System for four collaborative robots and a person in a tight work envelope

Abstract

The present invention relates to a system for four collaborative robots and personnel in a narrow work enclosure. A method and apparatus for supporting collaborative robots and personnel in a narrow work enclosure is provided. A base platform is provided, and a work platform is positioned above the base platform to support one or more personnel, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide an area for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform so that movement of the work platform does not affect the position of the robots.

Description

[0001] The present invention is a divisional application of the Chinese invention patent application with application number 201810072359.8, application date January 25, 2018, and invention name “System for four collaborative robots and personnel in a narrow work package”. Technical Field

[0002] The present disclosure relates generally to robotics and, more particularly, to an isolated human work platform for stably positioning a collaborative robot. Background Art

[0003] Aircraft manufacturers often rely on work cell automation during the construction process of fuselage components. A typical work cell includes a work table and one or more bracket fixtures for holding and positioning the fuselage component.

[0004] Currently, robots are used outside fuselage assemblies, and some operations inside fuselage assemblies are also performed by robots. However, it is desirable to increase the use of robots inside fuselage assemblies, and also provide safe access for personnel while the robots are operating inside the fuselage assemblies.

[0005] However, the platform used inside the fuselage assembly is not isolated, and as a result, the end-of-arm processing on the robot inside the fuselage assembly may bounce or be otherwise affected by platform movement caused by nearby human or machine movement, thus causing the end-of-arm processing on the robot to be in the wrong place or position.

[0006] What is needed, then, is a work platform that allows personnel to work safely inside a fuselage assembly and provides isolated support for personnel and machine movement without imparting any such movement to a robot working inside the fuselage assembly. Summary of the invention

[0007] To overcome the limitations of the prior art discussed above, and to overcome other limitations that will become apparent upon reading and understanding this specification, the present disclosure describes a method and apparatus for supporting a collaborative robot and personnel in a narrow work envelope.

[0008] A base platform is provided and a work platform is positioned above the base platform to support one or more personnel, wherein the work platform is narrower than the base platform and the work platform is positioned relative to the base platform to provide an area for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform so that movement of the work platform does not affect the position of the robots.

[0009] The present disclosure will now be described with respect to the following description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Reference is now made to the drawings, wherein like reference numerals refer to corresponding parts throughout.

[0011] Figure 1 Illustration of a typical work cell layout for assembling an aircraft fuselage.

[0012] Figure 2A and Figure 2B It is a three-dimensional side view and top view of the work unit layout.

[0013] Figure 3A and Figure 3B The structure of the working platform is further illustrated, wherein Figure 3A is a three-dimensional side view of the working platform, and Figure 3B is a bottom view of the work platform (showing its underside).

[0014] Figure 4A , Figure 4B and Figure 4C The structure of the working platform, robot, gantry and cable rack system is further illustrated. Figure 4A It is a three-dimensional side view of the work platform, robot and gantry; Figure 4B is a top view of the work platform, robot and gantry; and Figure 4C is a bottom view of the work platform, robot, gantry and cable tray system (showing their undersides).

[0015] Figure 5 is a cross-sectional view of a work platform positioned above a base platform, wherein the cross-sectional view shows only half of the work platform.

[0016] Figure 6 A view is provided with the work platform removed, leaving only the gantry, cable rack system, separate support table and robot.

[0017] Figure 7 is another view of the gantry on one side of the work platform and a separate support table attached to the gantry, with the robot omitted.

[0018] Figure 8 Another view of the gantry on one side of the work platform and the separate support table attached to the gantry showing details of the dual drive belts.

[0019] Fig. 9 The diagram illustrates the steps of aircraft manufacturing and maintenance methods.

[0020] Fig.10 The diagram shows an aircraft and its components. DETAILED DESCRIPTION

[0021] In the following description, reference is made to the accompanying drawings, which form a part hereof, and which show by way of illustration specific examples in which the disclosure may be practiced. It is to be understood that other examples may be utilized and structural changes may be made without departing from the scope of the disclosure.

[0022] Figure 1 The layout of a typical work cell 10 is illustrated, and the work cell 10 includes one or more bracket fixtures 12 for holding and positioning a fuselage component 14 of an aircraft. Currently, robots are used on the outside of the fuselage component 14, and some work on the inside of the fuselage component 14 is also performed by robots. However, it is desirable to provide an apparatus for stably positioning a collaborative robot on the inside of a fuselage component 14.

[0023] In the present disclosure, fuselage assembly 14 is positioned adjacent to work table 16, which includes base platform 18 positioned inside fuselage assembly 14. (Some support structures for work table 16 are omitted from this view for clarity.) Base platform 18 is independently supported within fuselage assembly 14 by work table 16.

[0024] The work platform 20 as an isolated motion platform is positioned relative to the base platform 18. The work platform 20 may be positioned above the base platform 18.

[0025] One or more robots 22 are positioned inside the fuselage assembly 14 and are supported on the base platform 18 independently of the work platform 20 so that any movement of the work platform 20 (e.g., bending or shaking caused by movement on the work platform 20) does not affect the position of the robot 22 or the base platform 18.

[0026] The robot 22 is supported independently of the work platform 20 on a gantry 24, which is positioned on both sides of the work platform 20. The gantry 24 is mounted on and supported by the base platform 18 independently of the work platform 20. The gantry 24, which is positioned above the base platform 18 and below the work platform 20, is used to position the robot 22 along the length of the work platform 20. The robot 22 is placed on a separate support table 26, which is mounted on the gantry 24.

[0027] Power, control and communications, as well as component supply and return conduits, are provided to the robot 22 via a cable rack system 28. The cable rack system 28 is positioned on or above the base platform 18 and below the work platform 20 to provide a compact solution for supplying the robot 22.

