Note: Descriptions are shown in the official language in which they were submitted.
CA 02895739 2015-06-25
WHEEL MOUNTING SYSTEM
BACKGROUND INFORMATION
1. Field:
The present disclosure relates generally to vehicles and, in particular, to
installation and removal of wheel arm assemblies from vehicles used in
manufacturing environments. Still more particularly, the disclosure relates to
a
method and apparatus for installing and removing wheel arm assemblies for
vehicles
used in manufacturing environments.
2. Background:
Building a fuselage may include assembling skin panels and a support
structure for the fuselage. The skin panels and support structure may be
joined
together to form a fuselage assembly. For example, without limitation, the
skin
panels may have support members, such as frames and stringers, attached to the
surface of the skin panels that will face the interior of the fuselage
assembly. These
support members may be used to form the support structure for the fuselage
assembly. The skin panels may be positioned relative to each other and the
support
members may be tied together to form this support structure.
Fastening operations may then be performed to join the skin panels and the
support members together to form the fuselage assembly. These fastening
operations may include, for example, riveting operations, interference-fit
bolting
operations, other types of attachment operations, or some combination thereof.
The
fuselage assembly may need to be assembled in a manner that meets outer mold
line (OML) requirements and inner mold line (IML) requirements for the
fuselage
assembly.
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Some currently available methods for building a fuselage assembly may be
more labor-intensive, time-consuming, ergonomically challenging, or expensive
than
desired. Further, some current assembly methods used to build fuselages may
not
allow fuselages to be built in the desired assembly facilities or factories at
desired
assembly rates or desired assembly costs.
With some currently available methods of assembly, performing maintenance
or repair on vehicles used during assembly in a factory may require that the
vehicles
be moved to some location outside of the factory. For example, performing
maintenance or a repair on a wheel arm assembly of a vehicle may require that
the
vehicle be moved to some other location for maintenance, a base of the vehicle
be
assembled, or the vehicle be taken out of service during the maintenance or
repair.
Consequently, the time, cost, and effort of performing this type of
maintenance or
repair may be greater than desired.
In some cases, the current assembly methods and systems used to build
fuselages may require that these fuselages be built in facilities or factories
specifically designated and permanently configured for building fuselages.
These
current assembly methods and systems may be unable to accommodate different
types and shapes of fuselages. For example, without limitation, large and
heavy
equipment needed for building fuselages may be permanently affixed to a
factory and
configured for use solely with fuselages of a specific type. Therefore, it
would be
desirable to have a method and apparatus that take into account at least some
of the
issues discussed above, as well as other possible issues.
SUMMARY
In accordance with one disclosed aspect there is provided an apparatus
including a retaining structure at an exterior of a base of a vehicle, the
retaining
structure having a first end that faces externally with respect to the
vehicle, a second
end that faces internally with respect to the vehicle, and a first channel
that extends
from the first end to the second end. The apparatus also includes a wheel arm
assembly coupleable to the retaining structure by locating the wheel arm
assembly
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within the first channel, the wheel arm assembly including a retainer bushing
having
a second channel, a sliding bushing being located within the second channel
and
operable to engage with the first channel of the retaining structure, the
sliding
bushing having a third channel. The wheel arm assembly includes a wheel arm
having a first portion and a second portion, the first portion being located
within the
third channel of the sliding bushing and the second portion extending past a
first end
of the retainer bushing.
In accordance with another disclosed aspect there is provided an apparatus
including a wheel arm assembly that is removably associated with a retaining
structure in an autonomous vehicle at an externally-facing end of the
retaining
structure. The apparatus also includes a retainer bushing that enables the
wheel
arm assembly to be coupled to and decoupled from the retaining structure. The
wheel arm assembly further includes a wheel arm, and the retainer bushing is
located around a first portion of the wheel arm and a second portion of the
wheel arm
extends past a first end of the retainer bushing.
In accordance with another disclosed aspect there is provided an autonomous
vehicle including a base, a plurality of retaining structures associated with
the base,
and a plurality of wheel systems coupled to the plurality of retaining
structures in
which a wheel system in the plurality of wheel systems includes a wheel arm
assembly including a retainer bushing having a first end and a second end in
which
the retainer bushing is attached to a first end of a retaining structure in
the plurality of
retaining structures by a number of fasteners. The autonomous vehicle also
includes
a wheel arm partially overlapped by the retainer bushing, a plate that is
attached to
the wheel arm at the second end of the retainer bushing such that the plate at
least
partially overlaps the second end of the retainer bushing without overlapping
a
second end of the retaining structure such that an entirety of the wheel arm
assembly
is removable from the retaining structure when the number of fasteners
attaching the
retainer bushing to the retaining structure is removed. A hub assembly is
associated
with the wheel arm of the wheel arm assembly, and an omnidirectional wheel
associated with the hub assembly.
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In accordance with another disclosed aspect there is provided an autonomous
vehicle including a base, and a plurality of retaining structures associated
with the
base in which a retaining structure in the plurality of retaining structures
includes a
first end, a second end, a channel that extends from the first end to the
second end
and that is configured to receive a wheel arm assembly, and a number of
openings at
the first end configured to receive a number of fasteners for attaching a
retainer
bushing of the wheel arm assembly to the retaining structure.
In accordance with another disclosed aspect there is provided a method for
installing a wheel arm assembly for an autonomous vehicle. The method involves
assembling the wheel arm assembly by inserting a sliding bushing into a
retainer
bushing at a first end of the retainer bushing to press-fit the sliding
bushing within the
retainer bushing, inserting the sliding bushing of the wheel arm assembly into
a first
channel of a retaining structure associated with a base of the autonomous
vehicle
from an exterior of the base, and installing a number of fasteners at the
exterior of
the base to attach the wheel arm assembly to the base of the autonomous
vehicle.
In accordance with another disclosed aspect there is provided a method for
assembling and installing a wheel arm assembly for an autonomous vehicle. The
method involves inserting a sliding bushing into a retainer bushing at a first
end of the
retainer bushing to press-fit the sliding bushing within the retainer bushing,
positioning a bearing at the first end of the retainer bushing, and inserting
a wheel
arm into the sliding bushing at the first end of the retainer bushing such
that a first
portion of the wheel arm is located within the sliding bushing and a second
portion of
the wheel arm extends past the first end of the retainer bushing and such that
the
bearing contacts the wheel arm, the sliding bushing, and the first end of the
retainer
bushing. The method also involves attaching a plate to the wheel arm at a
second
end of the retainer bushing using a set of fasteners such that the plate at
least
partially overlaps the second end of the retainer bushing in which the sliding
bushing,
the retainer bushing, the wheel arm, and the plate form the wheel arm
assembly.
The method further involves inserting the wheel arm assembly into a retaining
structure associated with a base of the autonomous vehicle in a direction from
a first
end of the retaining structure to a second end of the retaining structure, and
installing
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a number of fasteners to attach the first end of the retainer bushing of the
wheel arm
assembly to the first end of the retaining structure.
In accordance with another disclosed aspect there is provided an apparatus
including a retaining structure associated with a base of a vehicle and a
wheel arm
assembly coupleable to the retaining structure at an exterior of the base. The
retaining structure has a first channel, and the wheel arm assembly includes a
retainer bushing. The retainer bushing includes a first end, a second end, and
a
second channel that extends from the first end of the retainer bushing to the
second
end of the retainer bushing.
The features and functions can be achieved independently in various
embodiments of the present disclosure or may be combined in yet other
embodiments in which further details can be seen with reference to the
following
description and drawings.
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BRIEF DESCRIPTION OF THE DRAWINGS
The novel features believed characteristic of the illustrative embodiments are
set forth in the appended claims. The illustrative embodiments, however, as
well as
a preferred mode of use, further objectives and features thereof, will best be
understood by reference to the following detailed description of an
illustrative
embodiment of the present disclosure when read in conjunction with the
accompanying drawings, wherein:
Figure 1 is an illustration of a manufacturing environment in the form of a
block diagram in accordance with an illustrative embodiment;
Figure 2 is an illustration of a fuselage assembly in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 3 is an illustration of a plurality of mobile systems of a flexible
manufacturing system within a manufacturing environment in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 4 is an illustration a plurality of mobile platforms in the form of a
block
diagram in accordance with an illustrative embodiment;
Figure 5 is an illustration of a flow of a number of utilities across a
distributed
utility network in the form of a block diagram in accordance with an
illustrative
embodiment;
Figure 6 is an illustration of a vehicle in the form of a block diagram in
accordance with an illustrative embodiment;
Figure 7 is an illustration of an isometric view of a manufacturing
environment
in accordance with an illustrative embodiment;
Figure 8 is an illustration of a first tower coupled to a utility fixture in
accordance with an illustrative embodiment;
Figure 9 is an illustration of an isometric view of a cradle system in
accordance with an illustrative embodiment;
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Figure 10 is an illustration of an isometric view of an assembly fixture
formed
using a cradle system and coupled to a first tower in accordance with an
illustrative
embodiment;
Figure 11 is an illustration of an isometric view of one stage in the assembly
process for building a fuselage assembly that is being supported by an
assembly
fixture in accordance with an illustrative embodiment;
Figure 12 is an illustration of an isometric view of another stage in the
assembly process for building a fuselage assembly in accordance with an
illustrative
embodiment;
Figure 13 is an illustration of an isometric view of another stage in the
assembly process for building a fuselage assembly being supported by an
assembly
fixture in accordance with an illustrative embodiment;
Figure 14 is an illustration of an isometric view of another stage in the
assembly process for building a fuselage assembly in accordance with an
illustrative
embodiment;
Figure 15 is an illustration of an isometric view of a second tower coupled to
a
utility fixture and an assembly fixture supporting a fuselage assembly in
accordance
with an illustrative embodiment;
Figure 16 is an illustration of an isometric cutaway view of a plurality of
mobile
platforms performing fastening processes within an interior of a fuselage
assembly in
accordance with an illustrative embodiment;
Figure 17 is an illustration of a cross-sectional view of a flexible
manufacturing
system performing operations on a fuselage assembly in accordance with an
illustrative embodiment;
Figure 18 is an illustration of an isometric view of a fully built fuselage
assembly in accordance with an illustrative embodiment;
Figure 19 is an illustration of an isometric view of fuselage assemblies being
built within a manufacturing environment in accordance with an illustrative
embodiment;
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Figure 20 is an illustration of an isometric view of a portion of an
autonomous
vehicle in accordance with an illustrative embodiment;
Figure 21 is an illustration of an enlarged isometric view of a wheel system
without an omnidirectional wheel in accordance with an illustrative
embodiment;
Figure 22 is an illustration of a front view of a wheel system in accordance
with an illustrative embodiment;
Figure 23 is an illustration of a cross-sectional view of a wheel system
coupled to a base of a vehicle in accordance with an illustrative embodiment;
Figure 24 is an illustration of a process for installing a wheel arm assembly
for
a vehicle in the form of flowchart in accordance with an illustrative
embodiment;
Figure 25 is an illustration of a process for removing a wheel arm assembly
from a vehicle in the form of flowchart in accordance with an illustrative
embodiment;
Figure 26 is an illustration of a process for assembling and installing a
wheel
arm assembly for an autonomous vehicle in the form of flowchart in accordance
with
an illustrative embodiment;
Figure 27 is an illustration of an aircraft manufacturing and service method
in
the form of a block diagram in accordance with an illustrative embodiment; and
Figure 28 is an illustration of an aircraft in the form of a block diagram in
which an illustrative embodiment may be implemented.
DETAILED DESCRIPTION
The illustrative embodiments recognize and take into account different
considerations. For example, the illustrative embodiments recognize and take
into
account that it may be desirable to automate the process of building a
fuselage
assembly for an aircraft. Automating the process of building a fuselage
assembly for
an aircraft may improve build efficiency, improve build quality, and reduce
costs
associated with building the fuselage assembly. The illustrative embodiments
also
recognize and take into account that automating the process of building a
fuselage
assembly may improve the accuracy and precision with which assembly operations
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CA 02895739 2015-06-25
are performed, thereby ensuring improved compliance with outer mold line (OML)
requirements and inner mold line (IML) requirements for the fuselage assembly.
Further, the illustrative embodiments recognize and take into account that
automating the process used to build a fuselage assembly for an aircraft may
significantly reduce the amount of time needed for the build cycle. For
example,
without limitation, automating fastening operations may reduce and, in some
cases,
eliminate, the need for human operators to perform these fastening operations
as
well as other types of assembly operations.
Further, this type of automation of the process for building a fuselage
assembly for an aircraft may be less labor-intensive, time-consuming,
ergonomically
challenging, and expensive than performing this process primarily manually.
Reduced manual labor may have a desired benefit for the human laborer.
Additionally, automating the fuselage assembly process may allow fuselage
assemblies to be built in desired assembly facilities and factories at desired
assembly
rates and desired assembly costs.
The illustrative embodiments also recognize and take into account that it may
be desirable to use equipment that can be autonomously driven and operated to
automate the process of building a fuselage assembly. In particular, it may be
desirable to have an autonomous flexible manufacturing system comprised of
mobile
systems that may be autonomously driven across a factory floor, autonomously
positioned relative to the factory floor as needed for building the fuselage
assembly,
autonomously operated to build the fuselage assembly, and then autonomously
driven away when building of the fuselage assembly has been completed.
As used herein, performing any operation, action, or step autonomously may
mean performing that operation substantially without any human input. For
example,
without limitation, a platform that may be autonomously driven is a platform
that may
be driven substantially independently of any human input. In this manner, an
autonomously drivable platform may be a platform that is capable of driving or
being
driven substantially independently of human input.
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Thus, the illustrative embodiments provide a method, apparatus, and system
for building a fuselage assembly for an aircraft. In particular, the
illustrative
embodiments provide an autonomous flexible manufacturing system that automates
most, if not all, of the process of building a fuselage assembly. For example,
without
limitation, the autonomous flexible manufacturing system may automate the
process
of installing fasteners to join fuselage skin panels and a fuselage support
structure
together to build the fuselage assembly.
However, the illustrative embodiments recognize and take into account that
automating the process for building a fuselage assembly using an autonomous
flexible manufacturing system may present unique technical challenges that
require
unique technical solutions. For example, the illustrative embodiments
recognize and
take into account that it may be desirable to provide utilities to all of the
various
systems within the autonomous flexible manufacturing system. In particular, it
may
be desirable to provide these utilities in a manner that will not disrupt or
delay the
process of building the fuselage assembly or restrict the movement of various
mobile
systems within the autonomous flexible manufacturing system over a factory
floor.
For example, without limitation, it may be desirable to provide a set of
utilities,
such as power, communications, and air, to the autonomous flexible
manufacturing
system using an infrastructure that includes only a single direct connection
to each of
a set of utility sources providing the set of utilities. These direct
connections may be
above-ground, in-ground, or embedded. These direct connections may be
established using, for example, without limitation, a utility fixture. Thus,
the
infrastructure may include a utility fixture that provides a direct connection
to each of
the set of utility sources and an assembly area with a floor space
sufficiently large to
allow the various systems of an autonomous flexible manufacturing system to be
coupled to the utility fixture and each other in series. In this manner, the
set of
utilities may flow from the set of utility sources to the utility fixture and
then
downstream to the various systems of the autonomous flexible manufacturing
system
within the assembly area.
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Thus, the illustrative embodiments provide a distributed utility network that
may be used to provide utilities to the various systems of the autonomous
flexible
manufacturing system. The distributed utility network may provide these
utilities in a
manner that does not restrict or impede movement of the various mobile systems
of
the autonomous flexible manufacturing system. The different mobile systems of
the
autonomous flexible manufacturing system may be autonomously coupled to each
other to create this distributed utility network.
Referring now to the figures and, in particular, with reference to Figures 1-
6,
illustrations of a manufacturing environment are depicted in the form of block
diagrams in accordance with an illustrative embodiment. In particular, in
Figures 1-
6, a fuselage assembly, a flexible manufacturing system, the various systems
within
the flexible manufacturing system that may be used to build the fuselage
assembly,
and a distributed utility network are described.
Turning now to Figure 1, an illustration of a manufacturing environment is
depicted in the form of a block diagram in accordance with an illustrative
embodiment. In this illustrative example, manufacturing environment 100 may be
an
example of one environment in which at least a portion of fuselage 102 may be
manufactured for aircraft 104.
Manufacturing environment 100 may take a number of different forms. For
example, without limitation, manufacturing environment 100 may take the form
of a
factory, a manufacturing facility, an outdoor factory area, an enclosed
manufacturing
area, an offshore platform, or some other type of manufacturing environment
100
suitable for building at least a portion of fuselage 102.
Fuselage 102 may be built using manufacturing process 108. Flexible
manufacturing system 106 may be used to implement at least a portion of
manufacturing process 108. In one illustrative example, manufacturing process
108
may be substantially automated using flexible manufacturing system 106. In
other
illustrative examples, only one or more stages of manufacturing process 108
may be
substantially automated.
CA 02895739 2015-06-25
Flexible manufacturing system 106 may be configured to perform at least a
portion of manufacturing process 108 autonomously. In this manner, flexible
manufacturing system 106 may be referred to as autonomous flexible
manufacturing
system 112. In other illustrative examples, flexible manufacturing system 106
may
be referred to as an automated flexible manufacturing system.
As depicted, manufacturing process 108 may include assembly process 110
for building fuselage assembly 114. Flexible manufacturing system 106 may be
configured to perform at least a portion of assembly process 110 autonomously.
Fuselage assembly 114 may be fuselage 102 at any stage during
manufacturing process 108 prior to the completion of manufacturing process
108. In
some cases, fuselage assembly 114 may be used to refer to a partially
assembled
fuselage 102. Depending on the implementation, one or more other components
may need to be attached to fuselage assembly 114 to fully complete the
assembly of
fuselage 102. In other cases, fuselage assembly 114 may be used to refer to
the
fully assembled fuselage 102. Flexible manufacturing system 106 may build
fuselage assembly 114 up to the point needed to move fuselage assembly 114 to
a
next stage in the manufacturing process for building aircraft 104. In some
cases, at
least a portion of flexible manufacturing system 106 may be used at one or
more
later stages in the manufacturing process for building aircraft 104.
