension of a fixed coordinate system is determined using sensor data generated by the sensor; and

[0323] The position of the fixed tool in at least one dimension of the fixed coordinate system is determined by the position of the rotation feature.

[0324] 14. The system according to Example 12 or 13, wherein the controller is further configured to register a digital model representing the fixing tool and the transposition feature to the transposition feature position of the transposition feature; and to convert the model position of the digital model registered with the transposition feature position to the fixing tool position of the fixing tool.

[0325] 15. The system according to any one of Examples 12-14, wherein the fixing tool includes a mandrel configured to support the composite laminate; and the automated machine includes an automated fiber placement machine.

[0326] 16. The system according to any one of Examples 12-15, wherein:

[0327] The sensor is connected to an automated machine; and

[0328] The automated machine is configured to move the sensor relative to the stationary tool.

[0329] 17. The system according to any one of Examples 12-16, wherein the transposition feature includes an intermediate structure located on the surface of the fixing tool and perceptible visually by the sensor.

[0330] 18. The system according to any one of Examples 12-17 further includes a vehicle configured to support the fixing tool and move the fixing tool relative to the operating unit, wherein the vehicle includes one of an automated guide vehicle and a trolley configured to travel along a track 166 extending through the operating unit.

[0331] 19. The system according to any one of Examples 12-18 further includes:

[0332] Second operation unit;

[0333] A second automated machine, located in the second operating unit and configured to perform at least one manufacturing operation; and

[0334] A second sensor is configured to detect the transposition feature; and wherein

[0335] The controller communicates with the second sensor and the second automated machine;

[0336] The controller is configured to position the fixing tool relative to the second operating unit by means of the position of the second rotation feature identified by the second sensor; and

[0337] The controller is also configured to rotate the second automated machine relative to a second fixed tool position.

[0338] 20. A method for manufacturing a part of an aircraft using any of the systems in Examples 12-19.

[0339] 21. A manufacturing method, the method comprising:

[0340] The fixed tool is moved relative to the operating unit;

[0341] Use sensors to detect rotation characteristics;

[0342] The fixing tool is positioned relative to the operating unit by the rotation feature position detected by the sensor; and

[0343] The position of the fixed tool relative to the fixed tool is used for the rotation of the automated machine.

[0344] 22. The method as described in Example 21, further comprising:

[0345] The position of the rotation feature in at least one dimension of a fixed coordinate system is determined using sensor data generated by the sensor; and

[0346] The position of the fixing tool in at least one dimension of the fixed coordinate system is determined based on the position of the rotation feature.

[0347] 23. The method according to Example 21 or 22 further includes at least one interface structure for visually detecting the displacement feature located on the surface of the fixing tool using the sensor.

[0348] 24. A portion of an aircraft assembled according to any one of the methods in Examples 21-23.

Claims

1. A transposition device, the transposition device comprising: A fixing tool (102) is movable relative to the operating unit (106), wherein the fixing tool (102) includes a surface supporting the workpiece, the surface including a first end and a second end opposite to the first end; The indexing feature (104) is fixed relative to the fixing tool (102). The indexing feature includes an interface structure disposed on the surface of the fixing tool (102). The interface structure extends continuously from near the first end to near the second end, such that the interface structure is not obscured by the workpiece positioned on the surface of the fixing tool (102). Sensor (184), configured to visually detect the transposition feature (104); and Controller (110), which communicates with sensor (184), wherein: The interface structure includes at least one of a groove formed in the surface of the fixing tool (102) and a protrusion protruding from the surface of the fixing tool (102), and has a geometry that can be visually detected by the sensor, and that the geometry can be calculated and identified by the controller from the surface of the fixing tool (102); and The controller (110) is configured to position the fixing tool (102) relative to the reference system (216) based on the position (116) of the rotation feature (104) relative to the reference system (216) of the operation unit (106), the position of the rotation feature being identified by the sensor (184).

2. The device according to claim 1, wherein, The controller (110) is further configured to: The position (116) of the transposition feature (104) in at least one dimension (x, y, z) of the fixed coordinate system (112) is determined based on sensor data generated by the sensor (184); and The position (118) of the fixed tool (102) in at least one dimension (x, y, z) of the fixed coordinate system (112) is determined based on the position (116) of the rotation feature (104).

3. The device according to claim 2, wherein, The controller (110) is further configured to: Register the digital model representing the fixing tool (102) and the indexing feature (104) to the indexing feature position (116) of the indexing feature (104); and The model position of the digital model registered to the transposition feature position (116) is converted to the fixed tool position (118) of the fixed tool (102). And / or, wherein the controller (110) is also configured to rotate the automated machine (128) relative to the fixed tool position (118) of the fixed tool (102).