[0028] The work platform 20 has a profile height inside the fuselage assembly 14 above the base platform 18. The profile height allows a person 30 to enter and exit the inside of the fuselage assembly 14 while standing on the work platform 20. The profile height may be 12 inches or less, but other embodiments may have a profile height of more than 12 inches.

[0029] At the same time, the work platform 20 sets the personnel 30 at the correct height to easily reach the work area in the fuselage assembly 14. Moreover, the fuselage assembly 14 can be rotated so that the personnel 30 can reach the upper or lower work area of ​​the fuselage assembly 14. In one example, no ladder is required when the personnel 30 is working in the fuselage assembly 14.

[0030] The robot 22 and separate support table 26 are positioned on a gantry 24 slightly above the base platform 18 and extend above the work platform 20 to a height required to position the robot 22 to an optimal range within the work area. The robot 22 and separate support table 26 may have a combined height of approximately 30 inches, which is approximately 18 inches above the 12 inch height of the work platform 20, but other embodiments may have a combined height of less than or greater than 30 inches.

[0031] The base platform 18 and the work platform 20 together provide a collaborative work space for the robot 22 and the personnel 30 within the fuselage assembly 14. The work platform 20 is isolated from the robot 22 to stably position the robot 22. Specifically, the work platform 20 provides isolated support for movement thereon without applying any movement to the robot 22, thereby eliminating positioning errors caused by bending, vibration or fluctuation of the height of the work platform 20 generated by the movement of the work platform 20.

[0032] Figure 2A and Figure 2B The figures are a perspective side view and a top view of the layout of the work unit 10 when the support fixture 12 and the fuselage assembly 14 are omitted, wherein the shape and position of the fuselage assembly 14 are indicated by dotted lines. These figures show a workbench 16 and a work platform 20 positioned at one end of the fuselage assembly 14 to independently support a base platform 18, both of which are suspended in the fuselage assembly 14.

[0033] These views illustrate an apparatus for supporting four collaborative robots 22 and personnel 30 in a reduced work area, such as the tail and nose sections of the fuselage assembly 14. Specifically, the work platform 20 may be narrower than the base platform 18. The work platform 20 is positioned relative to the base platform 18 to provide an area 32 for moving or positioning the robots 22 and separate support tables 26 and personnel 30 on one or more sides of the work platform 20.

[0034] The work platform 20 tapers along its length to fit the reduced fuselage assembly 14, with the front end 20a wider than the rear end 20b. The front end 20a of the work platform 20 is positioned at the leading end of the fuselage assembly 14, and the rear end 20b of the work platform 20 is positioned at the trailing end of the fuselage assembly 14.

[0035] The tapered configuration of the work platform 20 is used to expose an area 32 of the base platform 18 sufficient to allow the robot 22 and personnel 30 multiple times to traverse the base platform 18 and maneuver around the work platform 20 when the robot 22 needs to be in place for maintenance or inspection. The tapered configuration also allows the same robot 22 to be used for tapered sections of the fuselage assembly 14 as well as cylindrical sections.

[0036] The work platform 20 may have a straight configuration, rather than a tapered configuration. The straight configuration may be used for the cylindrical section of the fuselage assembly 14.

[0037] Once the fuselage assembly 14 is in place, the platform end support 34 is positioned and interlocked to the rear end 20b of the work platform 20 to secure the position of the work platform 20. The platform end support 34 may comprise a self-supporting structure independent of the work platform 16 and the base platform 18.

[0038] The work platform 20 also includes a ramp 20c adjacent the front end 20a, the ramp 20c being fixed by the base platform 18 and the workbench 16, wherein the ramp 20c facilitates the entry and exit of the personnel 30 and the tool cart into and out of the work platform 20. In addition, a protruding plate 20d is provided along one side (or both sides) of the work platform 20 for the personnel 30 to stand on.

[0039] Figure 3A and Figure 3B The configuration of the work platform 20 is further illustrated. Figure 3A is Figure 2A A three-dimensional side view of the working platform 20 taken along the line 3A-3A and viewed in the direction of the arrow; and Figure 3B is Figure 3A A bottom view of the working platform 20 (showing its underside) taken along the line 3B-3B and viewed in the direction of the arrow.

[0040] The work platform 20 may have a tapered configuration with a wider portion 20a at the leading end of the work platform 20 (front end 20a) and a narrower portion 20b at the trailing end of the work platform 20 (rear end 20b). The work platform 20 also includes a ramp portion 20c adjacent the front end 20a that slopes downward from the work platform 20 to reside on or above the base platform 18 (not shown).

[0041] In addition, the work platform 20 has Figure 3A The flat top surfaces 20a, 20b, 20c shown and the Figure 3B A ribbed bottom surface 20e is shown including longitudinal struts 20f. Figure 3B The underside of the projection panel 20d of the work platform 20 is also shown.

[0042] Figure 4A , Figure 4B and Figure 4C The configurations of the work platform 20 , the robot 22 , the gantry 24 , the separate support table 26 , and the cable rack system 28 are further illustrated. Figure 4A is Figure 2B A three-dimensional side view of the work platform 20 (including the front end 20a, the rear end 20b and the ramp 20c), the robot 22, the gantry 24 and the separate support table 26, taken along the line 4A-4A and viewed in the direction of the arrow; Figure 4B is Figure 4A A top view of the work platform 20 (including the front end 20a, the rear end 20b, the ramp 20c and the protruding plate 20d), the robot 22, the gantry 24 and the separate support table 26, taken along the line 4B-4B of FIG. 4B; and Figure 4C yes Figure 4A A bottom view of the work platform 20 (including the front end 20a, the rear end 20b, the ramp 20c, the protruding plate 20d and the support pole 20f), the robot 22, the gantry 24, the separate support platform 26 and the cable rack system 28, taken along the line 4C-4C and viewed in the direction of the arrow.