In one illustrative example, fuselage assembly 114 may be an assembly for
forming a particular section of fuselage 102. As one example, fuselage
assembly
114 may take the form of aft fuselage assembly 116 for forming an aft section
of
fuselage 102. In another example, fuselage assembly 114 may take the form of
forward fuselage assembly 117 for forming a forward section of fuselage 102.
In yet
another example, fuselage assembly 114 may take the form of middle fuselage
assembly 118 for forming a center section of fuselage 102 or some other middle
section of fuselage 102 between the aft and forward sections of fuselage 102.
As depicted, fuselage assembly 114 may include plurality of panels 120 and
support structure 121. Support structure 121 may be comprised of plurality of
members 122. Plurality of members 122 may be used to both support plurality of
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panels 120 and connect plurality of panels 120 to each other. Support
structure 121
may help provide strength, stiffness, and load support for fuselage assembly
114.
Plurality of members 122 may be associated with plurality of panels 120. As
used herein, when one component or structure is "associated" with another
component or structure, the association is a physical association in the
depicted
examples.
For example, a first component, such as one of plurality of members 122, may
be considered to be associated with a second component, such as one of
plurality of
panels 120, by being at least one of secured to the second component, bonded
to
the second component, mounted to the second component, attached to the
component, coupled to the component, welded to the second component, fastened
to
the second component, adhered to the second component, glued to the second
component, or connected to the second component in some other suitable manner.
The first component also may be connected to the second component using one or
more other components. For example, the first component may be connected to
the
second component using a third component. Further, the first component may be
considered to be associated with the second component by being formed as part
of
the second component, an extension of the second component, or both. In
another
example, the first component may be considered part of the second component by
being co-cured with the second component.
As used herein, the phrase at least one of, when used with a list of items,
means different combinations of one or more of the listed items may be used
and
only one of the items in the list may be needed. The item may be a particular
object,
thing, action, process, or category. In other words, at least one or means any
combination of items or number of items may be used from the list, but not all
of the
items in the list may be required.
For example, at least one of item A, item B, and item C" or at least one of
item A, item B, or item C" may mean item A; item A and item B; item B; item A,
item
B, and item C; or item B and item C. In some cases, at least one of item A,
item B,
and item C" may mean, for example, without limitation, two of item A, one of
item B,
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and ten of item C; four of item B and seven of item C; or some other suitable
combination.
In these illustrative examples, a member of plurality of members 122 may be
associated with at least one of plurality of panels 120 in a number of
different ways.
For example, without limitation, a member of plurality of members 122 may be
attached directly to a single panel, attached to two or more panels, attached
to
another member that is directly attached to at least one panel, attached to at
least
one member that is directly or indirectly attached to at least one panel, or
associated
with at least one of plurality of panels 120 in some other way.
In one illustrative example, substantially all or all of plurality of members
122
may be associated with plurality of panels 120 prior to the beginning of
assembly
process 110 for building fuselage assembly 114. For example, a corresponding
portion of plurality of members 122 may be associated with each panel of
plurality of
panels 120 prior to plurality of panels 120 being joined to each other through
assembly process 110.
In another illustrative example, only a first portion of plurality of members
122
may be associated with plurality of panels 120 prior to the beginning of
assembly
process 110. Assembly process 110 may include attaching a remaining portion of
plurality of members 122 to plurality of panels 120 for at least one of
providing
support to plurality of panels 120 or connecting plurality of panels 120
together. The
first portion of plurality of members 122 attached to plurality of panels 120
prior to
assembly process 110 and the remaining portion of plurality of members 122
attached to plurality of panels 120 during assembly process 110 may together
form
support structure 121.
In yet another illustrative example, all of plurality of members 122 may be
associated with plurality of panels 120 during assembly process 110. For
example,
each of plurality of panels 120 may be "naked" without any members attached to
or
otherwise associated with the panel prior to assembly process 110. During
assembly
process 110, plurality of members 122 may then be associated with plurality of
panels 120.
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In this manner, support structure 121 for fuselage assembly 114 may be built
up in a number of different ways. Fuselage assembly 114 comprising plurality
of
panels 120 and support structure 121 is described in greater detail in Figure
2 below.
Building fuselage assembly 114 may include joining plurality of panels 120
together. Joining plurality of panels 120 may be performed in a number of
different
ways. Depending on the implementation, joining plurality of panels 120
together may
include joining one or more of plurality of members 122 to one or more of
plurality of
panels 120 or to other members of plurality of members 122.
In particular, joining plurality of panels 120 may include joining at least
one
panel to at least one other panel, joining at least one member to at least one
other
member, or joining at least one member to at least one panel, or some
combination
thereof. As one illustrative example, joining a first panel and a second panel
together
may include at least one of the following: fastening the first panel directly
to the
second panel, joining a first member associated with the first panel to a
second
member associated with the second panel, joining a member associated with the
first
panel directly to the second panel, joining one member associated with both
the first
panel and the second panel to another member, joining a selected member to
both
the first panel and the second panel, or some other type of joining operation.
Assembly process 110 may include operations 124 that may be performed to
join plurality of panels 120 together to build fuselage assembly 114. In this
illustrative
example, flexible manufacturing system 106 may be used to perform at least a
portion of operations 124 autonomously.
Operations 124 may include, for example, but are not limited to, temporary
connection operations 125, drilling operations 126, fastener insertion
operations 128,
fastener installation operations 130, inspection operations 132, other types
of
assembly operations, or some combination thereof. Temporary connection
operations 125 may be performed to temporarily connect plurality of panels 120
together. For example, without limitation, temporary connection operations 125
may
include temporarily tacking plurality of panels 120 together using tack
fasteners.
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Drilling operations 126 may include drilling holes through one or more of
plurality of panels 120 and, in some cases, through one or more of plurality
of
members 122. Fastener insertion operations 128 may include inserting fasteners
into the holes drilled by drilling operations 126.
Fastener installation operations 130 may include fully installing each of the
fasteners that have been inserted into the holes. Fastener installation
operations 130
may include, for example, without limitation, riveting operations,
interference-fit
bolting operations, other types of fastener installation operations, or some
combination thereof. Inspection operations 132 may include inspecting the
fully
installed fasteners. Depending on the implementation, flexible manufacturing
system
106 may be used to perform any number of these different types of operations
124
substantially autonomously.
As depicted, flexible manufacturing system 106 may include plurality of mobile
systems 134, control system 136, and utility system 138. Each of plurality of
mobile
systems 134 may be a drivable mobile system. In some cases, each of plurality
of
mobile systems 134 may be an autonomously drivable mobile system. For example,
without limitation, each of plurality of mobile systems 134 may include one or
more
components that may be autonomously driven within manufacturing environment
100
from one location to another location. Plurality of mobile systems 134 are
described
in greater detail in Figure 3 below.
In this illustrative example, control system 136 may be used to control the
operation of flexible manufacturing system 106. For example, without
limitation,
control system 136 may be used to control plurality of mobile systems 134. In
particular, control system 136 may be used to direct the movement of each of
plurality of mobile systems 134 within manufacturing environment 100. Control
system 136 may be at least partially associated with plurality of mobile
systems 134.
In one illustrative example, control system 136 may include set of controllers
140. As used herein, a "set or items may include one or more items. In this
manner,
set of controllers 140 may include one or more controllers.
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Each of set of controllers 140 may be implemented using hardware, firmware,
software, or some combination thereof. In one illustrative example, set of
controllers
140 may be associated with plurality of mobile systems 134. For example,
without
limitation, one or more of set of controllers 140 may be implemented as part
of
plurality of mobile systems 134. In other examples, one or more of set of
controllers
140 may be implemented independently of plurality of mobile systems 134.
Set of controllers 140 may generate commands 142 to control the operation of
plurality of mobile systems 134 of flexible manufacturing system 106. Set of
controllers 140 may communicate with plurality of mobile systems 134 using at
least
one of a wireless communications link, a wired communications link, an optical
communications link, or other type of communications link. In this manner, any
number of different types of communications links may be used for
communication
with and between set of controllers 140.
In these illustrative examples, control system 136 may control the operation
of
plurality of mobile systems 134 using data 141 received from sensor system
133.
Sensor system 133 may be comprised of any number of individual sensor systems,
sensor devices, controllers, other types of components, or combination
thereof. In
one illustrative example, sensor system 133 may include laser tracking system
135
and radar system 137. Laser tracking system 135 may be comprised of any number
of laser tracking devices, laser targets, or combination thereof. Radar system
137
may be comprised of any number of radar sensors, radar targets, or combination
thereof.
Sensor system 133 may be used to coordinate the movement and operation of
the various mobile systems in plurality of mobile systems 134 within
manufacturing
environment 100. As one illustrative example, radar system 137 may be used for
macro-positioning mobile systems, systems within mobile systems, components
within mobile systems, or some combination thereof. Further, laser tracking
system
135 may be used for micro-positioning mobile systems, systems within mobile
systems, components within mobile systems, or some combination thereof.
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Plurality of mobile systems 134 may be used to form distributed utility
network
144. Depending on the implementation, one or more of plurality of mobile
systems
134 may form distributed utility network 144. Number of utilities 146 may flow
from
number of utility sources 148 to the various mobile systems of plurality of
mobile
systems 134 that make up distributed utility network 144.
In this illustrative example, each of number of utility sources 148 may be
located with manufacturing environment 100. In other illustrative examples,
one or
more of number of utility sources 148 may be located outside of manufacturing
environment 100. The corresponding utility provided by these one or more
utility
sources may then be carried into manufacturing environment 100 using, for
example,
without limitation, one or more utility cables.
In one illustrative example, distributed utility network 144 may allow number
of
utilities 146 to flow directly from number of utility sources 148 to one
mobile system in
plurality of mobile systems 134 over some number of utility cables. This one
mobile
system may then distribute number of utilities 146 to other mobile systems of
plurality
of mobile systems 134 such that these other mobile systems do not need to
directly
receive number of utilities 146 from number of utility sources 148.
As depicted, distributed utility network 144 may be formed using utility
system
138. Utility system 138 may include utility fixture 150. Utility system 138
may be
configured to connect to number of utility sources 148 such that number of
utilities
146 may flow from number of utility sources 148 to utility fixture 150.
Utility fixture
150 may be above-ground or in-ground, depending on the implementation. For
example, without limitation, utility fixture 150 may be embedded in a floor
within
manufacturing environment 100.
Utility fixture 150 may then distribute number of utilities 146 to one or more
of
plurality of mobile systems 134. In particular, one autonomous coupling of one
of
plurality of mobile systems 134 to utility fixture 150 may be followed by any
number
of autonomous couplings of mobile systems to each other in series to form
distributed utility network 144. Utility fixture 150 may distribute number of
utilities 146
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to each of plurality of mobile systems 134 downstream of utility fixture 150
in the
series of autonomous couplings of the mobile systems.
Depending on the implementation, distributed utility network 144 may have a
chain-like configuration or a tree-like configuration. In one illustrative
example,
plurality of mobile systems 134 may include mobile systems A, B, C, and D (not
shown in figure) with mobile system A autonomously coupled to utility fixture
150 and
mobile systems B, C, and D autonomously coupled to mobile system A and each
other in series. An example of a chain-like configuration for distributed
utility network
144 may include number of utilities 146 flowing from number of utility sources
148
over some number of utility cables to utility fixture 150, from utility
fixture 150 to
mobile system A, from mobile system A to mobile system B, from mobile system B
to
mobile system C, and from mobile system C to mobile system D. An example of a
tree-like configuration for distributed utility network 144 may include number
of
utilities 146 flowing from number of utility sources 148 over some number of
utility
cables to utility fixture 150, from utility fixture 150 to mobile system A,
from mobile
system A to both mobile system B and mobile system C, and from mobile system C
to mobile system D. An example of one manner in which distributed utility
network
144 may be implemented using plurality of mobile systems 134 is described in
greater detail in Figure 5 below.
In some illustrative examples, multiple flexible manufacturing systems may be
used to build multiple fuselage assemblies concurrently. For example, flexible
manufacturing system 106 may be a first flexible manufacturing system of many
flexible manufacturing systems.
In one illustrative example, flexible manufacturing system 106, second
flexible
manufacturing system 152, and third flexible manufacturing system 154 may be
used
to build aft fuselage assembly 116, middle fuselage assembly 118, and forward
fuselage assembly 117, respectively. Aft fuselage assembly 116, middle
fuselage
assembly 118, and forward fuselage assembly 117 may then be joined together to
form a fully assembled fuselage 102. In this manner, in this example, flexible
manufacturing system 106, second flexible manufacturing system 152, and third
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flexible manufacturing system 154 may together form flexible fuselage
manufacturing
system 158.
Thus, any number of fuselage assemblies, such as fuselage assembly 114,
may be built within manufacturing environment 100 using any number of flexible
manufacturing systems implemented in a manner similar to flexible
manufacturing
system 106. Similarly, any number of full fuselages, such as fuselage 102, may
be
built within manufacturing environment 100 using any number of flexible
fuselage
manufacturing systems implemented in a manner similar to flexible fuselage
manufacturing system 158.
With reference now to Figure 2, an illustration of fuselage assembly 114 from
Figure 1 is depicted in the form of a block diagram in accordance with an
illustrative
embodiment. As described above, fuselage assembly 114 may include plurality of
panels 120 and support structure 121. Fuselage assembly 114 may be used to
refer
to any stage in the building of fuselage assembly 114. For example, fuselage
assembly 114 may be used to refer to a single one of plurality of panels 120,
multiple
ones of plurality of panels 120 that have been or are being joined together, a
partially
built fuselage assembly, or a fully built fuselage assembly.
As depicted, fuselage assembly 114 may be built such that fuselage assembly
114 has plurality of fuselage sections 205. Each of plurality of fuselage
sections 205
may include one or more of plurality of panels 120. In this illustrative
example, each
of plurality of fuselage sections 205 may take the form of a cylindrically-
shaped
fuselage section, a barrel-shaped fuselage section, a tapered cylindrical
fuselage
section, a cone-shaped fuselage section, a dome-shaped fuselage section, or a
section having some other type of shape. Depending on the implementation, a
fuselage section of plurality of fuselage sections 205 may have a shape that
has a
substantially circular cross-sectional shape, elliptical cross-sectional
shape, oval
cross-sectional shape, polygon with rounded corners cross-sectional shape, or
otherwise closed-curve cross-sectional shape.
As one specific illustrative example, each of plurality of fuselage sections
205
may be a portion of fuselage assembly 114 defined between two radial cross-
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sections of fuselage assembly 114 that are taken substantially perpendicular
to a
center axis or longitudinal axis through fuselage assembly 114. In this
manner,
plurality of fuselage sections 205 may be arranged along the longitudinal axis
of
fuselage assembly 114. In other words, plurality of fuselage sections 205 may
be
arranged longitudinally.
Fuselage section 207 may be an example of one of plurality of fuselage
sections 205. Fuselage section 207 may be comprised of one or more of
plurality of
panels 120. In one illustrative example, multiple panel sections may be
arranged
circumferentially around fuselage section 207 to form the skin of fuselage
section
207. In some cases, multiple rows of two or more longitudinally adjacent
panels may
be arranged circumferentially around fuselage section 207 to form the skin of
fuselage section 207.
In one illustrative example, fuselage assembly 114 may have crown 200, keel
202, and sides 204. Sides 204 may include first side 206 and second side 208.
Crown 200 may be the top portion of fuselage assembly 114. Keel 202 may
be the bottom portion of fuselage assembly 114. Sides 204 of fuselage assembly
114 may be the portions of fuselage assembly 114 between crown 200 and keel
202.
In one illustrative example, each of crown 200, keel 202, first side 206, and
second
side 208 of fuselage assembly 114 may be formed by at least a portion of at
least
one of plurality of panels 120. Further, a portion of each of plurality of
fuselage
sections 205 may form each of crown 200, keel 202, first side 206, and second
side
208.
Panel 216 may be an example of one of plurality of panels 120. Panel 216
may also be referred to as a skin panel, a fuselage panel, or a fuselage skin
panel,
depending on the implementation. In some illustrative examples, panel 216 may
take
the form of a mega-panel comprised of multiple smaller panels, which may be
referred to as sub-panels. A mega-panel may also be referred to as a super
panel.
In these illustrative examples, panel 216 may be comprised of at least one of
a metal,
a metal alloy, some other type of metallic material, a composite material, or
some
other type of material. As one illustrative example, panel 216 may be
comprised of
CA 02895739 2015-06-25
an aluminum alloy, steel, titanium, a ceramic material, a composite material,
some
other type of material, or some combination thereof.
When used to form keel 202 of fuselage assembly 114, panel 216 may be
referred to as a keel panel or a bottom panel. When used to form one of sides
204 of
fuselage assembly 114, panel 216 may be referred to as a side panel. When used
to
form crown 200 of fuselage assembly 114, panel 216 may be referred to as a
crown
panel or a top panel. As one illustrative example, plurality of panels 120 may
include
crown panels 218 for forming crown 200, side panels 220 for forming sides 204,
and
keel panels 222 for forming keel 202. Side panels 220 may include first side
panels
224 for forming first side 206 and second side panels 226 for forming second
side
208.
In one illustrative example, fuselage section 207 of plurality of fuselage
sections 205 of fuselage assembly 114 may include one of crown panels 218, two
of
side panels 220, and one of keel panels 222. In another illustrative example,
fuselage section 207 may form an end of fuselage assembly 114.
In some cases, fuselage section 207 may be comprised solely of a single
panel, such as panel 216. For example, without limitation, panel 216 may take
the
form of end panel 228.