4. The device according to claim 3, wherein, The fixing tool (102) includes a mandrel (130) configured to support a pre-cured composite laminate; and the automated machine (128) is configured to perform a pre-curing manufacturing operation on the pre-cured composite laminate; and / or The fixing tool (102) includes a retaining feature (260) configured to fix the post-curing composite structure; and the automated machine (128) is configured to perform a post-curing manufacturing operation on the post-curing composite structure; and / or The sensor (184) is connected to the automated machine (128); and the automated machine (128) is configured to move the sensor (184) relative to the stationary tool (102).

5. The device according to any one of claims 1 to 4, wherein, The sensor (184) includes at least one of a camera and a laser scanner.

6. The device according to any one of claims 1 to 4, the device further comprising an interface device (220) configured to engage with the transposition feature (104) and position the transposition feature (104) within the operating unit (106) relative to the reference frame (216).

7. The device according to claim 6, wherein, The interface device (220) is configured to generate interface data (222) representing the position of the transposition feature (104) and / or the position (116) of the transposition feature relative to the reference system (216).

8. A manufacturing system (168), the manufacturing system comprising: The indexing device according to claim 1; as well as An automated machine (128) is located in the operating unit (106) and configured to perform at least one manufacturing operation; in: The fixing tool (102) is configured to support the workpiece (170); The controller (110) communicates with the automated machine; and The controller is also configured to rotate the automated machine relative to the fixed tool position (118) of the fixed tool (102).

9. The system according to claim 8, wherein, The controller (110) is further configured to: The position (116) of the rotation feature (104) in at least one dimension of the fixed coordinate system (112) is determined based on sensor data generated by the sensor (184); and The position (118) of the fixing tool (102) in at least one dimension of the fixed coordinate system (112) is determined based on the position (116) of the rotation feature (104). And / or, wherein the controller (110) is further configured to: Register the digital model representing the fixing tool and the transposition feature to the transposition feature position; and The model position of the digital model registered to the transposition feature position is converted to the fixed tool position of the fixed tool.

10. The system according to claim 8 or 9, wherein, The fixing tool (102) includes a mandrel (130) configured to support the composite laminate, and the automated machine (128) includes an automated fiber placement machine; and / or Wherein, the sensor (184) is coupled to the automated machine (128); and wherein the automated machine (128) is configured to move the sensor relative to the stationary tool; and / or The system also includes a vehicle configured to support the fixing tool and move the fixing tool relative to the operating unit, wherein the vehicle includes one of an automated guide vehicle and a trolley, the one of which is configured to travel along a track (166) extending through the operating unit.

11. The system according to claim 8 or 9, further comprising: Second operation unit (172); A second automated machine (174) is located in the second operating unit (172) and is configured to perform at least one manufacturing operation; as well as A second sensor (198) is configured to detect the transposition feature (104); and wherein: The controller communicates with the second sensor and the second automated machine; The controller is configured to position the fixing tool relative to the second operating unit based on the position of a second rotation feature identified by the second sensor; and The controller is also configured to rotate the second automated machine relative to a second fixed tool position of the fixed tool.

12. A manufacturing method, the method comprising: The fixing tool (102) is moved relative to the operating unit, and the fixing tool includes a surface that supports the workpiece, the surface including a first end and a second end opposite to the first end; Scan the surface of the fixing tool (102); Utilizing sensor vision to detect rotation features; where: The indexing feature (104) includes an interface structure disposed on the surface of the fixing tool (102), the interface structure extending continuously from near the first end to near the second end, such that the interface structure is not obstructed by a workpiece positioned on the surface of the fixing tool (102); and The interface structure includes at least one of a groove formed in the surface of the fixing tool (102) and a protrusion protruding from the surface of the fixing tool (102), and has a geometry that can be visually detected by the sensor, and that the geometry can be calculated and identified by the controller from the surface of the fixing tool (102). The fixing tool is positioned relative to the reference frame of the operating unit based on the rotation feature position detected by the sensor; and The automated machine is rotated relative to the position of the fixed tool. The method further includes: The position (116) of the transposition feature (104) in at least one dimension of the fixed coordinate system (112) is determined based on sensor data generated by the sensor; and The position (118) of the fixing tool (102) in at least one dimension of the fixed coordinate system (112) is determined based on the position (116) of the rotation feature (104).

13. The method according to claim 12, further comprising the following step: Connect the interface device (220) to the transposition feature (104); and The transposition feature (104) is positioned within the operation unit (106) relative to the reference frame (216).

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