[0043] There may be a separate gantry 24 on each side of the work platform 20. Each robot 22 is placed on a separate support table 26 attached to its respective gantry 24. The robots 22 and separate support tables 26 are fully supported by the gantry 24, which in turn is supported by the base platform 18 (not shown), and are not affected by the movement of the work platform 20.

[0044] When designing the gantry 24, it is necessary to independently position two robots 22 on each side of the work platform 20 using only a single gantry 24. Current systems only allow one robot to be positioned along the gantry 24. A single gantry 24 may allow independent control to drive two robots 22 located on one side of the work platform 20 to their respective designated locations with high precision.

[0045] Each of the two robots 22 located on one side of the work platform 20 moves laterally along the side of the work platform 20 via a single gantry 24. Specifically, the gantry 24 allows each robot 22 to travel most of the length of the work platform 20 on one side of the work platform 20, except for the space occupied by the other robot 22 and the space on the opposite side of the other robot 22.

[0046] The cable rack system 28 may be positioned at least partially beneath the work platform 20 and conform to the tapered configuration of the work platform 20. The cable rack system 28 provides a set of cables 36 for each robot 22. Although shown as separate elements, each cable 36 may include a bundle of power, control, and communication cables, as well as component supply and return conduits.

[0047] The cable rack system 28 is designed to be integrated with the work platform 20, but can be used independently of the work platform 20. When designing the cable rack system 28, there was no concept available for stacking and nesting two pairs of cables 36 that would serve four robots 22 in a reduced tapered configuration within the compact space between the base platform 18 and the work platform 20. The cable rack system 28 provides a unique method for stacking and nesting pairs of cables 36 to the robots 22 located on each side of the work platform 20, while keeping the cables 36 from interfering with each other and still allowing a full range of motion.

[0048] In addition, the longitudinal struts 20f of the work platform 20 support at least a portion of the cables 36 above the base platform 18 to stack the paired cables 36 so that the cables 36 do not interfere with each other. Specifically, the upper cables 36 in a pair are supported by the longitudinal struts 20f above the lower cables 36 in the pair to allow the upper cables 36 to slide over the lower cables and allow the lower cables 36 to slide under the upper cables 36 without the cables 36 touching.

[0049] Figure 5 is Figure 2A 5-5 of FIG. 1 , and is a cross-sectional view of the work platform 20 positioned above the base platform 18 and viewed in the direction of the arrow, wherein the cross-sectional view shows only the left half of the work platform 20 and the right half of the work platform 20 is removed.

[0050] The front end 20a of the work platform 20 is mounted on one or more risers 38, 40 (which are mounted on the base platform 18), and the rear end 20b of the work platform 20 is cantilevered above the base platform 18. Once the fuselage assembly 14 is in place, the platform end support 34 is positioned and interlocked to the rear end 20b of the work platform 20 to secure the position of the work platform 20.

[0051] The riser 38 is also a supporting structure and is composed of a bottom flange 38a, a triangular vertical web element 38b and a top flange 38c, wherein the triangular vertical web element 38b connects the bottom flange 38a to the top flange 38c. The bottom flange 38a is mounted on the base platform 18, and the work platform 20 is mounted on the top flange 38c.

[0052] Similarly, the riser 40 is a supporting structure and is composed of a bottom flange 40a, a triangular vertical web element 40b, and a top flange 40c, wherein the triangular vertical web element 40b connects the bottom flange 40a to the top flange 40c. The bottom flange 40a is mounted on the base platform 18, and the work platform 20 is mounted on the top flange 40c.

[0053] Note that only a portion of the riser 40 is shown, with the right half of the work platform 20 removed, e.g., approximately half of the riser 40 is shown, with the remainder of the riser 40 hidden under the left half of the work platform 20. Also note that another riser 38 is hidden under the left half of the work platform 20, with the hidden riser 38 being positioned at Figure 5 On the opposite side of the lifter 38 shown in FIG.

[0054] The ramp portion 20c of the work platform 20 is also mounted on the risers 38, 40 to facilitate access from the base platform 18. The ramp portion 20c of the work platform 20 is supported on or above the triangular vertical web member 38b. The ramp portion 20c of the work platform 20 is also supported on or above the triangular vertical web member 40b.

[0055] The risers 38, 40 for the work platform 20 are positioned on the base platform 18 so that they do not interfere with the gantry 24 or the cable rack system 28. The risers 38, 40 allow the gantry 24 and the cable rack system 28 to be positioned between the work platform 20 and the base platform 18.

[0056] The riser 40 may further include a support section 40d for positioning at least a portion of the cables 36 midway in the vertical web element 40b to stack the paired cables 36 so that the cables 36 do not interfere with each other. Specifically, an upper cable 36 in a pair is supported by a support section 40d located above a lower cable 36 in the pair to allow the upper cable 36 to slide over the lower cable and allow the lower cable 36 to slide under the upper cable 36 without the cables 36 contacting.

[0057] As described above, there may be one gantry 24 positioned adjacent each inside edge of the work platform 20 to enable the robot 22 to move along the length of the work platform 20. The gantry 24 is constructed of a steel main square support tube 42 that is anchored near the riser 38 at one end of the base platform 18 (i.e., the head end 18a) so that the weight of the gantry 24 is supported from the head end 18a of the base platform 18. The remainder of the steel main square support tube 42 is cantilevered and positioned above the base platform 18 toward the other end of the base platform 18 (i.e., the tail end 18b) so that the gantry 24 is isolated from the movement of the work platform 20. The steel main square support tube 42 is then coupled to the platform end support 34 at the tail end 18b of the base platform 18. Another gantry 24 exists on the left side of the work platform 20 in a mirror image of the gantry 24 shown, but is obscured by the work platform 20 in this view.