End panel 228 may be used to form one end of fuselage assembly 114. For
example, when fuselage assembly 114 takes the form of aft fuselage assembly
116
in Figure 1, end panel 228 may form the aftmost end of fuselage assembly 114.
When fuselage assembly 114 takes the form of forward fuselage assembly 117 in
Figure 1, end panel 228 may form the forwardmost end of fuselage assembly 114.
In one illustrative example, end panel 228 may take the form of a
cylindrically-
shaped panel, a cone-shaped panel, a barrel-shaped panel, or a tapered
cylindrical
panel. For example, end panel 228 may be a single cylindrically-shaped panel
having a substantially circular cross-sectional shape that may change in
diameter
with respect to a center axis for fuselage assembly 114.
In this manner, as described above, fuselage section 207 may be comprised
solely of end panel 228. In some illustrative examples, fuselage section 207
may be
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an end fuselage section that is comprised of only a single panel, which may be
end
panel 228. In some cases, bulkhead 272 may be associated with end panel 228
when fuselage section 207 is an end fuselage section. Bulkhead 272, which may
also be referred to as a pressure bulkhead, may be considered separate from or
part
of end panel 228, depending on the implementation. Bulkhead 272 may have a
dome-type shape in these illustrative examples.
When fuselage assembly 114 takes the form of aft fuselage assembly 116 in
Figure 1, bulkhead 272 may be part of fuselage section 207 located at the
aftmost
end of aft fuselage assembly 116. When fuselage assembly 114 takes the form of
forward fuselage assembly 117 in Figure 1, bulkhead 272 may be part of
fuselage
section 207 located at forwardmost end of aft fuselage assembly 116. Middle
fuselage assembly 118 in Figure 1 may not include a bulkhead, such as bulkhead
272, at either end of middle fuselage assembly 118. In this manner, plurality
of
fuselage sections 205 may be implemented in any number of different ways.
Panel 216 may have first surface 230 and second surface 232. First surface
230 may be configured for use as an exterior-facing surface. In other words,
first
surface 230 may be used to form exterior 234 of fuselage assembly 114. Second
surface 232 may be configured for use as an interior-facing surface. In other
words,
second surface 232 may be used to form interior 236 of fuselage assembly 114.
Each of plurality of panels 120 may be implemented in a manner similar to
panel 216.
As described earlier, support structure 121 may be associated with a
corresponding one of plurality of panels 120. Support structure 121 may be
comprised of plurality of members 122 that are associated with panel 216. In
one
illustrative example, corresponding portion 240 may be the portion of
plurality of
members 122 that correspond to panel 216. Corresponding portion 240 may form
support section 238 corresponding to panel 216. Support section 238 may form a
part of support structure 121.
Plurality of members 122 may include support members 242. Support
members 242 may include, for example, without limitation, at least one of
connecting
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members 244, frames 246, stringers 248, stiffeners 250, stanchions 252,
intercostal
structural members 254, or other types of structural members.
Connecting members 244 may connect other types of support members 242
together. In some cases, connecting members 244 may also connect support
members 242 to plurality of panels 120. Connecting members 244 may include,
for
example, without limitation, shear clips 256, ties 258, splices 260,
intercostal
connecting members 262, other types of mechanical connecting members, or some
combination thereof.
In one illustrative example, when panel 216 is comprised of multiple sub-
panels, connecting members 244 may be used to, for example, without
limitation,
connect together complementary frames of frames 246 running in the hoop-wise
direction on adjacent sub-panels and complementary stringers of stringers 248
running in the longitudinal direction on adjacent sub-panels. In other
illustrative
examples, connecting members 244 may be used to connect together
complementary frames, stringers, or other types of support members on two or
more
adjacent panels in plurality of panels 120. In some cases, connecting members
244
may be used to connect together complementary support members on two or more
adjacent fuselage sections.
Operations 124, as described in Figure 1, may be performed to join plurality
of
panels 120 together to build fuselage assembly 114. In one illustrative
example,
plurality of fasteners 264 may be used to join plurality of panels 120
together.
As described above, joining plurality of panels 120 together may be performed
in a number of different ways. Joining plurality of panels 120 together may
include at
least one of joining at least one panel in plurality of panels 120 to another
one of
plurality of panels 120, joining at least one panel in plurality of panels 120
to at least
one of plurality of members 122, joining at least one member in plurality of
members
122 to another one of plurality of members 122, or some other type of joining
operation. Plurality of panels 120 may be joined together such that plurality
of
members 122 ultimately form support structure 121 for fuselage assembly 114.
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As depicted, number of floors 266 may be associated with fuselage assembly
114. In this illustrative example, number of floors 266 may be part of
fuselage
assembly 114. Number of floors 266 may include, for example, without
limitation, at
least one of a passenger floor, a cargo floor, or some other type of floor.
With reference now to Figure 3, an illustration of plurality of mobile systems
134 of flexible manufacturing system 106 within manufacturing environment 100
from
Figure 1 is depicted in the form of a block diagram in accordance with an
illustrative
embodiment. As depicted, flexible manufacturing system 106 may be used to
build
fuselage assembly 114 on floor 300 of manufacturing environment 100. When
manufacturing environment 100 takes the form of a factory, floor 300 may be
referred
to as factory floor 302.
In one illustrative example, floor 300 may be substantially smooth and
substantially planar. For example, floor 300 may be substantially level. In
other
illustrative examples, one or more portions of floor 300 may be sloped,
ramped, or
otherwise uneven.
Assembly area 304 may be an area within manufacturing environment 100
designated for performing assembly process 110 in Figure 1 to build a fuselage
assembly, such as fuselage assembly 114. Assembly area 304 may also be
referred
to as a cell or a work cell. In this illustrative example, assembly area 304
may be a
designated area on floor 300. However, in other illustrative examples,
assembly area
304 may include a designated area on floor 300 as well as the area above this
designated area. Any number of assembly areas may be present within
manufacturing environment 100 such that any number of fuselage assemblies may
be built concurrently within manufacturing environment 100.
As depicted, plurality of mobile systems 134 may include plurality of
autonomous vehicles 306, cradle system 308, tower system 310, and autonomous
tooling system 312. Each of plurality of mobile systems 134 may be drivable
across
floor 300. In other words, each of plurality of mobile systems 134 may be
capable of
being autonomously driven across floor 300 from one location 315 to another
location
317 on floor 300.
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CA 02895739 2015-06-25
In one illustrative example, each of plurality of autonomous vehicles 306 may
take the form of an automated guided vehicle (AGV), which may be capable of
operating independently without human direction or guidance. In some cases,
plurality of autonomous vehicles 306 may be referred to as a plurality of
automated
guided vehicles (AGVs).
In this illustrative example, cradle system 308 may be used to support and
hold fuselage assembly 114 during assembly process 110 in Figure 1. In some
cases, cradle system 308 may be referred to as a drivable cradle system. In
still
other cases, cradle system 308 may be referred to as an autonomously drivable
cradle system.
Cradle system 308 may include number of fixtures 313. As used herein, a
"number of items may include one or more items. In this manner, number of
fixtures
313 may include one or more fixtures. In some illustrative examples, number of
fixtures 313 may be referred to as a number of drivable fixtures. In other
illustrative
examples, number of fixtures 313 may be referred to as a number of
autonomously
drivable fixtures.
Number of fixtures 313 may include number of cradle fixtures 314. In some
illustrative examples, number of cradle fixtures 314 may be referred to as a
number
of drivable cradle fixtures. In other illustrative examples, number of cradle
fixtures
314 may be referred to as a number of autonomously drivable cradle fixtures.
Cradle
fixture 322 may be an example of one of number of cradle fixtures 314.
Number of retaining structures 326 may be associated with each of number of
cradle fixtures 314. Number of retaining structures 326 associated with each
of
number of cradle fixtures 314 may be engaged with and used to support fuselage
assembly 114. For example, number of retaining structures 326 associated with
cradle fixture 322 may be engaged with and used to support one or more of
plurality
of panels 120.
Number of cradle fixtures 314 may be autonomously driven across floor 300 of
manufacturing environment 100 to assembly area 304. In one illustrative
example,
each of number of cradle fixtures 314 may be autonomously driven across floor
300
CA 02895739 2015-06-25
using a corresponding one of plurality of autonomous vehicles 306. In other
words,
without limitation, number of corresponding autonomous vehicles 316 in
plurality of
autonomous vehicles 306 may be used to drive number of cradle fixtures 314
across
floor 300 into assembly area 304.
In this illustrative example, number of corresponding autonomous vehicles 316
may drive from, for example, without limitation, holding area 318, across
floor 300, to
assembly area 304. Holding area 318 may be an area in which at least one of
plurality of autonomous vehicles 306, cradle system 308, tower system 310,
autonomous tooling system 312, or control system 136 from Figure 1 may be held
when flexible manufacturing system 106 is not in use or when that particular
device
or system is not in use.
Holding area 318 may be referred to as a home area, a storage area, or a
base area, depending on the implementation. Although holding area 318 is
depicted
as being located within manufacturing environment 100, holding area 318 may be
located in some other area or environment outside of manufacturing environment
100
in other illustrative examples.
Number of corresponding autonomous vehicles 316 in plurality of autonomous
vehicles 306 may drive number of cradle fixtures 314 into number of selected
cradle
positions 320. As used herein, a "position" may be comprised of a location, an
orientation, or both. The location may be in two-dimensional coordinates or
three-
dimensional coordinates with respect to a reference coordinate system. The
orientation may be a two-dimensional or three-dimensional orientation with
respect to
a reference coordinate system. This reference coordinate system may be, for
example, without limitation, a fuselage coordinate system, an aircraft
coordinate
system, a coordinate system for manufacturing environment 100, or some other
type
of coordinate system.
When number of cradle fixtures 314 includes more than one cradle fixture
such that number of selected cradle positions 320 includes more than one
cradle
position, these cradle positions may be positions selected relative to each
other. In
this manner, number of cradle fixtures 314 may be positioned such that number
of
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cradle fixtures 314 are in number of selected cradle positions 320 relative to
each
other.
In these illustrative examples, number of corresponding autonomous vehicles
316 may be used to drive number of cradle fixtures 314 into number of selected
cradle positions 320 within assembly area 304. "Driving" a component or a
system
across floor 300 may mean, for example, but not limited to, moving
substantially the
entirety of that component or system from one location to another location.
For
example, without limitation, driving cradle fixture 322 across floor 300 may
mean
moving the entirety of cradle fixture 322 from one location to another
location. In
other words, all or substantially all components that comprise cradle fixture
322 may
be simultaneously moved together from one location to another location.
Once number of cradle fixtures 314 has been driven into number of selected
cradle positions 320 in assembly area 304, number of cradle fixtures 314 may
be
coupled to each other and to tower system 310. Number of corresponding
autonomous vehicles 316 may then drive away from number of cradle fixtures 314
to,
for example, without limitation, holding area 318, once number of cradle
fixtures 314
is positioned in number of selected cradle positions 320 within selected
tolerances.
In other illustrative examples, number of corresponding autonomous vehicles
316
may be comprised of a single autonomous vehicle that is used to drive each of
number of cradle fixtures 314 into a corresponding selected position in number
of
selected cradle positions 320 within assembly area 304 one at a time.
In assembly area 304, number of cradle fixtures 314 may be configured to
form assembly fixture 324. Assembly fixture 324 may be formed when the
different
cradle fixtures in number of cradle fixtures 314 have been placed in number of
selected cradle positions 320 relative to each other. In some cases, assembly
fixture
324 may be formed when number of cradle fixtures 314 have been coupled to each
other while number of cradle fixtures 314 is in number of selected cradle
positions
320 and when number of retaining structures 326 associated with each of number
of
cradle fixtures 314 has been adjusted to receive fuselage assembly 114.
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In this manner, number of cradle fixtures 314 may form a single fixture
entity,
such as assembly fixture 324. Assembly fixture 324 may be used to support and
hold fuselage assembly 114. In some cases, assembly fixture 324 may be
referred
to as an assembly fixture system or a fixture system. In some cases, assembly
fixture 324 may be referred to as a drivable assembly fixture. In other cases,
assembly fixture 324 may be referred to as an autonomously drivable assembly
fixture.
Once assembly fixture 324 has been formed, number of cradle fixtures 314
may receive fuselage assembly 114. In other words, plurality of fuselage
sections
205 may be engaged with number of cradle fixtures 314. In particular,
plurality of
fuselage sections 205 may be engaged with number of retaining structures 326
associated with each of number of cradle fixtures 314. Plurality of fuselage
sections
205 may be engaged with number of cradle fixtures 314 in any number of ways.
When number of cradle fixtures 314 includes a single cradle fixture, that
cradle
fixture may be used to support and hold substantially the entire fuselage
assembly
114. When number of cradle fixtures 314 includes multiple cradle fixtures,
each of
these cradle fixtures may be used to support and hold at least one
corresponding
fuselage section of plurality of fuselage sections 205.
In one illustrative example, each of plurality of fuselage sections 205 may be
engaged with number of cradle fixtures 314 one at a time. For example, without
limitation, all of the panels for a particular fuselage section in plurality
of fuselage
sections 205 may be positioned relative to each other and a corresponding
cradle
fixture in number of cradle fixtures 314 and then engaged with the
corresponding
cradle fixture. The remaining fuselage sections in plurality of fuselage
sections 205
may then be formed and engaged with number of cradle fixtures 314 in a similar
manner. In this manner, plurality of panels 120 may be engaged with number of
cradle fixtures 314 by engaging at least a portion of plurality of panels 120
with
number of retaining structures 326 associated with each of number of cradle
fixtures
314 that makes up assembly fixture 324 such that plurality of panels 120 is
supported
by number of cradle fixtures 314.
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As described in Figure 2, plurality of panels 120 may include keel panels 222,
side panels 220, and crown panels 218. In one illustrative example, all of
keel panels
222 in Figure 2 used to form keel 202 of fuselage assembly 114 in Figure 2 may
first
be positioned relative to and engaged with number of cradle fixtures 314.
Next, all of
side panels 220 in Figure 2 used to form sides 204 of fuselage assembly 114 in
Figure 2 may be positioned relative to and engaged with keel panels 222. Then,
all
of crown panels 218 in Figure 2 used to form crown 200 of fuselage assembly
114 in
Figure 2 may be positioned relative to and engaged with side panels 220. In
this
manner, plurality of fuselage sections 205 may be concurrently assembled to
form
fuselage assembly 114.
In one illustrative example, each panel in plurality of panels 120 may have a
corresponding portion of plurality of members 122 fully formed and associated
with
the panel prior to the panel being engaged with one of number of cradle
fixtures 314.
This corresponding portion of plurality of members 122 may be referred to as a
support section. For example, support section 238 in Figure 2 may be fully
formed
and associated with panel 216 in Figure 2 prior to panel 216 being engaged
with one
of number of cradle fixtures 314 or another panel of plurality of panels 120
in Figure
2. In other words, a corresponding portion of support members 242 in Figure 2
may
already be attached to panel 216 and a corresponding portion of connecting
members 244 in Figure 2 already installed to connect this portion of support
members 242 to each other prior to panel 216 from Figure 2 being engaged with
one
of number of cradle fixtures 314.
In other illustrative examples, plurality of members 122 may be associated
with plurality of panels 120 after plurality of panels 120 have been engaged
with each
other and number of cradle fixtures 314. In still other illustrative examples,
only a
portion of plurality of members 122 may be associated with plurality of panels
120
prior to plurality of panels 120 being engaged with each other and number of
cradle
fixtures 314 and then a remaining portion of plurality of members 122
associated with
plurality of panels 120 once plurality of panels 120 have been engaged with
each
other and number of cradle fixtures 314.
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In some illustrative examples, one or more of support members 242 in Figure
2, one or more of connecting members 244 in Figure 2, or both may not be
associated with panel 216 when panel 216 from Figure 2 is engaged with one of
number of cradle fixtures 314 or with one of the other panels in plurality of
panels
120. For example, without limitation, frames 246 described in Figure 2 may be
added to panel 216 from Figure 2 after panel 216 has been engaged with cradle
fixture 322. In another example, stiffeners 250 described in Figure 2 may be
added
to panel 216 from Figure 2 after panel 216 has been engaged with cradle
fixture 322.
Building fuselage assembly 114 may include engaging plurality of panels 120
with each other as plurality of panels 120 are built up on number of cradle
fixtures
314 of assembly fixture 324. For example, adjacent panels in plurality of
panels 120
may be connected by connecting at least a portion of the support members
associated with the panels. Depending on the implementation, at least one of
lap
splices, butt splices, or other types of splices may be used to connect the
adjacent
panels in addition to or in place of connecting the corresponding support
members of
the adjacent panels.
As one illustrative example, the support members associated with two
adjacent panels in plurality of panels 120 may be connected together using
connecting members, thereby connecting the two adjacent panels. The two
support
members associated with these two adjacent panels may be, for example, without
limitation, spliced, tied, clipped, tacked, pinned, joined, or fastened
together in some
other manner. When the two adjacent panels are hoop-wise adjacent,
complementary frames may be connected in the hoop-wise direction. When the two
adjacent panels are longitudinally adjacent, complementary stringers may be
connected in the longitudinal direction.
In some cases, connecting complementary stringers, frames, or other support
members on these two adjacent panels may be part of splicing these panels
together. Adjacent panels may be connected together using any number of panel
splices, stringer splices, frame splices, or other types of splices.
CA 02895739 2015-06-25
In one illustrative example, plurality of panels 120 may be temporarily
connected to each other by temporarily fastening at least one of plurality of
panels
120 or plurality of members 122 together using temporary fasteners or
permanent
fasteners. For example, without limitation, temporary clamps may be used to
temporarily connect and hold in place two of plurality of panels 120 together.
Temporarily connecting plurality of panels 120 together may be performed by at
least
one of temporarily connecting at least two plurality of panels 120 together,
temporarily connecting at least two plurality of members 122 together, or
temporarily
connecting at least one of plurality of panels 120 to at least one of
plurality of
members 122 such that plurality of members 122 associated with plurality of
panels
120 forms support structure 121 in Figure 2 for fuselage assembly 114.