[0058] The work platform 20 also includes one or more removable access panels 44. Figure 5 In the example shown, there is one access panel 44 in the left half of the work platform 20, but there would be a similarly placed access panel in the right half (omitted) of the work platform 20. The removable access panel 44 is designed to provide access to components of the gantry 24 and cable rack system 28 below the work platform 20, for example, for repair, installation and / or removal.

[0059] Figure 6 A view is provided with the work platform 20 removed, but its outline is shown in phantom, leaving only the robot 22 , the gantry 24 , the separate support table 26 and the cable rack system 28 .

[0060] The cable rack system 28 maintains the cables 36a, 36b, 36c, 36d in a crossed configuration in the space between the base platform 18 and the work platform 20. Specifically, the cable rack system 28 positions the four cables 36a, 36b, 36c, 36d to independently supply the four robots 22a, 22b, 22c, 22d without interfering with each other and still allowing the cables 36a, 36b, 36c, 36d to move through a full range of motion.

[0061] The shape of the work platform 20 helps guide the cable rack system 28. In addition, the segments of cables 36a and 36c are pinned at 28a where they cross, and the segments of cables 36b and 36d are pinned at 28b to allow pivoting, which allows the cables 36a, 36b, 36c, 36d to go from a minimum radius to a maximum radius without sliding out of the pinning locations 28a, 28b, thereby always keeping the correct number of cables 36a, 36b, 36c, 36d in place. Pinning the cables 36a, 36b, 36c, 36d at 28a, 28b prevents the cables 36a, 36b, 36c, 36d from sliding back through the crossing area and interfering with any opposing groups of cables 36a, 36b, 36c, 36d.

[0062] The cables 36a, 36b or 36c, 36d for the robots 22a, 22b or 22c, 22d located on the first side of the work platform 20 are fed in from the second side of the work platform 20 (opposite to the first side of the work platform 20) at the first end of the work platform 20, and the cables 36a, 36b or 36c, 36d for the robots 22a, 22b or 22c, 22d located on the second side of the work platform 20 are fed in from the first side of the work platform 20 (opposite to the second side of the work platform 20) at the first end of the work platform 20. For example, the cables 36a, 36b for the two robots 22a, 22b located on the right side of the work platform 20 are laid on the base platform 18 and fed in from the left side of the base platform 18 at the front end 20a of the work platform 20. Cables 36 c , 36 d for the two robots 22 c , 22 d located on the left side of the work platform 20 are fed in from the right side of the work platform 20 at the front end 20 a of the work platform 20 .

[0063] In the cable rack system 28, the cables 36a, 36b, 36c, 36d are crossed to communicate with the robots 22a, 22b, 22c, 22d so that the cables 36a, 36b, 36c, 36d flow from adjacent to the front end 20a located on one side of the work platform 20 to adjacent to the rear end 20b and the front end 20a located on the opposite side of the work platform 20. For example, the cable 36a is connected to the robot 22a; the cable 36b is connected to the robot 22b; the cable 36c is connected to the robot 22c; and the cable 36d is connected to the robot 22d. The cables 36a and 36b flow from adjacent to the front end 20a located on the left side of the work platform 20 to adjacent to the rear end 20b and the front end 20a located on the right side of the work platform 20. The cables 36 c and 36 d flow from the front end 20 a adjacent to the work platform 20 on the right side of the work platform 20 to the rear end 20 b and the front end 20 a adjacent to the work platform 20 on the left side of the work platform 20 .

[0064] The cables 36a, 36b, 36c, 36d are stacked and nested so that the first of the cables 36a, 36b or 36c, 36d can reach any location behind the second of the cables 36b, 36a or 36d, 36c (toward the rear end 20b), and the second of the cables 36a, 36b or 36c, 36d can reach any location in front of the first of the cables 36b, 36a or 36d, 36c (toward the front end 20a). For example, the cables 36a, 36b are stacked and nested so that the cable 36a can reach any location behind the cable 36b (toward the rear end 20b), and the cable 36b can reach any location in front of the cable 36a (toward the front end 20a). Similarly, cables 36c, 36d are stacked and nested so that cable 36c can reach anywhere behind cable 36d (toward rear end 20b), and cable 36d can reach anywhere in front of cable 36c (toward front end 20a).

[0065] In addition, the cables 36a, 36b, 36c, 36d are stacked and nested so that on each side of the work platform 20, a first one of the robots 22a, 22b, 22c, 22d can travel toward the first end (20a or 20b) of the work platform 20, and a second one of the robots 22a, 22b, 22c, 22d can travel toward the second end (20b or 20a) of the work platform 20, and the cables 36a, 36b, 36c, 36d do not interfere with each other. For example, one robot 22a can travel toward the front end 20a of the work platform 20, and another robot 22b can travel toward the rear end 20b of the work platform 20, and the cables 36a, 36b do not interfere with each other; and one robot 22c can travel toward the front end 20a of the work platform 20, and another robot 22d can travel toward the rear end 20b of the work platform 20, and the cables 36c, 36d do not interfere with each other.

[0066] Otherwise, there would be a problem of potentially limiting the movement of the four robots 22a, 22b, 22c, 22d. Current cable track systems cannot be nested and stacked in a cross pattern to provide the full coverage required in this configuration. The cable rack system 28 allows the cables 38a, 38b, 38c, 38d to be connected to the robots 22a, 22b, 22c, 22d in a very small working space without interfering with each other.