As one illustrative example, plurality of panels 120 may be temporarily tacked
or pinned together using temporary fasteners 328 until plurality of fasteners
264 are
installed to join plurality of panels 120 together to form fuselage assembly
114.
Temporarily connecting plurality of panels 120 may temporarily connect
together
plurality of fuselage sections 205 from Figure 2 formed by plurality of panels
120.
Once plurality of fasteners 264 have been installed, temporary fasteners 328
may
then be removed.
In this manner, plurality of panels 120 may be connected together in a number
of different ways. Once plurality of panels 120 have been connected together,
plurality of members 122 may be considered as forming support structure 121
for
fuselage assembly 114. Connecting plurality of panels 120 together and forming
support structure 121 may maintain desired compliance with outer mold line
requirements and inner mold line requirements for fuselage assembly 114. In
other
words, plurality of panels 120 may be held together in place relative to each
other
such that fuselage assembly 114 formed using plurality of panels 120 meets
outer
mold line requirements and inner mold line requirements for fuselage assembly
114
within selected tolerances.
In particular, assembly fixture 324 may support plurality of panels 120 and
support structure 121 associated with plurality of panels 120 such that
fuselage
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CA 02895739 2015-06-25
assembly 114 built using plurality of panels 120 and support structure 121 has
a
shape and a configuration that is within selected tolerances. In this manner,
this
shape and configuration may be maintained within selected tolerances while
supporting plurality of panels 120 and plurality of members 122 associated
with
plurality of panels 120 during the building of fuselage assembly 114. This
shape may
be at least partially determined by, for example, without limitation, the
outer mold line
requirements and inner mold line requirements for fuselage assembly 114. In
some
cases, the shape may be at least partially determined by the location and
orientation
of the frames and stringers of fuselage assembly 114.
In some cases, when the assembly of plurality of panels 120 and support
structure 121 that comprise fuselage assembly 114 has reached a desired point,
number of corresponding autonomous vehicles 316 may drive assembly fixture 324
out of assembly area 304. For example, fuselage assembly 114 may be driven
across floor 300 into a different area within manufacturing environment 100,
from
floor 300 onto another floor in a different manufacturing environment, or from
floor
300 onto another floor in some other area or environment.
In one illustrative example, assembly fixture 324 may be driven to some other
location at which another assembly fixture is located such that the two
assembly
fixtures may be coupled to form a larger assembly fixture. As one illustrative
example, assembly fixture 324 may be used to hold and support aft fuselage
assembly 116 in Figure 1, while another assembly fixture implemented in a
manner
similar to assembly fixture 324 may be used to hold and support forward
fuselage
assembly 117 in Figure 1. Yet another assembly fixture implemented in a manner
similar to assembly fixture 324 may be used to hold and support middle
fuselage
assembly 118 in Figure 1.
Once these three fuselage assemblies have been built, the three assembly
fixtures may be brought together to form a larger assembly fixture for holding
aft
fuselage assembly 116, middle fuselage assembly 118, and forward fuselage
assembly 117 such that these three fuselage assemblies may be joined to form
fuselage 102 described in Figure 1. In particular, this larger assembly
fixture may
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CA 02895739 2015-06-25
hold aft fuselage assembly 116, middle fuselage assembly 118, and forward
fuselage
assembly 117 in alignment with each other such that fuselage 102 may be built
within
selected tolerances.
In another illustrative example, a first assembly fixture and a second
assembly
fixture implemented in a manner similar to assembly fixture 324 may be used to
hold
and support aft fuselage assembly 116 and forward fuselage assembly 117,
respectively, from Figure 1. Once these two fuselage assemblies have been
built,
the two assembly fixtures may then be brought together to form a larger
assembly
fixture for holding the two fuselage assemblies such that these fuselage
assemblies
may be joined to form fuselage 102. The larger assembly fixture may hold aft
fuselage assembly 116 and forward fuselage assembly 117 in alignment with each
other such that fuselage 102 may be built within selected tolerances.
As depicted, tower system 310 includes number of towers 330. Tower 332
may be an example of one implementation for one of number of towers 330. Tower
332 may be configured to provide access to interior 236 of fuselage assembly
114
described in Figure 2. In some illustrative examples, tower 332 may be
referred to
as a drivable tower. In other illustrative examples, tower 332 may be referred
to as
an autonomously drivable tower.
In one illustrative example, tower 332 may take the form of first tower 334.
First tower 334 may also be referred to as an operator tower in some cases. In
another illustrative example, tower 332 may take the form of second tower 336.
Second tower 336 may also be referred to as a robotics tower in some cases. In
this
manner, number of towers 330 may include both first tower 334 and second tower
336.
First tower 334 may be configured substantially for use by a human operator,
whereas second tower 336 may be configured substantially for use by a mobile
platform having at least one robotic device associated with the mobile
platform. In
other words, first tower 334 may allow a human operator to access and enter
interior
236 of fuselage assembly 114. Second tower 336 may allow a mobile platform to
access and enter interior 236 of fuselage assembly 114.
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CA 02895739 2015-06-25
First tower 334 and second tower 336 may be positioned relative to assembly
fixture 324 at different times during assembly process 110. As one
illustrative
example, one of plurality of autonomous vehicles 306 may be used to move or
autonomously drive first tower 334 from holding area 318 into selected tower
position
338 within assembly area 304. Number of cradle fixtures 314 may then be
autonomously driven, using number of corresponding autonomous vehicles 316,
into
number of selected cradle positions 320 relative to first tower 334, which is
in
selected tower position 338 within assembly area 304.
Second tower 336 may be exchanged for first tower 334 at some later stage
during assembly process 110 in Figure 1. For example, one of plurality of
autonomous vehicles 306 may be used to autonomously drive first tower 334 out
of
assembly area 304 and back into holding area 318. The same autonomous vehicle
or a different autonomous vehicle in plurality of autonomous vehicles 306 may
then
be used to autonomously drive second tower 336 from holding area 318 into
selected
tower position 338 within assembly area 304 that was previously occupied by
first
tower 334. Depending on the implementation, first tower 334 may be later
exchanged for second tower 336.
In other illustrative examples, first tower 334 and second tower 336 may each
have an autonomous vehicle in plurality of autonomous vehicles 306 fixedly
associated with the tower. In other words, one of plurality of autonomous
vehicles
306 may be integrated with first tower 334 and one of plurality of autonomous
vehicles 306 may be integrated with second tower 336. For example, one of
plurality
of autonomous vehicles 306 may be considered part of or built into first tower
334.
First tower 334 may then be considered capable of autonomously driving across
floor
300. In a similar manner, one of plurality of autonomous vehicles 306 may be
considered part of or built into second tower 336. Second tower 336 may then
be
considered capable of autonomously driving across floor 300.
Tower system 310 and assembly fixture 324 may be configured to form
interface 340 with each other. Interface 340 may be a physical interface
between
tower system 310 and assembly fixture 324. Tower system 310 may also be
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CA 02895739 2015-06-25
configured to form interface 342 with utility system 138. In one illustrative
example,
interface 340 and interface 342 may be autonomously formed.
Interface 342 may be a physical interface between tower system 310 and
utility system 138. In these illustrative examples, in addition to being
physical
interfaces, interface 340 and interface 342 may also be utility interfaces.
For
example, with respect to the utility of power, interface 340 and interface 342
may be
considered electrical interfaces.
Utility system 138 is configured to distribute number of utilities 146 to
tower
system 310 when tower system 310 and utility system 138 are physically and
electrically coupled through interface 342. Tower system 310 may then
distribute
number of utilities 146 to assembly fixture 324 formed by cradle system 308
when
assembly fixture 324 and tower system 310 are physically and electrically
coupled
through interface 340. Number of utilities 146 may include at least one of
power, air,
hydraulic fluid, communications, water, or some other type of utility.
As depicted, utility system 138 may include utility fixture 150. Utility
fixture
150 may be configured to receive number of utilities 146 from number of
utility
sources 148. Number of utility sources 148 may include, for example, without
limitation, at least one of a power generator, a battery system, a water
system, an
electrical line, a communications system, a hydraulic fluid system, an air
tank, or
some other type of utility source. For example, utility fixture 150 may
receive power
from a power generator.
In one illustrative example, utility fixture 150 may be positioned relative to
assembly area 304. Depending on the implementation, utility fixture 150 may be
positioned inside assembly area 304 or outside of assembly area 304.
In some illustrative examples, utility fixture 150 may be associated with
floor
300. Depending on the implementation, utility fixture 150 may be permanently
associated with floor 300 or temporarily associated with floor 300. In other
illustrative
examples, utility fixture 150 may be associated with some other surface of
manufacturing environment 100, such as a ceiling, or some other structure in
CA 02895739 2015-06-25
manufacturing environment 100. In some cases, utility fixture 150 may be
embedded
within floor 300.
In one illustrative example, first tower 334 may be autonomously driven into
selected tower position 338 with respect to floor 300 relative to utility
fixture 150 such
that interface 342 may be formed between first tower 334 and utility fixture
150.
Once interface 342 has been formed, number of utilities 146 may flow from
utility
fixture 150 to first tower 334. Assembly fixture 324 may then autonomously
form
interface 340 with first tower 334 to form a network of utility cables between
first
tower 334 and assembly fixture 324. Once both interface 342 and interface 340
have
been formed, number of utilities 146 received at utility fixture 150 may flow
from utility
fixture 150 to first tower 334 and to each of number of cradle fixtures 314
that forms
assembly fixture 324. In this manner, first tower 334 may function as a
conduit or
"middleman" for distributing number of utilities 146 to assembly fixture 324.
When interface 340 has been formed between second tower 336 and
assembly fixture 324 and interface 342 has been formed between second tower
336
and utility fixture 150, number of utilities 146 may be provided to second
tower 336
and assembly fixture 324 in a similar manner as described above. Thus, utility
fixture
150 may distribute number of utilities 146 to tower system 310 and assembly
fixture
324 without tower system 310 and cradle assembly fixture 324 having to
separately
connect to number of utility sources 148 or any other utility sources.
Autonomous tooling system 312 may be used to assemble plurality of panels
120 and support structure 121 while fuselage assembly 114 is being supported
and
held by assembly fixture 324. Autonomous tooling system 312 may include
plurality
of mobile platforms 344. Each of plurality of mobile platforms 344 may be
configured
to perform one or more of operations 124 in assembly process 110 described in
Figure 1. In particular, plurality of mobile platforms 344 may be autonomously
driven
into selected positions relative to plurality of panels 120 within selected
tolerances to
autonomously perform operations 124 that join plurality of panels 120 together
to
build fuselage assembly 114. Plurality of mobile platforms 344 are described
in
greater detail in Figure 4 below.
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CA 02895739 2015-06-25
In this illustrative example, set of controllers 140 in control system 136 may
generate commands 142 as described in Figure 1 to control the operation of at
least
one of cradle system 308, tower system 310, utility system 138, autonomous
tooling
system 312, or plurality of autonomous vehicles 306. Set of controllers 140 in
Figure
1 may communicate with at least one of cradle system 308, tower system 310,
utility
system 138, autonomous tooling system 312, or plurality of autonomous vehicles
306
using any number of wireless communications links, wired communications links,
optical communications links, other types of communications links, or
combination
thereof.
In this manner, plurality of mobile systems 134 of flexible manufacturing
system 106 may be used to automate the process of building fuselage assembly
114.
Plurality of mobile systems 134 may enable fuselage assembly 114 to be built
substantially autonomously with respect to joining together plurality of
panels 120 to
reduce the overall time, effort, and human resources needed.
Flexible manufacturing system 106 may build fuselage assembly 114 up to the
point needed to move fuselage assembly 114 to the next stage in manufacturing
process 108 for building fuselage 102 or the next stage in the manufacturing
process
for building aircraft 104, depending on the implementation. In some cases,
cradle
system 308 in the form of assembly fixture 324 may continue carrying and
supporting
fuselage assembly 114 during one or more of these later stages in
manufacturing
process 108 for building fuselage 102 and aircraft 104.
With reference now to Figure 4, an illustration of plurality of mobile
platforms
344 from Figure 3 is depicted in the form of a block diagram in accordance
with an
illustrative embodiment. As depicted, plurality of mobile platforms 344 may
include
number of external mobile platforms 400 and number of internal mobile
platforms
402. In this manner, plurality of mobile platforms 344 may include at least
one
external mobile platform and at least one internal mobile platform.
In some illustrative examples, number of external mobile platforms 400 may
be referred to as a number of drivable external mobile platforms. Similarly,
in some
cases, number of internal mobile platforms 402 may be referred to as a number
of
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CA 02895739 2015-06-25
drivable internal mobile platforms. In other illustrative examples, number of
external
mobile platforms 400 and number of internal mobile platforms 402 may be
referred to
as a number of autonomously drivable external mobile platforms and a number of
autonomously drivable internal mobile platforms, respectively.
External mobile platform 404 may be an example of one of number of external
mobile platforms 400 and internal mobile platform 406 may be an example of one
of
number of internal mobile platforms 402. External mobile platform 404 and
internal
mobile platform 406 may be platforms that are autonomously drivable. Depending
on
the implementation, each of external mobile platform 404 and internal mobile
platform 406 may be configured to autonomously drive across floor 300 on its
own or
with the assistance of one of plurality of autonomous vehicles 306 from Figure
3.
As one illustrative example, without limitation, external mobile platform 404
may be autonomously driven across floor 300 using a corresponding one of
plurality
of autonomous vehicles 306. In some illustrative examples, external mobile
platform
404 and this corresponding one of plurality of autonomous vehicles 306 may be
integrated with each other. For example, the autonomous vehicle may be fixedly
associated with external mobile platform 404. An entire load of external
mobile
platform 404 may be transferable to the autonomous vehicle such that driving
the
autonomous vehicle across floor 300 drives external mobile plafform 404 across
floor
300.
External mobile platform 404 may be driven from, for example, without
limitation, holding area 318 to a position relative to exterior 234 of
fuselage assembly
114 to perform one or more operations 124 in Figure 1. As depicted, at least
one
external robotic device 408 may be associated with external mobile platform
404. In
this illustrative example, external robotic device 408 may be considered part
of
external mobile platform 404. In other illustrative examples, external robotic
device
408 may be considered a separate component that is physically attached to
external
mobile platform 404. External robotic device 408 may take the form of, for
example,
without limitation, a robotic arm.
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CA 02895739 2015-06-25
External robotic device 408 may have first end effector 410. Any number of
tools may be associated with first end effector 410. These tools may include,
for
example, without limitation, at least one of a drilling tool, a fastener
insertion tool, a
fastener installation tool, an inspection tool, or some other type of tool. In
particular,
any number of fastening tools may be associated with first end effector 410.
As depicted, first tool 411 may be associated with first end effector 410. In
one illustrative example, first tool 411 may be any tool that is removably
associated
with first end effector 410. In other words, first tool 411 associated with
first end
effector 410 may be changed as various operations need to be performed. For
example, without limitation, first tool 411 may take the form of one type of
tool, such
as a drilling tool, to perform one type of operation. This tool may then be
exchanged
with another type of tool, such as a fastener insertion tool, to become the
new first
tool 411 associated with first end effector 410 to perform a different type of
operation.
In one illustrative example, first tool 411 may take the form of first
riveting tool
412. First riveting tool 412 may be used to perform riveting operations. In
some
illustrative examples, a number of different tools may be exchanged with first
riveting
tool 412 and associated with first end effector 410. For example, without
limitation,
first riveting tool 412 may be exchangeable with a drilling tool, a fastener
insertion
tool, a fastener installation tool, an inspection tool, or some other type of
tool.
External mobile platform 404 may be autonomously driven across floor 300
and positioned relative to assembly fixture 324 in Figure 3 supporting
fuselage
assembly 114 to position first end effector 410 and first tool 411 associated
with first
end effector 410 relative to one of plurality of panels 120. For example,
external
mobile platform 404 may be autonomously driven across floor 300 to external
position 414 relative to assembly fixture 324. In this manner, first tool 411
carried by
external mobile platform 404 may be macro-positioned using external mobile
platform
404.
Once in external position 414, first end effector 410 may be autonomously
controlled using at least external robotic device 408 to position first tool
411
associated with first end effector 410 relative to a particular location on an
exterior-
39
CA 02895739 2015-06-25
facing side of one of plurality of panels 120. In this manner, first tool 411
may be
micro-positioned relative to the particular location.
Internal mobile platform 406 may be located on second tower 336 in Figure 3
when internal mobile platform 406 is not in use. When interface 342 described
in
Figure 3 is formed between second tower 336 and assembly fixture 324, internal
mobile platform 406 may be driven from second tower 336 into interior 236 of
fuselage assembly 114 and used to perform one or more of operations 124. In
one
illustrative example, internal mobile platform 406 may have a movement system
that
allows internal mobile platform 406 to move from second tower 336 onto a floor
inside fuselage assembly 114.
At least one internal robotic device 416 may be associated with internal
mobile
platform 406. In this illustrative example, internal robotic device 416 may be
considered part of internal mobile platform 406. In other illustrative
examples,
internal robotic device 416 may be considered a separate component that is
physically attached to internal mobile platform 406. Internal robotic device
416 may
take the form of, for example, without limitation, a robotic arm.
Internal robotic device 416 may have second end effector 418. Any number of
tools may be associated with second end effector 418. For example, without
limitation, at least one of a drilling tool, a fastener insertion tool, a
fastener installation
tool, an inspection tool, or some other type of tool may be associated with
second
end effector 418. In particular, any number of fastening tools may be
associated with
second end effector 418.