[0067] Figure 72 is another view of a gantry 24 located on one side of a work platform 20 (not shown) and separate support tables 26a, 26b attached to the gantry 24, with the robot 22 omitted. When designing the gantry 24, it is necessary to independently position two robots 22 using only a single gantry 24. The current system only allows one robot to be positioned along the gantry. The system allows independent control to drive two robots 22 to a designated location on a single gantry 24 with high precision.

[0068] The gantry 24 includes a plurality of drive belts 46a, 46b for independently positioning the individual support tables 26a, 26b (and the robots 22 placed thereon). There may be two belts 46a, 46b extending along the length of the gantry 24, wherein the two belts 46a, 46b are positioned perpendicularly relative to each other. The top belt 46a may drive the rear individual support table 26a, and the bottom belt 46b may drive the front individual support table 26b, but in other embodiments, the order may be reversed.

[0069] Each individual support table 26a, 26b located on one side of the work platform 20 moves laterally along the side of the work platform 20 via a drive belt 46a, 46b. Specifically, the drive belts 46a, 46b allow each individual support table 26a, 26b to travel the length of the work platform 20 on one side of the work platform 20, except for the space occupied by another individual support table 26a, 26b.

[0070] Each individual support table 26a, 26b includes a base 48 that extends below the main square support tube 42 of the gantry 24 to balance the individual support table 26a, 26b (and the robot 22 placed thereon).

[0071] The main square support tube 42 is composed of two guide rails 50a, 50b (including an upper guide rail 50a and a lower guide rail 50b). Each individual support table 26a, 26b includes a bracket 52, which mounts the base 48 to the guide rails 50a, 50b of the gantry 24, providing movement and support for the individual support table 26a, 26b (and the robot 22 placed thereon).

[0072] Each individual support table 26a, 26b extends from the guide rails 50a, 50b in a cantilevered manner, so that the individual support tables 26a, 26b (and the robot 22 placed thereon) are supported from the inner side of the gantry 24, and the weight of the individual support tables 26a, 26b and the robot 22 does not affect the base platform 18 during positioning of the fuselage assembly 14 or the work platform 20.

[0073] The bracket 52 of the individual support tables 26a, 26b also includes one or more support blocks 54a, 54b attached to both ends of one of the drive belts 46a, 46b. A belt tensioning mechanism 56 connects the support blocks 54a, 54b and ensures that the proper tension is maintained on the drive belts 46a, 46b.

[0074] The cables 36 for the robot 22 are supported by the bases 48 of the individual support tables 26a, 26b and are routed through holes 58 in the brackets 52 of the individual support tables 26a, 26b to the robot 22 placed thereon.

[0075] Figure 8 is another view of the mast 24 on one side of the work platform 20 and the separate support table 26 attached to the mast 24, showing details of the dual drive belts 46a, 46b.

[0076] Each belt 46a, 46b may include a motor 60a, 60b and one or more pulleys 62a, 62b. Specifically, the top belt 46a is driven by a pulley motor 60a, wherein the belt 46a is wrapped around the pulley 62a, and the bottom belt 46b is driven by a pulley motor 60b, wherein the belt 46b is wrapped around the pulley 62b. The use of pulleys 62a, 62b allows the drive motors 60a, 60b to be positioned near the head end of the work platform 20 for easy access via the access panel 44 for maintenance. Similar constructed pulleys 62a, 62b are positioned at the other end of the gantry 24, but without the motors 60a, 60b.

[0077] The forward side of the belts 46a, 46b is exposed on the main square support tube 42 between the upper rail 50a and the lower rail 50b. The return side of the belts 46a, 46b is located inside the main square support tube 42.

[0078] Finally, the cables 36 for the robot 22 are laid in the base 48, threaded through holes 58 in the bracket 52, and extend under the lower rail 50b and belts 46a, 46b.

[0079] Aircraft assembly

[0080] Available in Fig. 9 The aircraft manufacturing and maintenance method 64 shown (including steps 66-78) and the Fig.10 The present disclosure is described in the context of an aircraft 80 , including components 82 - 94 , as shown.

[0081] like Fig. 9As shown, during pre-production, the exemplary method 64 may include specification and design 66 of the aircraft 80 and material procurement 68. During production, component and subassembly manufacturing 70 and system integration 72 of the aircraft 80 are performed. Thereafter, the aircraft 80 may be certified and delivered 74 to be placed in service 76. While placed in service 76 by the customer, the aircraft 80 is scheduled for a routine maintenance check 78 (which may include modification, reconstruction, refurbishment, etc.). The base platform 18, the work platform 20, the robot 22, and other elements described herein may be used in at least steps 70 and 72 of the method 64.

[0082] The various processes of method 64 may be performed or carried out by a system integrator, a third party, and / or an operator (e.g., a customer). For the purposes of this description, a system integrator may include, but is not limited to, any number of aircraft manufacturers and major system subcontractors; a third party may include, but is not limited to, any number of suppliers, subcontractors, and vendors; and an operator may be an airline, leasing company, military entity, service organization, etc.

[0083] like Fig.10 As shown, an aircraft 80 produced by exemplary method 64 may include an airframe 82 having a plurality of systems 84 and an interior 86. Examples of high-level systems 84 include one or more of a propulsion system 88, an electrical system 90, a hydraulic system 92, and an environmental system 94. Any number of other systems may be included. Although an aerospace example is shown, the principles of the present disclosure may be applied to other industries such as the automotive industry.