As depicted, second tool 419 may be associated with second end effector
418. In one illustrative example, second tool 419 may be any tool that is
removably
associated with second end effector 418. In other words, second tool 419
associated
with second end effector 418 may be changed as various operations need to be
performed. For example, without limitation, first tool 411 may take the form
of one
type of tool, such as a drilling tool, to perform one type of operation. This
tool may
then be exchanged with another type of tool, such as a fastener insertion
tool, to
CA 02895739 2015-06-25
become the new first tool 411 associated with first end effector 410 to
perform a
different type of operation.
In one illustrative example, second tool 419 may take the form of second
riveting tool 420. Second riveting tool 420 may be associated with second end
effector 418. Second riveting tool 420 may be used to perform riveting
operations.
In some illustrative examples, a number of different tools may be exchanged
with
second riveting tool 420 and associated with second end effector 418. For
example,
without limitation, second riveting tool 420 may be exchangeable with a
drilling tool, a
fastener insertion tool, a fastener installation tool, an inspection tool, or
some other
type of tool.
Internal mobile platform 406 may be driven from second tower 336 into
fuselage assembly 114 and positioned relative to interior 236 of fuselage
assembly
114 to position second end effector 418 and second tool 419 associated with
second
end effector 418 relative to one of plurality of panels 120. In one
illustrative example,
internal mobile platform 406 may be autonomously driven onto one of number of
floors 266 in Figure 2 into internal position 422 within fuselage assembly 114
relative
to fuselage assembly 114. In this manner, second tool 419 may be macro-
positioned
into internal position 422 using internal mobile platform 406.
Once in internal position 422, second end effector 418 may be autonomously
controlled to position second tool 419 associated with second end effector 418
relative to a particular location on an interior-facing side of one of
plurality of panels
120 or an interior-facing side of one of plurality of members 122 in Figure 2
that
make up support structure 121. In this manner, second tool 419 may be micro-
positioned relative to the particular location.
In one illustrative example, external position 414 for external mobile
platform
404 and internal position 422 for internal mobile platform 406 may be selected
such
that fastening process 424 may be performed at location 426 on fuselage
assembly
114 using external mobile platform 404 and internal mobile platform 406.
Fastening
process 424 may include any number of operations. In one illustrative example,
fastening process 424 may include at least one of drilling operation 428,
fastener
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CA 02895739 2015-06-25
insertion operation 430, fastener installation operation 432, inspection
operation 434,
or some other type of operation.
As one specific example, drilling operation 428 may be performed
autonomously using first tool 411 associated with first end effector 410 of
external
mobile platform 404 or second tool 419 associated with second end effector 418
of
internal mobile platform 406. For example, without limitation, first tool 411
or second
tool 419 may take the form of a drilling tool for use in performing drilling
operation
428. Drilling operation 428 may be autonomously performed using first tool 411
or
second tool 419 to form hole 436 at location 426. Hole 436 may pass through at
least one of two panels in plurality of panels 120, two members of a plurality
of
members 122, or a panel and one of plurality of members 122.
Fastener insertion operation 430 may be performed autonomously using first
tool 411 associated with first end effector 410 of external mobile platform
404 or
second tool 419 associated with second end effector 418 of internal mobile
platform
406. Fastener insertion operation 430 may result in fastener 438 being
inserted into
hole 436.
Fastener installation operation 432 may then be performed autonomously
using at least one of first tool 411 associated with first end effector 410 of
external
mobile platform 404 or second tool 419 associated with second end effector 418
of
internal mobile platform 406. In one illustrative example, fastener
installation
operation 432 may be performed autonomously using first tool 411 in the form
of first
riveting tool 412 and second tool 419 in the form of second riveting tool 420
such that
fastener 438 becomes rivet 442 installed at location 426. Rivet 442 may be a
fully
installed rivet. Rivet 442 may be one of plurality of fasteners 264 described
in Figure
2.
In one illustrative example, fastener installation operation 432 may take the
form of bolt-nut type installation process 433. First tool 411 associated with
first end
effector 410 may be used to, for example, without limitation, install bolt 435
through
hole 436. Second tool 419 associated with second end effector 418 may then be
used to install nut 437 over bolt 435. In some cases, installing nut 437 may
include
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CA 02895739 2015-06-25
applying a torque sufficient to nut 437 such that a portion of nut 437 breaks
off. In
these cases, nut 437 may be referred to as a frangible collar.
In another illustrative example, fastener installation operation 432 may take
the form of interference-fit bolt-type installation process 439. First tool
411
associated with first end effector 410 may be used to, for example, without
limitation,
install bolt 435 through hole 436 such that an interference fit is created
between bolt
435 and hole 436. Second tool 419 associated with second end effector 418 may
then be used to install nut 437 over bolt 435.
In yet another illustrative example, fastener installation operation 432 may
take the form of two-stage riveting process 444. Two-stage riveting process
444 may
be performed using, for example, without limitation, first riveting tool 412
associated
with external mobile platform 404 and second riveting tool 420 associated with
internal mobile platform 406.
For example, first riveting tool 412 and second riveting tool 420 may be
positioned relative to each other by external mobile platform 404 and internal
mobile
platform 406, respectively. For example, external mobile platform 404 and
external
robotic device 408 may be used to position first riveting tool 412 relative to
location
426 at exterior 234 of fuselage assembly 114. Internal mobile platform 406 and
internal robotic device 416 may be used to position second riveting tool 420
relative
to the same location 426 at interior 236 of fuselage assembly 114.
First riveting tool 412 and second riveting tool 420 may then be used to
perform two-stage riveting process 444 to form rivet 442 at location 426.
Rivet 442
may join at least two of plurality of panels 120 together, a panel in
plurality of panels
120 to support structure 121 formed by plurality of members 122, or two panels
in
plurality of panels 120 to support structure 121.
In this example, two-stage riveting process 444 may be performed at each of
plurality of locations 446 on fuselage assembly 114 to install plurality of
fasteners 264
as described in Figure 2. Two-stage riveting process 444 may ensure that
plurality
of fasteners 264 in Figure 2 are installed at plurality of locations 446 with
a desired
quality and desired level of accuracy.
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CA 02895739 2015-06-25
In this manner, internal mobile platform 406 may be autonomously driven and
operated inside fuselage assembly 114 to position internal mobile platform 406
and
second riveting tool 420 associated with internal mobile platform 406 relative
to
plurality of locations 446 on fuselage assembly 114 for performing assembly
process
110 described in Figure 1. Similarly, external mobile platform 404 may be
autonomously driven and operated around fuselage assembly 114 to position
external mobile platform 404 and first riveting tool 412 associated with
external
mobile platform 404 relative to plurality of locations 446 on fuselage
assembly 114 for
performing operations 124.
With reference now to Figure 5, an illustration of a flow of number of
utilities
146 across distributed utility network 144 from Figure 1 is depicted in the
form of a
block diagram in accordance with an illustrative embodiment. As depicted,
number
of utilities 146 may be distributed across distributed utility network 144.
Distributed utility network 144 may include, for example, without limitation,
number of utility sources 148, utility fixture 150, number of towers 330,
assembly
fixture 324, number of external mobile platforms 400, and number of utility
units 500.
In some cases, distributed utility network 144 may also include number of
internal
mobile platforms 402. In some illustrative examples, number of utility sources
148
may be considered separate from distributed utility network 144.
In this illustrative example, only one of number of towers 330 may be included
in distributed utility network 144 at a time. When first tower 334 is used,
distributed
utility network 144 may be formed when utility fixture 150 is coupled to
number of
utility sources 148, first tower 334 is coupled to utility fixture 150,
assembly fixture
324 is coupled to first tower 334, and number of external mobile platforms 400
is
coupled to number of utility units 500.
Number of utility units 500 may be associated with number of cradle fixtures
314 of assembly fixture 324 or separated from number of cradle fixtures 314.
For
example, without limitation, a number of dual interfaces may be created
between
number of external mobile platforms 400, number of utility units 500, and
number of
cradle fixtures 314 using one or more dual-interface couplers.
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CA 02895739 2015-06-25
When second tower 336 is used, distributed utility network 144 may be formed
when utility fixture 150 is coupled to number of utility sources 148, second
tower 336
is coupled to utility fixture 150, assembly fixture 324 is coupled to second
tower 336,
number of internal mobile platforms 402 is coupled to second tower 336, and
number
of external mobile platforms 400 is coupled to number of utility units 500,
which may
be associated with number of cradle fixtures 314 or separated from number of
cradle
fixtures 314. Number of internal mobile platforms 402 may receive number of
utilities
146 through a number of cable management systems associated with second tower
336.
In this manner, number of utilities 146 may be distributed across distributed
utility network 144 using a single utility fixture 150. This type of
distributed utility
network 144 may reduce the number of utility components, utility cables, and
other
types of devices needed to provide number of utilities 146 to the various
components
in distributed utility network 144. Further, with this type of distributed
utility network
144, starting from at least utility fixture 150, number of utilities 146 may
be provided
completely above floor 300 of manufacturing environment in Figure 1.
The illustrative embodiments recognize and take into account that it may be
desirable to have a method and system for mounting wheels to vehicles that
does not
require disassembly of the bases of these vehicles. As one illustrative
example, it
may be desirable to have a system for installing and removing wheel arm
assemblies
from autonomous vehicles, such as plurality of autonomous vehicles 306 in
Figure 3,
quickly and easily. Further, it may be desirable to have the capability to
install these
types of wheel arm assemblies on a vehicle, such as one of plurality of
autonomous
vehicles 306 in Figure 3, and remove these wheel arm assemblies for
maintenance
or repair without having to move the vehicle to some other location,
disassemble
components of the base of the vehicle, or take the vehicle out of service
during the
maintenance or repair.
Thus, the illustrative embodiments provide a method and apparatus for
installing a wheel arm assembly at an exterior of a base of a vehicle.
Further, the
illustrative embodiments provide a method and apparatus for removing a wheel
arm
CA 02895739 2015-06-25
assembly from an exterior of the base of the vehicle without requiring
disassembly of
any portion of the base of the vehicle.
With reference now to Figure 6, an illustration of a vehicle is depicted in
the
form of a block diagram in accordance with an illustrative embodiment. In this
illustrative example, vehicle 600 is an example of one type of vehicle that
may be
used to perform operations within manufacturing environment 100 in Figure 1 or
some other type of environment. In one illustrative example, vehicle 600 may
take
the form of autonomous vehicle 601. Autonomous vehicle 601 may be an example
of one of plurality of autonomous vehicles 306 in Figure 3.
As depicted, vehicle 600 may include base 602, plurality of wheel systems
604, and plurality of retaining structures 606. In other illustrative
examples, base 602
may be referred to as a platform base. Plurality of wheel systems 604 may be
configured for association with base 602. In particular, plurality of wheel
systems
604 may be inserted within and held by plurality of retaining structures 606,
which
may be associated with base 602.
As one illustrative example, plurality of retaining structures 606 may be
fixedly
associated with base 602. Plurality of wheel systems 604 may be installed in
plurality of retaining structures 606. In particular, each of plurality of
wheel systems
604 may be installed within a corresponding one of plurality of retaining
structures
606.
Wheel system 608 may be an example of one of plurality of wheel systems
604. Depending on the implementation, wheel system 608 may take the form of
passive wheel system 610 or drive wheel system 612.
In this illustrative example, wheel system 608 may be configured for
installation in any one of plurality of retaining structures 606. For example,
wheel
system 608 may be installed in retaining structure 614 of plurality of
retaining
structures 606. In some illustrative examples, retaining structure 614 may be
referred to as boss 615. Retaining structure 614 may have first end 616 and
second
end 618. First end 616 may be located at exterior 619 of base 602 and second
end
618 may be located within interior 623 of base 602. In some cases, first end
616
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CA 02895739 2015-06-25
may be referred to as an outboard-facing end and second end 618 may be
referred
to as an inboard-facing end. In this manner, first end 616 may be referred to
as
externally-facing end 617 of retaining structure 614. In this manner, first
end 616
may be located at or near exterior 619 of base 602, while second end 618 may
be
located inwards.
Wheel system 608 may be coupleable to and decoupleable from retaining
structure 614 at first end 616 of retaining structure 614. As depicted, wheel
system
608 may include wheel arm assembly 620, hub assembly 622, and wheel 624.
Wheel arm assembly 620 may be coupleable to and decoupleable from retaining
structure 614 at first end 616 of retaining structure 614.
Wheel arm assembly 620 may be at least partially inserted within first channel
625 of retaining structure 614. First channel 625 may extend from first end
616 of
retaining structure 614 to second end 618 of retaining structure 614. Wheel
arm
assembly 620 may be coupled to retaining structure 614 by being inserted into
first
channel 625 in a direction from first end 616 towards second end 618 of
retaining
structure 614.
Hub assembly 622 may be used to connect wheel 624 to wheel arm assembly
620. Wheel 624 may take a number of different forms, depending on the
implementation. For example, without limitation, wheel 624 may take the form
of one
of a mecanum wheel, a holonomic wheel, an omnidirectional wheel, or some other
type of wheel. In this illustrative example, wheel 624 may take the form of
omnidirectional wheel 626. When wheel 624 takes the form of omnidirectional
wheel
626, wheel system 608 may be referred to as omnidirectional wheel system 627.
In this illustrative example, wheel arm assembly 620 may include retainer
bushing 630, sliding bushing 632, bearing 633, wheel arm 634, and plate 636.
An
example of one configuration for wheel arm assembly 620 and, in particular,
retainer
bushing 630, sliding bushing 632, bearing 633, wheel arm 634, and plate 636
may be
shown in Figure 23 described below.
Retainer bushing 630 may have first end 638 and second end 640. Further,
retainer bushing 630 may have flange 642 located at first end 638 of retainer
bushing
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CA 02895739 2015-06-25
630. When wheel arm assembly 620 is coupled to retainer structure 614, second
end 640 of retainer bushing 630 may be referred to as internally-facing end
641 of
retainer bushing 630.
Retainer bushing 630 may have second channel 644. Second channel 644
may extend from first end 638 of retainer bushing 630 to second end 640 of
retainer
bushing 630.
Sliding bushing 632 may be coupled to retainer bushing 630. In particular,
sliding bushing 632 may be press-fit 646 within second channel 644 of retainer
bushing 630. Sliding bushing 632 may have third channel 648 that extends from
first
end 647 of sliding bushing 632 to second end 649 of sliding bushing 632.
Bearing
633 may be positioned at first end 638 of retainer bushing 630 and first end
647 of
sliding bushing 632 such that bearing 633 overlaps first end 647 of sliding
bushing
632 and at least a portion of first end 638 of retainer bushing 630.
Wheel arm 634 may be partially located within third channel 648 of sliding
bushing 632. Wheel arm 634 may have first end 653 and second end 655. Wheel
arm 634 may have first portion 650 at first end 653 and second portion 651 at
second
end 655. First portion 650 of wheel arm 634 may be located within third
channel 648
of sliding bushing 632. At least one portion of second portion 651 may be
larger in
width than first portion 650. Consequently, second portion 651 of wheel arm
634
may protrude externally in a direction away from first end 647 of sliding
bushing 632.
In other words, second portion 651 may extend past first end 647 of sliding
bushing
632 and first end 638 of retainer bushing 630. Second portion 651 may be
sufficiently wide such that second portion 651 of wheel arm 634 overlaps
bearing
633. In this manner, bearing 633 may be in contact with wheel arm 634 in
addition to
retainer bushing 630 and sliding bushing 632.
Plate 636 may be positioned at first end 653 of wheel arm 634 such that plate
636 overlaps second end 655 of sliding bushing 632 and at least partially
overlaps
second end 640 of retainer bushing 630. Plate 636 may be fastened to first
portion
650 of wheel arm 634 at first end 653 of wheel arm 634 using set of fasteners
652.
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Bearing 633 may apply first force 654 against first end 638 of retainer
bushing
630. Plate 636 may apply second force 656 against second end 640 of retainer
bushing 630 when plate 636 is fastened to first end 653 of wheel arm 634.
First force
654 and second force 656 may substantially prevent axial motion of wheel arm
634.
In other words, first force 654 and second force 656 may substantially prevent
motion
of wheel arm 634 in a direction substantially parallel to wheel axis 657.
Wheel axis
657 may be a center axis through wheel 624.
Wheel arm assembly 620 may be inserted into first channel 625 of retaining
structure 614. Flange 642 of retainer bushing 630 may then be fastened to
first end
616 of retaining structure 614 using number of fasteners 658. Installing
number of
fasteners 658 may fully mount, or couple, wheel arm assembly 620 to retaining
structure 614. Hub assembly 622 and wheel 624 may then be attached to wheel
arm
assembly 620 to fully build and install wheel system 608. Number of fasteners
658
may be removed to remove wheel arm assembly 620 from retaining structure 614.
As depicted, plate 636 may have greatest width 660. Greatest width 660 of
plate may be less than smallest width 662 of first channel 625 of retaining
structure
614 such that plate 636 may be freely movable through first channel 625 of
retaining
structure 614 in a direction substantially parallel to wheel axis 657.
Smallest width
664 of plate 636 may be greater than greatest width 665 of second channel 644
of
retainer bushing 630 such that plate 636 may at least partially overlap second
end
640 of retainer bushing 630. In this manner, plate 636 may not be freely
movable
through second channel 644 of retainer bushing 630 in a direction
substantially
parallel to wheel axis 657.
In this manner, wheel arm assembly 620, and thereby wheel system 608, may
be coupleable to and decouplable from retaining structure 614, and thereby
base 602
of vehicle 600, from exterior 619 of base 602. Consequently, decoupling wheel
system 608 from base 602 may not require disassembly of other components
associated with base 602 or other internal components of base 602. The
capability
to couple wheel arm assembly 620 to and decouple wheel arm assembly 620 from
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base 602 may allow maintenance of wheel arm assembly 620 and other components
of wheel system 608 to be performed without disrupting the operation of
vehicle 600.
The illustrations in Figures 1-6 are not meant to imply physical or
architectural
limitations to the manner in which an illustrative embodiment may be
implemented.