[0084] The apparatus and methods embodied herein may be employed during any one or more stages of the manufacturing method 64. For example, components or subassemblies corresponding to the manufacturing process 70 may be assembled or manufactured in a manner similar to the way components or subassemblies are produced while the aircraft 80 is in service 76. Moreover, one or more apparatus embodiments, method embodiments, or a combination of these embodiments may be utilized during the manufacturing stages 70 and 72, for example, to significantly speed up the assembly of the aircraft 80 or reduce the cost of the aircraft 80. Similarly, one or more apparatus embodiments, method embodiments, or a combination of these embodiments may be utilized while the aircraft 80 is in service 76, such as, but not limited to, during maintenance overhaul 78.

[0085] The present invention also refers to the following clauses which are not to be confused with the claims.

[0086] A1. A device for supporting a collaborative robot and a person in a narrow work package, the device comprising:

[0087] Base platform 18;

[0088] a work platform 20 positioned above the base platform 18 to support one or more personnel 30, wherein the work platform 20 is narrower than the base platform 18 and the work platform 20 is positioned relative to the base platform 18 to provide an area 32 for positioning the robot 22 on one or more sides of the work platform 20; and

[0089] One or more robots 22 are supported on the base platform 18 independently of the work platform 20 such that movement of the work platform 20 does not affect the position of the robots 22 .

[0090] A2. Additionally provided is an apparatus according to paragraph A1, wherein the work platform 20 is positioned relative to the base platform 18 to provide an area 32 for the personnel 30 to move along the base platform 18 on one or more sides of the work platform 20.

[0091] A3. In addition, there is provided an apparatus according to paragraph A2, wherein the work platform 20 is tapered along its length, with the front end 20a being wider than the rear end 20b, so as to expose an area 32 of the base platform 18, allowing the personnel 30 and the robot 22 to sufficiently traverse the base platform 18 and operate around the work platform 20.

[0092] A4. Additionally provided is an apparatus according to paragraph A3, wherein the base platform 18 and the work platform 20 are positioned within a fuselage assembly 14 of an aircraft.

[0093] A5. In addition, there is provided an apparatus according to paragraph A4, wherein the front end 20a of the work platform 20 is positioned at the head end of the fuselage assembly 14, and the rear end 20b of the work platform 20 is positioned at the tail end of the fuselage assembly 14.

[0094] A6. Additionally provided is an apparatus according to paragraph A4, wherein the base platform 18 and the work platform 20 together have a lower profile height to allow the person 30 to enter and exit the inside of the fuselage assembly 14 while standing on the work platform 20.

[0095] A7. In addition, there is provided an apparatus according to paragraph A3, wherein the working platform 20 includes a ramp portion 20c, the ramp portion 20c is adjacent to the front end 20a of the working platform 20, and the ramp portion 20c is inclined downward from the working platform 20 to reside on or above the base platform 18.

[0096] A8. In addition, there is provided an apparatus according to paragraph A3, wherein the working platform 20 is mounted on one or more risers 38, 40 above the base platform 18 at the front end 20a of the working platform 20, and the rear end 20b of the working platform 20 is cantilevered above the base platform 18.

[0097] A9. Additionally provided is an apparatus according to paragraph A8, wherein the rear end 20b of the work platform 20 is connected to a support structure 34.

[0098] A10. In addition, there is provided an apparatus according to paragraph A8, wherein the lifter 38, 40 is a supporting structure consisting of a bottom flange 38a, 40a, a top flange 38c, 40c and a triangular vertical web element 38b, 40b, the triangular vertical web element 38b, 40b connecting the bottom flange 38a, 40a to the top flange 38c, 40c, the bottom flange 38a, 40a is mounted on the base platform 18, and the working platform 20 is mounted on the top flange 38c, 40c.

[0099] A11. In addition, there is provided an apparatus according to paragraph A10, wherein the ramp portion 20c of the working platform 20 is supported on the triangular vertical web elements 38b, 40b.

[0100] A12. In addition, an apparatus according to paragraph A1 is provided, wherein the apparatus further comprises at least one gantry 24, wherein the at least one gantry 24 is positioned relative to the work platform 20 so that the robot 22 can move along the length of the work platform 20.

[0101] A13. In addition, an apparatus according to paragraph A12 is provided, wherein the gantry 24 is consistent with the tapered structure of the work platform 20.

[0102] A14. In addition, there is provided an apparatus according to paragraph A12, wherein the gantry 24 is anchored at one end of the base platform 18 and cantilevered at one end of the base platform 18 so that the remainder of the gantry 24 is positioned above the base platform 18.

[0103] A15. In addition, there is provided an apparatus according to paragraph A1, wherein the apparatus further comprises a cable rack system 28, wherein the cable rack system 28 provides at least one of power, control, communication, component supply and return for the robot 22.

[0104] A16. Additionally provided is an apparatus according to paragraph A15, wherein the cable rack system 28 is positioned on the underside of the work platform 20 and conforms to the tapered configuration of the work platform 20.

[0105] A17. In addition, there is provided an apparatus according to paragraph A1, wherein the work platform 20 includes one or more removable inspection panels 44, and the one or more removable inspection panels 44 provide access to components on the underside of the work platform 20 for repair, installation or removal.

[0106] According to another aspect of the present invention, there is provided:

[0107] B1. A method for supporting a collaborative robot and a person in a narrow work package, the method comprising the following steps:

[0108] Providing a base platform 18;

[0109] positioning a work platform 20 above the base platform 18 to support one or more personnel 30, wherein the work platform 20 is narrower than the base platform 18 and the work platform 20 is positioned relative to the base platform 18 to provide an area 32 for positioning the robot 22 on either or both sides of the work platform 20; and

[0110] The one or more robots 22 are supported on the base platform 18 independently of the work platform 20 such that movement of the work platform 20 does not affect the position of the robots 22 .

[0111] B2. Additionally provided is a method according to paragraph B1, wherein the work platform 20 is positioned relative to the base platform 18 to provide an area 32 for the personnel 30 to move along the base platform 18 on one or more sides of the work platform 20.

[0112] B3. In addition, a method according to paragraph B2 is provided, wherein the work platform 20 is tapered along its length, with the front end 20a being wider than the rear end 20b, so as to expose an area 32 of the base platform 18 sufficient for the personnel 30 and the robot 22 to traverse the base platform 18 and operate around the work platform 20.

[0113] B4. Additionally provided is the method according to paragraph B3, wherein the base platform 18 and the work platform 20 are positioned within the fuselage assembly 14 of the aircraft.

[0114] B5. A method according to paragraph B4 is further provided, wherein the front end 20a of the work platform 20 is positioned at the head end of the fuselage assembly 14, and the rear end 20b of the work platform 20 is positioned at the tail end of the fuselage assembly 14.

[0115] B6. In addition, a method according to paragraph B4 is provided, wherein the base platform 18 and the work platform 20 together have a lower profile height to allow the person 30 to enter and exit the inside of the fuselage assembly 14 while standing on the work platform 20.

[0116] B7. In addition, a method according to paragraph B3 is provided, wherein the working platform 20 includes a ramp portion 20c, the ramp portion 20c is adjacent to the front end 20a of the working platform 20, and the ramp portion 20c is inclined downward from the working platform 20 to reside on or above the base platform 18.

[0117] B8. In addition, a method according to paragraph B3 is provided, wherein the work platform 20 is mounted on one or more risers 38, 40 located above the base platform 18 at the front end 20a of the work platform 20, and the rear end 20b of the work platform 20 extends above the base platform 18 as a cantilever.

[0118] B9. In addition, a method according to paragraph B8 is provided, wherein the rear end 20b of the work platform 20 is connected to a support structure 34.

[0119] B10. In addition, a method according to paragraph B8 is provided, wherein the lifter 38, 40 is a supporting structure composed of a bottom flange 38a, 40a, a top flange 38c, 40c and a triangular vertical web element 38b, 40b, and the triangular vertical web element 38b, 40b connects the bottom flange 38a, 40a to the top flange 38c, 40c, installs the bottom flange 38a, 40a on the base platform 18, and installs the working platform 20 on the top flange 38c, 40c.

[0120] B11. In addition, a method according to paragraph B10 is provided, wherein the slope portion 20c of the working platform 20 is supported on the triangular vertical web elements 38b, 40b.

[0121] B12. In addition, a method according to paragraph B1 is provided, wherein the method further includes: positioning at least one gantry 24 relative to the work platform 20 so that the robot 22 moves along the length of the work platform 20.

[0122] B13. In addition, a method according to paragraph B12 is provided, wherein the gantry 24 is made consistent with the tapered structure of the work platform 20.

[0123] B14. In addition, a method according to paragraph B12 is provided, wherein the gantry 24 is anchored at one end of the base platform 18 and cantilevered at one end of the base platform 18 so that the rest of the gantry 24 is positioned above the base platform 18.

[0124] B15. Additionally provided is paragraph B1, wherein the method further comprises: using a cable rack system 28 to provide at least one of power, control, communication, component supply and return for the robot 22 .

[0125] B16. Additionally provided is a method according to paragraph B15, wherein the cable rack system 28 is positioned on the underside of the work platform 20 and is consistent with the tapered configuration of the work platform 20.

[0126] B17. In addition, a method according to paragraph B1 is provided, wherein the work platform 20 includes one or more removable access panels 44, and the one or more removable access panels 44 provide access to components on the lower side of the work platform 20 for repair, installation or removal.

[0127] According to another aspect of the present invention, there is provided:

[0128] C1. A method for assembling an aircraft fuselage, the method comprising:

[0129] Disposing the base platform 18 within the fuselage assembly 14;

[0130] Positioning a work platform 20 within the fuselage assembly 14 above the base platform 18 to support one or more personnel 30, wherein the work platform 20 is narrower than the base platform 18 and the work platform 20 is positioned relative to the base platform 18 within the fuselage assembly 14 to provide an area 32 for positioning the robot 22 on either or both sides of the work platform 20; and

[0131] The one or more robots 22 are supported on the base platform 18 within the fuselage assembly 14 independently of the work platform 20 such that movement of the work platform 20 does not affect the position of the robots 22 .

[0132] C2. Additionally provided is a method according to paragraph C1, wherein the work platform 20 is positioned relative to the base platform 18 to provide an area 32 for the personnel 30 to move along the base platform 18 on one or more sides of the work platform 20.

[0133] C3. In addition, a method according to paragraph C2 is provided, wherein the work platform 20 is tapered along its length, with the front end 20a being wider than the rear end 20b, so as to expose an area 32 of the base platform 18 sufficient for the personnel 30 and the robot 22 to traverse the base platform 18 and operate around the work platform 20.

[0134] C4. Additionally provided is the method according to paragraph C3, wherein the base platform 18 and the work platform 20 are positioned within the fuselage assembly 14 of the aircraft.

[0135] C5. A method according to paragraph C4 is further provided, wherein the front end 20a of the work platform 20 is positioned at the head end of the fuselage assembly 14, and the rear end 20b of the work platform 20 is positioned at the tail end of the fuselage assembly 14.

[0136] C6. In addition, a method according to paragraph C4 is provided, wherein the base platform 18 and the work platform 20 together have a lower profile height to allow the person 30 to enter and exit the inside of the fuselage assembly 14 while standing on the work platform 20.

[0137] C7. In addition, a method according to paragraph C3 is provided, wherein the working platform 20 includes a ramp portion 20c, the ramp portion 20c is adjacent to the front end 20a of the working platform 20, and the ramp portion 20c is inclined downward from the working platform 20 to reside on or above the base platform 18.