Other components in addition to or in place of the ones illustrated may be
used.
Some components may be optional. Also, the blocks are presented to illustrate
some functional components. One or more of these blocks may be combined,
divided, or combined and divided into different blocks when implemented in an
illustrative embodiment.
For example, in some cases, more than one flexible manufacturing system
may be present within manufacturing environment 100. These multiple flexible
manufacturing systems may be used to build multiple fuselage assemblies within
manufacturing environment 100. In other illustrative examples, flexible
manufacturing system 106 may include multiple cradle systems, multiple tower
systems, multiple utility systems, multiple autonomous tooling systems, and
multiple
pluralities of autonomous vehicles such that multiple fuselage assemblies may
be
built within manufacturing environment 100.
In some illustrative examples, utility system 138 may include multiple utility
fixtures that are considered separate from flexible manufacturing system 106.
Each
of these multiple utility fixtures may be configured for use with flexible
manufacturing
system 106 and any number of other flexible manufacturing systems.
Additionally, the different couplings of mobile systems in plurality of mobile
systems 134 may be performed autonomously in these illustrative examples.
However, in other illustrative example, a coupling of one of plurality of
mobile
systems 134 to another one of plurality of mobile systems 134 may be performed
manually in other illustrative examples.
Further, in other illustrative examples, one or more of plurality of mobile
systems 134 may be drivable by, for example, without limitation, a human
operator.
For example, without limitation, in some cases, first tower 334 may be
drivable with
human guidance.
CA 02895739 2015-06-25
With reference now to Figure 7, an illustration of an isometric view of a
manufacturing environment is depicted in accordance with an illustrative
embodiment. In this illustrative example, manufacturing environment 700 may be
an
example of one implementation for manufacturing environment 100 in Figure 1.
As depicted, manufacturing environment 700 may include holding environment
701 and assembly environment 702. Holding environment 701 may be a designated
area on and over floor 703 of manufacturing environment 700 for storing
plurality of
flexible manufacturing systems 706 when plurality of flexible manufacturing
systems
706 are not in use. Each of plurality of flexible manufacturing systems 706
may be
an example of one implementation for flexible manufacturing system 106
described
in Figures 1 and 3-5. In particular, each of plurality of flexible
manufacturing
systems 706 may be an example of one implementation for autonomous flexible
manufacturing system 112 in Figure 1.
Holding environment 701 may include plurality of holding cells 704. In this
illustrative example, each of plurality of holding cells 704 may be considered
an
example of one implementation for holding area 318 in Figure 3. In other
illustrative
examples, the entire holding environment 701 may be considered an example of
one
implementation for holding area 318 in Figure 3.
Each of plurality of flexible manufacturing systems 706 may be stored in a
corresponding one of plurality of holding cells 704. In particular, each of
plurality of
holding cells 704 may be designated for a specific one of plurality of
flexible
manufacturing systems 706. However, in other illustrative examples, any one of
plurality of holding cells 704 may be used for storing any one of plurality of
flexible
manufacturing systems 706.
As depicted, flexible manufacturing system 708 may be an example of one of
plurality of flexible manufacturing systems 706. Flexible manufacturing system
708
may include plurality of mobile systems 711, which may be an example of one
implementation for plurality of mobile systems 134 in Figures 1 and 3.
Flexible manufacturing system 708 may be stored in holding cell 710 of
plurality of holding cells 704. In this example, all of holding environment
701 may be
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CA 02895739 2015-06-25
considered an example of one implementation for holding area 318 in Figure 3.
However, in other examples, each of plurality of holding cells 704 in holding
environment 701 may be considered an example of one implementation for holding
area 318 in Figure 3.
Floor 703 of manufacturing environment 700 may be substantially smooth to
allow the various components and systems of plurality of flexible
manufacturing
systems 706 to be autonomously driven across floor 703 of manufacturing
environment 700 with ease. When one of plurality of flexible manufacturing
systems
706 is ready for use, that flexible manufacturing system may be driven across
floor
703 from holding environment 701 into assembly environment 702.
Assembly environment 702 may be the designated area on and above floor
703 for building fuselage assemblies. When none of plurality of flexible
manufacturing systems 706 are in use, floor 703 of assembly environment 702
may
be kept substantially open and substantially clear.
As depicted, assembly environment 702 may include plurality of work cells
712. In one illustrative example, each of plurality of work cells 712 may be
an
example of one implementation for assembly area 304 in Figure 3. Thus, each of
plurality of work cells 712 may be designated for performing a fuselage
assembly
process, such as assembly process 110 in Figure 1, for building fuselage
assembly
114 in Figure 1. In other illustrative examples, the entire assembly
environment 702
may be considered an example of one implementation for assembly area 304 in
Figure 3.
In this illustrative example, first portion 714 of plurality of work cells 712
may
be designated for building forward fuselage assemblies, such as forward
fuselage
assembly 117 in Figure 1, while second portion 716 of plurality of work cells
712 may
be designated for building aft fuselage assemblies, such as aft fuselage
assembly
116 in Figure 1. In this manner, plurality of work cells 712 may allow
multiple
fuselage assemblies to be built concurrently. Depending on the implementation,
the
building of these fuselage assemblies may begin at the same time or at
different
times in plurality of work cells 712.
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CA 02895739 2015-06-25
In one illustrative example, plurality of mobile systems 711 that belong to
flexible manufacturing system 708 may be driven across floor 703 from holding
cell
710 into work cell 713. Within work cell 713, plurality of mobile systems 711
may be
used to build a fuselage assembly (not shown). An example of one manner in
which
this fuselage assembly may be built using flexible manufacturing system 708 is
described in greater detail in Figures 8-18 below.
In some illustrative examples, a sensor system may be associated with one or
more of plurality of work cells 712. For example, without limitation, in some
cases,
sensor system 718 may be associated with work cell 719 of plurality of work
cells
712. Sensor data generated by sensor system 718 may be used to help drive the
various mobile systems of the corresponding one of plurality of flexible
manufacturing
systems 706 designated for building a fuselage assembly within work cell 719.
In
one illustrative example, sensor system 718 may take the form of metrology
system
720.
Depending on the implementation, sensor system 718 may be optional. For
example, without limitation, other sensor systems are not depicted associated
with
other work cells of plurality of work cells 712. Not using sensors systems
such as
sensor system 718 may help keep floor 703 of manufacturing environment 700
more
open and clear to help the various mobile systems of plurality of flexible
manufacturing systems 706 be driven more freely across floor 703.
As depicted, plurality of utility fixtures 724 may be permanently affixed to
floor
703. Each of plurality of utility fixtures 724 may be an example of one
implementation for utility fixture 150 in Figure 1.
Plurality of utility fixtures 724 may be interfaced with a number of utility
sources (not shown in this view). These utility sources (not shown) may be,
for
example, without limitation, located beneath floor 703. Utility fixture 726
may be an
example of one of plurality of utility fixtures 724.
In this illustrative example, each of plurality of utility fixtures 724 is
located in a
corresponding one of plurality of work cells 712. Any one of plurality of
flexible
manufacturing systems 706 may be driven towards and interfaced with any one of
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CA 02895739 2015-06-25
plurality of utility fixtures 724. In this manner, plurality of utility
fixtures 724 may be
used to provide one or more utilities to plurality of flexible manufacturing
systems
706.
Referring now to Figures 8-18, illustrations of the building of a fuselage
assembly within manufacturing environment 700 from Figure 7 are depicted in
accordance with an illustrative embodiment. In Figures 8-18, flexible
manufacturing
system 708 from Figure 7 may be used to build a fuselage assembly. The
building
of the fuselage assembly may be performed within any one of plurality of work
cells
712 in Figure 7. For example, without limitation, the building of the fuselage
assembly may be performed within one of the work cells in second portion 716
of
plurality of work cells 712 in Figure 7.
Turning now to Figure 8, an illustration of an isometric view of a first tower
coupled to utility fixture 726 from Figure 7 is depicted in accordance with an
illustrative embodiment. In this illustrative example, first tower 800 may be
coupled
to utility fixture 726. First tower 800 may be an example of one of plurality
of mobile
systems 711 of flexible manufacturing system 708 in Figure 7. In particular,
first
tower 800 may be an example of one implementation for first tower 334 in
Figure 3.
First tower 800 may be at least one of electrically and physically coupled to
utility fixture 726 such that interface 802 is formed between first tower 800
and utility
fixture 726. Interface 802 may be an example of one implementation for
interface
342 in Figure 3.
As depicted, first tower 800 may have base structure 804. Base structure 804
may include top platform 806 and bottom platform 807. In some cases, top
platform
806 and bottom platform 807 may be referred to as top platform level and a
bottom
platform level, respectively. Top platform 806 may be used to provide a human
operator with access to a top floor of a fuselage assembly (not shown), such
as a
passenger floor inside the fuselage assembly. Bottom platform 807 may be used
to
provide a human operator with access to a bottom floor of the fuselage
assembly (not
shown), such as a cargo floor inside the fuselage assembly.
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CA 02895739 2015-06-25
In this illustrative example, walkway 808 may provide access from a floor,
such as floor 703 in Figure 7, to bottom platform 807. Walkway 810 may provide
access from bottom platform 807 to top platform 806. Railing 812 is associated
with
top platform 806 for the protection of a human operator moving around on top
platform 806. Railing 814 is associated with bottom platform 807 for the
protection of
a human operator moving around on bottom platform 807.
First tower 800 may be autonomously driven across floor 703 using
autonomous vehicle 816. Autonomous vehicle 816 may be an automated guided
vehicle (AGV) in this example. Autonomous vehicle 816 may be an example of one
of plurality of autonomous vehicles 306 in Figure 3. As depicted, autonomous
vehicle 816 may be used to drive first tower 800 from holding environment 701
in
Figure 7 to selected tower position 818 relative to utility fixture 726.
Selected tower
position 818 may be an example of one implementation for selected tower
position
338 in Figure 3.
Once first tower 800 has been autonomously driven into selected tower
position 818, first tower 800 may autonomously couple to utility fixture 726.
In
particular, first tower 800 may electrically and physically couple to utility
fixture 726
autonomously to form interface 802. This type of coupling may enable a number
of
utilities to flow from utility fixture 726 to first tower 800. In this manner,
first tower 800
and utility fixture 726 may establish at least a portion of a distributed
utility network,
similar to distributed utility network 144 described in Figures 1 and 5.
With reference now to Figure 9, an illustration of an isometric view of a
cradle
system is depicted in accordance with an illustrative embodiment. In this
illustrative
example, cradle system 900 may be an example of one implementation for cradle
system 308 in Figure 3. Further, cradle system 900 may be an example of one of
plurality of mobile systems 711 of flexible manufacturing system 708 in Figure
7. In
this manner, cradle system 900 may be an example of one of plurality of mobile
systems 711 that are stored in holding cell 710 in Figure 7.
As depicted, cradle system 900 may be comprised of number of fixtures 903.
Number of fixtures 903 may be an example of one implementation for number of
CA 02895739 2015-06-25
fixtures 313 in Figure 3. Number of fixtures 903 may include number of cradle
fixtures 902 and fixture 904. Number of cradle fixtures 902 may be an example
of
one implementation for number of cradle fixtures 314 in Figure 3.
Number of cradle fixtures 902 may include cradle fixture 906, cradle fixture
908, and cradle fixture 910. Fixture 904 may be fixedly associated with cradle
fixture
906. In this illustrative example, fixture 904 may be considered part of
cradle fixture
906. However, in other illustrative examples, fixture 904 may be considered a
separate fixture from cradle fixture 906.
As depicted, cradle fixture 906, cradle fixture 908, and cradle fixture 910
have
base 912, base 914, and base 916, respectively. Number of retaining structures
918
may be associated with base 912. Number of retaining structures 920 may be
associated with base 914. Number of retaining structures 922 may be associated
with base 916. Each of number of retaining structures 918, number of retaining
structures 920, and number of retaining structures 922 may be an example of an
implementation for number of retaining structures 326 in Figure 3.
Each retaining structure in number of retaining structures 918, number of
retaining structures 920, and number of retaining structures 922 may have a
curved
shape that substantially matches a curvature of a corresponding fuselage
section to
be received by the retaining structure. Retaining structure 923 may be an
example of
one of number of retaining structures 920. As depicted, retaining structure
923 may
have curved shape 925.
Curved shape 925 may be selected such that curved shape 925 substantially
matches a curvature of a corresponding keel panel (not shown) that is to be
engaged
with retaining structure 923. More specifically, retaining structure 923 may
have a
substantially same radius of curvature as a corresponding keel panel (not
shown)
that is to be engaged with retaining structure 923.
In this illustrative example, plurality of stabilizing members 924, plurality
of
stabilizing members 926, and plurality of stabilizing members 928 may be
associated
with base 912, base 914, and base 916, respectively. Plurality of stabilizing
members 924, plurality of stabilizing members 926, and plurality of
stabilizing
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CA 02895739 2015-06-25
members 928 may be used to stabilize base 912, base 914, and base 916,
respectively, relative to floor 703 of manufacturing environment 700.
In one illustrative example, these stabilizing members may keep their
respective bases substantially level relative to floor 703. Further, each of
plurality of
stabilizing members 924, plurality of stabilizing members 926, and plurality
of
stabilizing members 928 may substantially support their respective base until
that
base is to be moved to a new location within or outside of manufacturing
environment
700. In one illustrative example, each stabilizing member of plurality of
stabilizing
members 924, plurality of stabilizing members 926, and plurality of
stabilizing
members 928 may be implemented using a hydraulic leg.
Each of number of fixtures 903 may be used to support and hold a
corresponding fuselage section (not shown) for a fuselage assembly (not shown)
for
an aircraft (not shown), such as one of plurality of fuselage sections 205 for
fuselage
assembly 114 for aircraft 104 in Figure 2. For example, without limitation,
fixture 904
may have platform 930 associated with base 932. Platform 930 may be configured
to support and hold a forward fuselage section (not shown) or an aft fuselage
section
(not shown) for the aircraft (not shown), depending on the implementation. The
forward fuselage section (not shown) may be the portion of the fuselage
assembly
(not shown) that is to be closest to the nose of the aircraft (not shown). The
aft
fuselage section (not shown) may be the portion of the fuselage assembly (not
shown) that is to be closest to the tail of the aircraft (not shown).
With reference now to Figure 10, an illustration of an isometric view of an
assembly fixture formed using cradle system 900 from Figure 9 and coupled to
first
tower 800 from Figure 8 is depicted in accordance with an illustrative
embodiment.
In this illustrative example, cradle fixture 910 is coupled to first tower 800
and cradle
fixture 910, cradle fixture 906, and cradle fixture 908 are coupled to each
other.
Cradle fixture 910, cradle fixture 908, and cradle fixture 906 may have been
autonomously driven across floor 703 of manufacturing environment 700 to
selected
cradle position 1000, selected cradle position 1002, and selected cradle
position
1004, respectively, using a number of corresponding autonomous vehicles (not
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CA 02895739 2015-06-25
shown), such as number of corresponding autonomous vehicles 316 from Figure 3.
Driving cradle fixture 906 may also cause fixture 904 to be driven when
fixture 904 is
part of cradle fixture 906 as shown. Selected cradle position 1000, selected
cradle
position 1002, and selected cradle position 1004 may be an example of one
implementation for number of selected cradle positions 320 in Figure 3.
After driving cradle fixture 910, cradle fixture 908, and cradle fixture 906
to
selected cradle position 1000, selected cradle position 1002, and selected
cradle
position 1004, respectively, the number of corresponding autonomous vehicles
(not
shown) may be autonomously driven away. In other illustrative examples, the
number of corresponding autonomous vehicles (not shown) may be integrated as
part of cradle fixture 910, cradle fixture 908, and cradle fixture 906.
Selected cradle position 1000 may be a position relative to selected tower
position 818 of first tower 800. When cradle fixture 910 is in selected cradle
position
1000 relative to first tower 800, cradle fixture 910 may be electrically and
physically
coupled to first tower 800 to form interface 1006. In some cases, cradle
fixture 910
may be coupled to first tower 800 autonomously to form interface 1006. In one
illustrative example, interface 1006 may be formed by autonomously coupling
cradle
fixture 910 to first tower 800. Interface 1006 may be an electrical and
physical
interface that enables a number of utilities that are flowing from utility
fixture 726 to
first tower 800 to also flow to cradle fixture 910. In this manner, interface
1006 may
be formed by autonomously coupling a number of utilities between cradle
fixture 910
and first tower 800. Interface 1006 may be an example of one implementation
for
interface 340 in Figure 3. In this illustrative example, cradle fixture 910,
being
coupled to first tower 800, may be referred to as primary cradle fixture 1011.
Further, as depicted, cradle fixture 906, cradle fixture 908, and cradle
fixture
910 may be coupled to each other. In particular, cradle fixture 908 may be
coupled
to cradle fixture 910 to form interface 1008. Similarly, cradle fixture 906
may be
coupled to cradle fixture 908 to form interface 1010. In one illustrative
example, both
interface 1008 and interface 1010 may be formed by autonomously coupling these
cradle fixtures to each other.
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In particular, interface 1008 and interface 1010 may take the form of
electrical
and physical interfaces that enable the number of utilities to flow from
cradle fixture
910, to cradle fixture 908, and to cradle fixture 906. In this manner,
interface 1008
may be formed by autonomously coupling the number of utilities between cradle
fixture 910 and cradle fixture 908 and interface 1010 may be formed by
autonomously coupling the number of utilities between cradle fixture 908 and
cradle
fixture 906. In this manner, number of utilities 146 may be autonomously
coupled
between adjacent cradle fixtures in number of cradle fixtures 314.
Thus, when utility fixture 726, first tower 800, cradle fixture 910, cradle
fixture
908, and cradle fixture 906 are all coupled in series as described above, the
number
of utilities may be distributed downstream from utility fixture 726 to first
tower 800,
cradle fixture 910, cradle fixture 908, and cradle fixture 906. In this
illustrative
example, any utilities that flow to cradle fixture 906 may also be distributed
to fixture
904.
Any number of coupling units, structural members, connection devices,
cables, other types of elements, or combination thereof may be used to form
interface 1008 and interface 1010. Depending on the implementation, interface
1008
and interface 1010 may take the form of coupling units that both physically
and
electrically connect cradle fixture 910, cradle fixture 908, and cradle
fixture 906 to
each other. In other illustrative examples, interface 1008 and interface 1010
may be
implemented in some other manner.
When cradle fixture 910, cradle fixture 908, and cradle fixture 906 are in
selected cradle position 1000, selected cradle position 1002, and selected
cradle
position 1004, respectively, and coupled to each other, these cradle fixtures
together
form assembly fixture 1012. Assembly fixture 1012 may be an example of one
implementation for assembly fixture 324 in Figure 3. In this manner, interface
1006
between first tower 800 and cradle fixture 910 may also be considered an
electrical
and physical interface between first tower 800 and assembly fixture 1012.
With reference now to Figure 11, an illustration of an isometric view of one
stage in the assembly process for building a fuselage assembly that is being
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CA 02895739 2015-06-25
supported by assembly fixture 1012 from Figure 10 is depicted in accordance
with
an illustrative embodiment. In this illustrative example, assembly fixture
1012 may
support fuselage assembly 1100 as fuselage assembly 1100 is built on assembly
fixture 1012.
Fuselage assembly 1100 may be an aft fuselage assembly that is an example
of one implementation for aft fuselage assembly 116 in Figure 1. Fuselage
assembly 1100 may be partially assembled in this illustrative example.
Fuselage
assembly 1100 may be at an early stage of assembly in this example.
At this stage of the assembly process, fuselage assembly 1100 includes end
panel 1101 and plurality of keel panels 1102. End panel 1101 may have a
tapered
cylindrical shape in this illustrative example. In this manner, one portion of
end panel
1101 may form part of the keel 1105 for fuselage assembly 1100, another
portion of
end panel 1101 may form part of the sides (not fully shown) for fuselage
assembly
1100, and yet another portion of end panel 1101 may form part of a crown (not
fully
shown) for fuselage assembly 1100.
Further, as depicted, bulkhead 1103 may be associated with end panel 1101.
Bulkhead 1103 may be a pressure bulkhead. Bulkhead 1103 may be an example of
one implementation for bulkhead 272 in Figure 2.
Plurality of keel panels 1102 include keel panel 1104, keel panel 1106, and
keel panel 1108. End panel 1101 and plurality of keel panels 1102 have been
engaged with assembly fixture 1012. In particular, end panel 1101 has been
engaged with fixture 904. Keel panel 1104, keel panel 1106, and keel panel
1108
have been engaged with cradle fixture 906, cradle fixture 908, and cradle
fixture 910,
respectively.
In one illustrative example, end panel 1101 is first engaged with fixture 904
with keel panel 1104, keel panel 1106, and keel panel 1108 then being
successively
engaged with cradle fixture 906, cradle fixture, 908, and cradle fixture 910,
respectively. In this manner, keel 1105 of fuselage assembly 1100 may be
assembled in a direction from the aft end of fuselage assembly 1100 to the
forward
end of fuselage assembly 1100.
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Each of cradle fixture 906, cradle fixture 908, and cradle fixture 910 may be
at
least one of autonomously or manually adjusted, as needed, to accommodate
plurality of keel panels 1102 such that fuselage assembly 1100 may be built to
meet
outer mold line requirements and inner mold line requirements within selected
tolerances. In some cases, at least one of cradle fixture 906, cradle fixture
908, and
cradle fixture 910 may have at least one retaining structure that can be
adjusted to
adapt to the shifting of fuselage assembly 1100 during the assembly process
due to
increased loading as fuselage assembly 1100 is built.
As depicted, members 1111 may be associated with end panel 1101 and
plurality of keel panels 1102. Members 1111 may include frames and stringers
in
this illustrative example. However, depending on the implementation, members
1111
may also include, without limitation, stiffeners, stanchions, intercostal
structural
members, connecting members, other types of structural members, or some
combination thereof. The connecting members may include, for example, without
limitation, shear clips, ties, splices, intercostal connecting members, other
types of
mechanical connecting members, or some combination thereof.
The portion of members 1111 attached to end panel 1101 may form support
section 1110. The portions of members 1111 attached to keel panel 1104, keel
panel 1106, and keel panel 1108 may form support section 1112, support section
1114, and support section 1116, respectively.
In this illustrative example, end panel 1101 may form fuselage section 1118
for fuselage assembly 1100. Each of keel panel 1104, keel panel 1106, and keel
panel 1108 may form a portion of fuselage section 1120, fuselage section 1122,
and
fuselage section 1124, respectively, for fuselage assembly 1100. Fuselage
section
1118, fuselage section 1120, fuselage section 1122, and fuselage section 1124
may
together form plurality of fuselage sections 1125 for fuselage assembly 1100.
Each
of fuselage section 1118, fuselage section 1120, fuselage section 1122, and
fuselage
section 1124 may be an example of one implementation for fuselage section 207
in
Figure 2.
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End panel 1101 and plurality of keel panels 1102 may be temporarily
connected together using temporary fasteners such as, for example, without
limitation, tack fasteners. In particular, end panel 1101 and plurality of
keel panels
1102 may be temporarily connected to each other as each of the panels is
engaged
with assembly fixture 1012 and other panels.
For example, without limitation, coordination holes (not shown) may be
present at the edges of end panel 1101 and each of plurality of keel panels
1102. In
some cases, a coordination hole may pass through a panel and at least one of
members 1111 associated with the panel. Engaging one panel with another panel
may include aligning these coordination holes such that temporary fasteners,
such as
tack fasteners, may be installed in these coordination holes. In some cases,
engaging one panel with another panel may include aligning a coordination hole
through one panel with a coordination hole through one of members 1111
associated
with another panel.
In yet another illustrative example, engaging a first panel with another panel
may include aligning the edges of the two panels to form a butt splice. These
two
panels may then be temporarily connected together by aligning a first number
of
coordination holes in, for example, a splice plate, with a corresponding
number of
holes on the first panel and aligning a second number of coordination holes in
that
splice plate with a corresponding number of holes on the second panel.
Temporary
fasteners may then be inserted through these aligned coordination holes to
temporarily connect the first panel to the second panel.
In this manner, panels and members may be engaged with each other and
temporarily connected together in a number of different ways. Once end panel
1101
and plurality of keel panels 1102 have been temporarily connected together,
assembly fixture 1012 may help maintain the position and orientation of end
panel
1101 and each of plurality of keel panels 1102 relative to each other.
Turning now to Figure 12, an illustration of an isometric view of another
stage
in the assembly process for building a fuselage assembly is depicted in
accordance
with an illustrative embodiment. In this illustrative example, cargo floor
1200 has
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been added to fuselage assembly 1100. In particular, cargo floor 1200 may be
associated with plurality of keel panels 1102.
As depicted, at least a portion of cargo floor 1200 may be substantially level
with bottom platform 807 of first tower 800. In particular, at least the
portion of cargo
floor 1200 nearest first tower 800 may be substantially aligned with bottom
platform
807 of first tower 800. In this manner, a human operator (not shown) may use
bottom platform 807 of first tower 800 to easily walk onto cargo floor 1200
and
access interior 1201 of fuselage assembly 1100.
As depicted, first side panels 1202 and second side panels 1204 have been
added to fuselage assembly 1100. First side panels 1202 and second side panels
1204 may be an example of one implementation for first side panels 224 and
second
side panels 226, respectively, in Figure 2. First side panels 1202, second
side
panels 1204, and a first and second portion of end panel 1101 may form sides
1205
of fuselage assembly 1100. In this illustrative example, plurality of keel
panels 1102,
end panel 1101, first side panels 1202, and second side panels 1204 may all be
temporarily connected together using, for example, without limitation, tack
fasteners.
First side panels 1202 may include side panel 1206, side panel 1208, and side
panel 1210 that have been engaged with and temporarily connected to keel panel
1104, keel panel 1106, and keel panel 1108, respectively. Similarly, second
side
panels 1204 may include side panel 1212, side panel 1214, and side panel 1216
that
have been engaged with and temporarily connected to keel panel 1104, keel
panel
1106, and keel panel 1108, respectively. Further, both side panel 1206 and
side
panel 1212 have been engaged with end panel 1101.
As depicted, members 1218 may be associated with first side panels 1202.
Other members (not shown) may be similarly associated with second side panels
1204. Members 1218 may be implemented in a manner similar to members 1111. In
this illustrative example, corresponding portion 1220 of members 1218 may be
associated with side panel 1206. Corresponding portion 1220 of members 1218
may
form support section 1222 associated with side panel 1206. Support section
1222
may be an example of one implementation for support section 238 in Figure 2.
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With reference now to Figure 13, an illustration of an isometric view of
another
stage in the assembly process for building a fuselage assembly is depicted in
accordance with an illustrative embodiment. In this illustrative example,
passenger
floor 1300 has been added to fuselage assembly 1100. As depicted, passenger
floor
1300 may be substantially level with top platform 806 of first tower 800.
Human
operator 1302 may use top platform 806 of first tower 800 to walk onto
passenger
floor 1300 and access interior 1201 of fuselage assembly 1100.
With reference now to Figure 14, an illustration of an isometric view of
another
stage in the assembly process for building a fuselage assembly is depicted in
accordance with an illustrative embodiment. In this illustrative example,
plurality of
crown panels 1400 have been added to fuselage assembly 1100. Plurality of
crown
panels 1400 may be an example of one implementation for crown panels 218 in
Figure 2.
In this illustrative example, plurality of crown panels 1400 may include crown
panel 1402, crown panel 1404, and crown panel 1406. These crown panels along
with a top portion of end panel 1101 may form crown 1407 of fuselage assembly
1100. Crown panel 1402 may be engaged with and temporarily connected to end
panel 1101, side panel 1206 shown in Figure 12, side panel 1212, and crown
panel
1404. Crown panel 1404 may be engaged with and temporarily connected to crown
panel 1402, crown panel 1406, side panel 1208 shown in Figure 12, and side
panel
1214. Further, crown panel 1406 may be engaged with and temporarily connected
to
crown panel 1404, side panel 1210, and side panel 1216.
Together, end panel 1101, plurality of keel panels 1102, first side panels
1202,
second side panels 1204, and plurality of crown panels 1400 may form plurality
of
panels 1408 for fuselage assembly 1100. Plurality of panels 1408 may be an
example of one implementation for plurality of panels 120 in Figure 1.
Plurality of panels 1408 may all be temporarily connected to each other such
that desired compliance with outer mold line requirements and inner mold line
requirements may be maintained during the building of fuselage assembly 1100.
In
other words, temporarily connecting plurality of panels 1408 to each other may
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enable outer mold line requirements and inner mold line requirements to be met
within selected tolerances during the building of fuselage assembly 1100 and,
in
particular, the joining of plurality of panels 1408 together.
Members (not shown) may be associated with plurality of crown panels 1400
in a manner similar to the manner in which members 1218 are associated with
first
side panels 1202. These members associated with plurality of crown panels 1400
may be implemented in a manner similar to members 1218 and members 1111 as
shown in Figures 12-13. The various members associated with end panel 1101,
plurality of keel panels 1102, plurality of crown panels 1400, first side
panels 1202,
and second side panels 1204 may form plurality of members 1410 for fuselage
assembly 1100. When plurality of panels 1408 are joined together, plurality of
members 1410 may form a support structure (not yet shown) for fuselage
assembly
1100, similar to support structure 131 in Figure 1.
After plurality of crown panels 1400 have been added to fuselage assembly
1100, first tower 800 may be autonomously decoupled from assembly fixture 1012
and utility fixture 726. First tower 800 may then be autonomously driven away
from
utility fixture 726 using, for example, without limitation, autonomous vehicle
816 in
Figure 8. In one illustrative example, first tower 800 may be autonomously
driven
back to holding environment 701 in Figure 7.
When first tower 800 is decoupled from assembly fixture 1012 and utility
fixture 726, a gap is formed in the distributed utility network. This gap may
be filled
using a second tower (not shown), implemented in a manner similar to second
tower
336 in Figure 3.
With reference now to Figure 15, an illustration of an isometric view of a
second tower coupled to utility fixture 726 and assembly fixture 1012
supporting
fuselage assembly 1100 from Figure 14 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, second tower 1500 has been
positioned
relative to assembly fixture 1012 and utility fixture 726. Second tower 1500
may be
an example of one implementation for second tower 336 in Figure 3.
CA 02895739 2015-06-25
Second tower 1500 may be autonomously driven across floor 703 using an
autonomous vehicle (not shown), similar to autonomous vehicle 816 in Figure 8.
Second tower 1500 may be autonomously driven into selected tower position 1518
relative to utility fixture 726. Selected tower position 1518 may be an
example of one
implementation for selected tower position 338 in Figure 3. In this
illustrative
example, selected tower position 1518 may be substantially the same as
selected
tower position 818 in Figure 8.
Once second tower 1500 has been autonomously driven into selected tower
position 1518, second tower 1500 may autonomously couple to utility fixture
726. In
particular, second tower 1500 may electrically and physically couple to
utility fixture
726 autonomously to form interface 1502. Interface 1502 may be another example
of one implementation for interface 342 in Figure 3. This type of coupling may
enable a number of utilities to flow from utility fixture 726 to second tower
1500.
Further, second tower 1500 may autonomously couple to cradle fixture 910,
thereby autonomously coupling to assembly fixture 1012, to form interface
1505.
Interface 1505 may enable the number of utilities to flow downstream from
second
tower 1500. In this manner, the number of utilities may flow from second tower
1500
to cradle fixture 910, to cradle fixture 908, and then to cradle fixture 906.
In this
manner, second tower 1500 may fill the gap in the distributed utility network
that was
created when first tower 800 in Figure 14 was decoupled from assembly fixture
1012
and utility fixture 726 and driven away.
Similar to first tower 800 in Figure 8, second tower 1500 may include base
structure 1504, top platform 1506, and bottom platform 1507. However, top
platform
1506 and bottom platform 1507 may be used to provide internal mobile platforms
with access to interior 1201 of fuselage assembly 1100 instead of human
operators.
In this illustrative example, internal mobile platform 1508 may be positioned
on
top platform 1506. Top platform 1506 may be substantially aligned with
passenger
floor 1300 such that internal mobile platform 1508 may be able to autonomously
drive
across top platform 1506 onto passenger floor 1300.
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Similarly, an internal mobile platform (not shown in this view) may be
positioned on bottom platform 1607. Bottom platform 1507 may be substantially
aligned with cargo floor 1200 (not shown in this view) from Figure 12 such
that this
other internal mobile platform (not shown in this view) may be able to
autonomously
drive across bottom platform 1507 onto the cargo floor. Internal mobile
platform
1508 and the other internal mobile platform (not shown in this view) may be
examples of implementations for internal mobile platform 406 in Figure 4.
As depicted, internal robotic device 1510 and internal robotic device 1512 may
be associated with internal mobile platform 1508. Although internal robotic
device
1510 and internal robotic device 1512 are shown associated with the same
internal
mobile platform 1508, in other illustrative examples, internal robotic device
1510 may
be associated with one internal mobile platform and internal robotic device
1512 may
be associated with another internal mobile platform. Each of internal robotic
device
1510 and internal robotic device 1512 may be an example of one implementation
for
internal robotic device 416 in Figure 4.
Internal robotic device 1510 and internal robotic device 1512 may be used to
perform operations within interior 1201 of fuselage assembly 1100 for joining
plurality
of panels 1408. For example, without limitation, internal robotic device 1510
and
internal robotic device 1512 may be used to perform fastening operations, such
as
riveting operations, within interior 1201 of fuselage assembly 1100.
In one illustrative example, utility box 1520 may be associated with base
structure 1504. Utility box 1520 may manage the number of utilities received
from
utility fixture 726 through interface 1502 and may distribute these utilities
into utility
cables that are managed using cable management system 1514 and cable
management system 1516.
As depicted in this example, cable management system 1514 may be
associated with top platform 1506 and cable management system 1516 may be
associated with bottom platform 1507. Cable management system 1514 and cable
management system 1516 may be implemented similarly.
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Cable management system 1514 may include cable wheels 1515 and cable
management system 1516 may include cable wheels 1517. Cable wheels 1515 may
be used to spool utility cables that are connected to internal mobile platform
1508.
For example, without limitation, cable wheels 1515 may be biased in some
manner to
substantially maintain a selected amount of tension in the utility cables.
This biasing
may be achieved using, for example, one or more spring mechanisms.
As internal mobile platform 1508 moves away from second tower 1500 along
passenger floor 1300, the utility cables may extend from cable wheels 1515 to
maintain utility support to internal mobile platform 1508 and manage the
utility cables
such that they do not become tangled. Cable wheels 1517 may be implemented in
a
manner similar to cable wheels 1515.
By using cable wheels 1515 to spool the utility cables, the utility cables may
be kept off of internal mobile platform 1508, thereby reducing the weight of
internal
mobile platform 1508 and the load applied by internal mobile platform 1508 to
passenger floor 1300. The number of utilities provided to internal mobile
plafform
1508 may include, for example, without limitation, electricity, air, water,
hydraulic
fluid, communications, some other type of utility, or some combination
thereof.
With reference now to Figure 16, an illustration of an isometric cutaway view
of a plurality of mobile platforms performing fastening processes within
interior 1201
of fuselage assembly 1100 is depicted in accordance with an illustrative
embodiment.
In this illustrative example, plurality of mobile platforms 1600 may be used
to perform
fastening processes to join plurality of panels 1408 together.
In particular, plurality of panels 1408 may be joined together at selected
locations along fuselage assembly 1100. Plurality of panels 1408 may be joined
to
form at least one of lap joints, butt joints, or other types of joints. In
this manner,
plurality of panels 1408 may be joined such that at least one of
circumferential
attachment, longitudinal attachment, or some other type of attachment is
created
between the various panels of plurality of panels 1408.