[0138] C8. In addition, a method according to paragraph C3 is provided, wherein the work platform 20 is mounted on one or more risers 38, 40 located above the base platform 18 at the front end 20a of the work platform 20, and the rear end 20b of the work platform 20 is cantilevered above the base platform 18.

[0139] C9. In addition, a method according to paragraph C8 is provided, wherein the rear end 20b of the work platform 20 is connected to a support structure 34.

[0140] C10. In addition, a method according to paragraph C8 is provided, wherein the riser 38, 40 is a supporting structure composed of a bottom flange 38a, 40a, a top flange 38c, 40c and a triangular vertical web element 38b, 40b, and the triangular vertical web element 38b, 40b connects the bottom flange 38a, 40a to the top flange 38c, 40c, installs the bottom flange 38a, 40a on the base platform 18, and installs the working platform 20 on the top flange 38c, 40c.

[0141] C11. In addition, a method according to paragraph C10 is provided, wherein the slope portion 20c of the working platform 20 is supported on the triangular vertical web elements 38b, 40b.

[0142] C12. In addition, a method according to paragraph C1 is provided, wherein the method further includes: positioning at least one gantry 24 relative to the work platform 20 so that the robot 22 moves along the length of the work platform 20.

[0143] C13. In addition, a method according to paragraph C12 is provided, wherein the gantry 24 is made consistent with the tapered structure of the work platform 20.

[0144] C14. In addition, a method according to paragraph C12 is provided, wherein the gantry 24 is anchored at one end of the base platform 18 and cantilevered at one end of the base platform 18 so that the remainder of the gantry 24 is positioned above the base platform 18.

[0145] C15. In addition, a method according to paragraph C1 is provided, wherein the method further includes: using a cable rack system 28 to provide at least one of power, control, communication, component supply and return for the robot 22.

[0146] C16. Additionally provided is a method according to paragraph C15, wherein the cable rack system 28 is positioned on the underside of the work platform 20 and is consistent with the tapered configuration of the work platform 20.

[0147] C17. In addition, a method according to paragraph C1 is provided, wherein the work platform 20 includes one or more removable access panels 44, and the one or more removable access panels 44 provide access to components on the underside of the work platform 20 for repair, installation or removal.

Claims

1. A method for assembling an aircraft fuselage, the method comprising: Disposing a base platform (18) within the fuselage assembly (14); Positioning a work platform (20) within the fuselage assembly (14) above the base platform (18) to support one or more personnel (30), wherein the work platform (20) is narrower than the base platform (18), and positioning the work platform (20) relative to the base platform (18) within the fuselage assembly (14) to provide an area (32) for positioning a robot (22) on either or both sides of the work platform (20); and supporting the one or more robots (22) on the base platform (18) within the fuselage assembly (14) independently of the work platform (20) such that movement of the work platform (20) does not affect the position of the robots (22), wherein the work platform (20) is positioned relative to the base platform (18) to provide an area (32) for the personnel (30) to move along the base platform (18) on one or more sides of the work platform (20), wherein the work platform (20) is tapered along its length, with the front end (20a) being wider than the rear end (20b) to expose an area (32) of the base platform (18) sufficient for the personnel (30) and the robot (22) to traverse the base platform (18) and operate around the work platform (20), The front end (20a) of the working platform (20) is positioned at the head end of the fuselage assembly (14), and the rear end (20b) of the working platform (20) is positioned at the tail end of the fuselage assembly (14).

2. The method according to claim 1, wherein: The base platform (18) and the work platform (20) together have a lower profile height to allow the person (30) to enter and exit the inside of the fuselage assembly (14) while standing on the work platform (20).

3. The method according to claim 1, wherein: The work platform (20) includes a ramp portion (20c) adjacent to the front end (20a) of the work platform (20), and the ramp portion (20c) slopes downward from the work platform (20) to reside on or above the base platform (18).

4. The method according to claim 1, wherein: The work platform (20) is mounted at the front end (20a) of the work platform (20) on one or more risers (38, 40) located above the base platform (18), while the rear end (20b) of the work platform (20) is cantilevered above the base platform (18).

5. The method according to claim 4, wherein: The rear end (20b) of the work platform (20) is coupled to a support structure (34).

6. The method according to claim 4, wherein: The riser (38, 40) is a supporting structure consisting of a bottom flange (38a, 40a), a top flange (38c, 40c) and a triangular vertical web element (38b, 40b), wherein the triangular vertical web element (38b, 40b) connects the bottom flange (38a, 40a) to the top flange (38c, 40c), mounts the bottom flange (38a, 40a) on the base platform (18), and mounts the working platform (20) on the top flange (38c, 40c).

7. The method according to claim 6, wherein: The slope portion (20c) of the working platform (20) is supported on the triangular vertical web elements (38b, 40b).

8. The method according to claim 1, wherein: The method further comprises positioning at least one gantry (24) relative to the work platform (20) so that the robot (22) moves along the length of the work platform (20).

9. The method according to claim 8, wherein: The gantry (24) is made consistent with the tapered configuration of the work platform (20).

10. The method according to claim 8, wherein: The gantry (24) is anchored at one end of the base platform (18) and cantilevered at one end of the base platform (18) such that the remainder of the gantry (24) is positioned above the base platform (18).

11. The method according to claim 1, wherein: The method further includes providing at least one of power, control, communication, component supply, and return to the robot (22) using a cable rack system (28).

12. The method according to claim 11, wherein: The cable rack system (28) is positioned on the underside of the work platform (20) and conforms to the tapered configuration of the work platform (20).

13. The method according to claim 1, wherein: The work platform (20) includes one or more removable access panels (44) that provide access to components on the underside of the work platform (20) for repair, installation or removal.

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