As depicted, plurality of mobile plafforms 1600 may include internal mobile
plafform 1508 and internal mobile platform 1601. Internal mobile platform 1508
and
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internal mobile platform 1601 may be an example of one implementation for
number
of internal mobile platforms 402 in Figure 4. Internal mobile platform 1508
may be
configured to move along passenger floor 1300, while internal mobile platform
1601
may be configured to move along cargo floor 1200.
As depicted, internal robotic device 1602 and internal robotic device 1604 may
be associated with internal mobile platform 1601. Each of internal robotic
device
1602 and internal robotic device 1604 may be an example of one implementation
for
internal robotic device 416 in Figure 4. Internal robotic device 1602 and
internal
robotic device 1604 may be similar to internal robotic device 1510 and
internal
robotic device 1512.
Plurality of mobile platforms 1600 may also include external mobile platform
1605 and external mobile platform 1607. External mobile platform 1605 and
external
mobile platform 1607 may be an example of one implementation for at least a
portion
of number of external mobile platforms 400 in Figure 4. External mobile
platform
1605 and external mobile platform 1607 may be examples of implementations for
external mobile platform 404 in Figure 4.
External robotic device 1606 may be associated with external mobile platform
1605. External robotic device 1608 may be associated with external mobile
platform
1607. Each of external robotic device 1606 and external robotic device 1608
may be
an example of one implementation for external robotic device 408 in Figure 4.
As depicted, external robotic device 1606 and internal robotic device 1512
may work collaboratively to install fasteners autonomously in fuselage
assembly
1100. These fasteners may take the form of, for example, without limitation,
at least
one of rivets, interference-fit bolts, non-interference-fit bolts, or other
types of
fasteners or fastener systems. Similarly, external robotic device 1608 and
internal
robotic device 1604 may work collaboratively to install fasteners autonomously
in
fuselage assembly 1100. As one illustrative example, end effector 1610 of
internal
robotic device 1512 and end effector 1612 of external robotic device 1606 may
be
positioned relative to a same location 1620 on fuselage assembly 1100 to
perform a
fastening process at location 1620, such as fastening process 424 in Figure 4.
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CA 02895739 2015-06-25
The fastening process may include at least one of, for example, without
limitation, a drilling operation, a fastener insertion operation, a fastener
installation
operation, an inspection operation, or some other type of operation. The
fastener
installation operation may take the form of, for example, without limitation,
two-stage
riveting process 444 described in Figure 4, interference-fit bolt-type
installation
process 439 described in Figure 4, bolt-nut type installation process 433
described in
Figure 4, or some other type of fastener installation operation.
In this illustrative example, autonomous vehicle 1611 may be fixedly
associated with external mobile platform 1605. Autonomous vehicle 1611 may be
used to drive external mobile platform 1605 autonomously. For example,
autonomous vehicle 1611 may be used to autonomously drive external mobile
platform 1605 across floor 703 of manufacturing environment 700 relative to
assembly fixture 1012.
Similarly, autonomous vehicle 1613 may be fixedly associated with external
mobile platform 1607. Autonomous vehicle 1613 may be used to drive external
mobile platform 1607 autonomously. For example, autonomous vehicle 1613 may be
used to autonomously drive external mobile platform 1607 across floor 703 of
manufacturing environment 700 relative to assembly fixture 1012.
By being fixedly associated with external mobile platform 1605 and external
mobile platform 1607, autonomous vehicle 1611 and autonomous vehicle 1613 may
be considered integral to external mobile platform 1605 and external mobile
plafform
1607, respectively. However, in other illustrative examples, these autonomous
vehicles may be independent of the external mobile platforms in other
illustrative
examples.
Once all fastening processes have been completed for fuselage assembly
1100, internal mobile platform 1508 and internal mobile platform 1601 may be
autonomously driven across passenger floor 1300 back onto top platform 1506
and
bottom platform 1507, respectively, of second tower 1500. Second tower 1500
may
then be autonomously decoupled from both utility fixture 726 and assembly
fixture
CA 02895739 2015-06-25
1012. Autonomous vehicle 1614 may then be used to autonomously drive or move
second tower 1500 away.
In this illustrative example, building of fuselage assembly 1100 may now be
considered completed for this stage in the overall assembly process for the
fuselage.
Consequently, assembly fixture 1012 may be autonomously driven across floor
703
to move fuselage assembly 1100 to some other location. In other illustrative
examples, first tower 800 from Figure 8 may be autonomously driven back into
selected tower position 818 in Figure 8 relative to utility fixture 726. First
tower 800
from Figure 8 may then be autonomously recoupled to utility fixture 726 and
assembly fixture 1012. First tower 800 from Figure 8 may enable a human
operator
(not shown) to access interior 1201 of fuselage assembly 1100 to perform other
operations including, but not limited to, at least one of inspection
operations,
fastening operations, system installation operations, or other types of
operations.
System installation operations may include operations for installing systems
such as,
for example, without limitation, at least one of a fuselage utility system, an
air
conditioning system, interior panels, electronic circuitry, some other type of
system,
or some combination thereof.
With reference now to Figure 17, an illustration of a cross-sectional view of
flexible manufacturing system 708 performing operations on fuselage assembly
1100
from Figure 16 is depicted in accordance with an illustrative embodiment. In
this
illustrative example, a cross-sectional view of fuselage assembly 1100 from
Figure
16 is depicted taken in the direction of lines 17-17 in Figure 16.
As depicted, internal mobile platform 1508 and internal mobile platform 1601
are performing operations within interior 1201 of fuselage assembly 1100.
External
mobile platform 1605 and external mobile platform 1607 are performing assembly
operations along exterior 1700 of fuselage assembly 1100.
In this illustrative example, external mobile platform 1605 may be used to
perform operations along portion 1702 of exterior 1700 between axis 1704 and
axis
1706 at first side 1710 of fuselage assembly 1100. External robotic device
1606 of
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CA 02895739 2015-06-25
external mobile platform 1605 may work collaboratively with internal robotic
device
1510 of internal mobile platform 1508 to perform fastening processes.
Similarly, external mobile plafform 1607 may be used to perform operations
along portion 1708 of exterior 1700 of fuselage assembly 1100 between axis
1704
and axis 1706 at second side 1712 of fuselage assembly 1100. External robotic
device 1608 of external mobile platform 1607 may work collaboratively with
internal
robotic device 1604 of internal mobile platform 1601 to perform fastening
processes.
Although external mobile platform 1605 is depicted as being located at first
side 1710 of fuselage assembly 1100, external mobile platform 1605 may be
autonomously driven by autonomous vehicle 1611 to second side 1712 of fuselage
assembly 1100 to perform operations along portion 1711 of exterior 1700 of
fuselage
assembly 1100 between axis 1704 and axis 1706. Similarly, external mobile
plafform
1607 may be autonomously driven by autonomous vehicle 1613 to second side 1712
of fuselage assembly 1100 to perform operations along portion 1713 of exterior
1700
of fuselage assembly 1100 between axis 1704 and axis 1706.
Although not shown in this illustrative example, an external mobile platform
similar to external mobile platform 1605 may have an external robotic device
configured to work collaboratively with internal robotic device 1512 of
internal mobile
platform 1508 at second side 1712 of fuselage assembly 1100. Similarly, an
external
mobile platform similar to external mobile platform 1607 may have an external
robotic
device configured to work collaboratively with internal robotic device 1602 of
internal
mobile platform 1601 at first side 1710 of fuselage assembly 1100.
These four different external mobile platforms and two internal mobile
platforms may be controlled such that the operations performed by internal
mobile
plafform 1508 located on passenger floor 1300 may occur at a different
location with
respect to the longitudinal axis of fuselage assembly 1100 than the operations
performed by internal mobile platform 1601 located on cargo floor 1200. The
four
external mobile platforms may be controlled such that the two external mobile
platforms located on the same side of fuselage assembly 1100 do not collide or
impede one another. The two external mobile platforms located at the same side
of
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fuselage assembly 1100 may be unable to occupy the same footprint in this
illustrative example.
In this illustrative example, external mobile platform 1605 may autonomously
couple to assembly fixture 1012 to form interface 1722 such that a number of
utilities
may flow from assembly fixture 1012 to external mobile platform 1605. In other
words, the number of utilities may be autonomously coupled between external
mobile
platform 1605 and assembly fixture 1012 through interface 1722. In particular,
external mobile platform 1605 has been coupled to cradle fixture 910 through
interface 1722.
Similarly, external mobile platform 1607 may autonomously couple to
assembly fixture 1012 to form interface 1724 such that a number of utilities
may flow
from assembly fixture 1012 to external mobile platform 1607. In other words,
the
number of utilities may be autonomously coupled between external mobile
platform
1607 and assembly fixture 1012 through interface 1724. In particular, external
mobile platform 1607 has been coupled to cradle fixture 910 through interface
1724.
As operations are performed along fuselage assembly 1100 by external
mobile platform 1605, external mobile platform 1607, and any other external
mobile
platforms, these external mobile platforms may be coupled to and decoupled
from
assembly fixture 1012 as needed. For example, external mobile platform 1607
may
decouple from cradle fixture 910 as external mobile platform 1607 moves
aftward
along fuselage assembly 1100 such that external mobile platform 1607 may then
autonomously couple to cradle fixture 908 (not shown) from Figures 9-16.
Further,
these external mobile platforms may be coupled to and decoupled from assembly
fixture 1012 to avoid collisions and prevent the external mobile platforms
from
impeding each other during maneuvering of the external mobile platforms
relative to
assembly fixture 1012 and fuselage assembly 1100.
As depicted, autonomous vehicle 1714 is shown positioned under the
assembly fixture 1012 formed by cradle system 900. In this illustrative
example,
autonomous vehicle 1714, autonomous vehicle 1611, and autonomous vehicle 1613
may have omnidirectional wheels 1716, omnidirectional wheels 1718, and
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CA 02895739 2015-06-25
omnidirectional wheels 1720, respectively. In some illustrative examples,
metrology
system 1726 may be used to help position external mobile platform 1605 and
external mobile platform 1607 relative to fuselage assembly 1100.
Turning now to Figure 18, an illustration of an isometric view of a fully
built
fuselage assembly is depicted in accordance with an illustrative embodiment.
In this
illustrative example, fuselage assembly 1100 may be considered completed when
plurality of panels 1408 have been fully joined.
In other words, all fasteners needed to join together plurality of panels 1408
have been fully installed. With plurality of panels 1408 joined together,
support
structure 1800 may be fully formed. Support structure 1800 may be an example
of
one implementation for support structure 121 in Figure 1. Fuselage assembly
1100,
which is an aft fuselage assembly, may now be ready for attachment to a
corresponding middle fuselage assembly (not shown) and forward fuselage
assembly
(not shown).
As depicted, autonomous vehicles (not shown in this view), similar to
autonomous vehicle 1614 shown in Figure 16, may be positioned under base 912
of
cradle fixture 906, base 914 of cradle fixture 908, and base 916 of cradle
fixture 910,
respectively. Autonomous vehicles, such as number of corresponding autonomous
vehicles 316 in Figure 3, may lift up base 912, base 914, and base 916,
respectively,
such that plurality of stabilizing members 924, plurality of stabilizing
members 926,
and plurality of stabilizing members 928, respectively, no longer contact the
floor.
These autonomous vehicles (not shown) may then autonomously drive cradle
system 900 carrying fuselage assembly 1100 that has been fully built away from
assembly environment 702 in Figure 7 and, in some cases, away from
manufacturing environment 700 in Figure 7. Computer-controlled movement of
these autonomous vehicles (not shown) may ensure that number of cradle
fixtures
902 maintain their positions relative to each other as fuselage assembly 1100
is
being moved.
With reference now to Figure 19, an illustration of an isometric view of
fuselage assemblies being built within manufacturing environment 700 is
depicted in
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accordance with an illustrative embodiment. In this illustrative example,
plurality of
fuselage assemblies 1900 are being built within plurality of work cells 712 in
manufacturing environment 700.
Plurality of fuselage assemblies 1900 may include plurality of forward
fuselage
assemblies 1901 being built in first portion 714 of plurality of work cells
712 and
plurality of aft fuselage assemblies 1902 being built in second portion 716 of
plurality
of work cells 712. Each of plurality of fuselage assemblies 1900 may be an
example
of one implementation for fuselage assembly 114 in Figure 1.
As depicted, plurality of fuselage assemblies 1900 are being built
concurrently.
However, plurality of fuselage assemblies 1900 are at different stages of
assembly in
this illustrative example.
Forward fuselage assembly 1904 may be an example of one of plurality of
forward fuselage assemblies 1901. Forward fuselage assembly 1904 may be an
example of one implementation for forward fuselage assembly 117 in Figure 1.
Aft
fuselage assembly 1905 may be an example of one of plurality of aft fuselage
assemblies 1902. Aft fuselage assembly 1905 may be an example of one
implementation for aft fuselage assembly 116 in Figure 1. In this illustrative
example, aft fuselage assembly 1905 may be at an earlier stage of assembly
than
forward fuselage assembly 1904.
Aft fuselage assembly 1906, which may be another example of an
implementation for aft fuselage assembly 116 in Figure 1, may be a fuselage
assembly with all panels joined. As depicted, aft fuselage assembly 1906 is
being
autonomously driven to some other location for a next stage in the overall
fuselage
and aircraft manufacturing process.
As described above, aft fuselage assembly 1905 may be partially assembled.
In this illustrative example, aft fuselage assembly 1905 has keel 1910, end
panel
1911, and first side 1912. End panel 1911 may form an end fuselage section of
aft
fuselage assembly 1905. As depicted, side panel 1914 may be added to aft
fuselage
assembly 1905 to build a second side of aft fuselage assembly 1905.
CA 02895739 2015-06-25
Forward fuselage assembly 1915 may be another example of one of plurality
of forward fuselage assemblies 1901. In this illustrative example, forward
fuselage
assembly 1915 has keel 1916 and end panel 1918. End panel 1918 may form an
end fuselage section of forward fuselage assembly 1915. As depicted, side
panel
1920 may be added to forward fuselage assembly 1915 to begin building a first
side
of forward fuselage assembly 1915.
With reference now to Figure 20, an illustration of an isometric view of a
portion of an autonomous vehicle is depicted in accordance with an
illustrative
embodiment. In this illustrative example, autonomous vehicle 2000 may be an
example of one implementation for one of plurality of autonomous vehicles 306
in
Figure 3. Further, autonomous vehicle 2000 may be an example of one
implementation for autonomous vehicle 601 in Figure 1.
As depicted, autonomous vehicle 2000 may have base 2001. Plurality of
wheel systems 2002 may be associated with base 2001. Base 2001 and plurality
of
wheel systems 2002 may be examples of implementations for base 602 and
plurality
of wheel systems 604, respectively, in Figure 6.
Plurality of wheel systems 2002 may include wheel system 2004 and wheel
system 2006. In this illustrative example, wheel system 2004 may take the form
of
passive wheel system 2005 and wheel system 2006 may take the form of drive
wheel
system 2007. Passive wheel system 2005 and drive wheel system 2007 may be
examples of implementations for passive wheel system 610 and drive wheel
system
612 in Figure 6.
Wheel system 2004 may include omnidirectional wheel 2008 and wheel
system 2006 may include omnidirectional wheel 2010. Omnidirectional wheel 2008
and omnidirectional wheel 2010 may be examples of implementations for
omnidirectional wheel 626 in Figure 6.
In this illustrative example, wheel system 2004 may be coupleable to and
decoupleable from base 2001 of vehicle 2000 at exterior 2012. Similarly, wheel
system 2006 may be coupleable to and decoupleable from base 2001 of vehicle
2000 at exterior 2012. Each of wheel system 2004 and wheel system 2006 may
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include a wheel arm assembly (not shown in this view) implemented in a manner
similar to wheel arm assembly 620 in Figure 6.
Turning now to Figures 21-23, illustrations of wheel system 2006 from Figure
20 are depicted in accordance with an illustrative embodiment. In Figure 21,
an
illustration of an enlarged isometric view of wheel system 2006 from Figure 20
without omnidirectional wheel 2010 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, an enlarged view of wheel system
2006
from Figure 20 is depicted taken in the direction of lines 21-21 in Figure 20
without
omnidirectional wheel 2010 in Figure 20. As depicted, portion 2100 of base
2001 is
shown in phantom view such that wheel motor 2102 may be seen.
In this illustrative example, wheel system 2006 may include wheel arm
assembly 2104 and hub assembly 2105. Wheel arm assembly 2104 and hub
assembly 2105 may be examples of implementations for wheel arm assembly 620
and hub assembly 622 in Figure 2. Wheel arm assembly 2104 may include retainer
bushing 2106 and wheel arm 2108. Retainer bushing 2106 is mounted to base 2001
by number of fasteners 2110. Number of fasteners 2110 may be an example of one
implementation for number of fasteners 658 in Figure 6.
As depicted, wheel arm axis 2112 and wheel axis 2114 may pass through
wheel arm assembly 2104. Wheel arm axis 2112 may be a geometric center axis
through wheel arm 2108. Wheel axis 2114 may be a center axis through
omnidirectional wheel 2010 in Figure 20 and hub assembly 2105.
Wheel arm 2108 may include first portion 2116 and second portion 2117. First
portion 2116 of wheel arm 2108 may be attached to damper 2118. As depicted,
damper 2118 may be attached to base 2001 directly. Damper 2118 may transfer
forces applied to omnidirectional wheel 2010 in Figure 20 during operation of
autonomous vehicle 2000 to base 2001. In particular, damper 2118 may be
integrated with a hydraulic system (not shown). Second portion 2117 of wheel
arm
2108 may be coupled to base 2001 through retainer bushing 2106.
Turning now to Figure 22, an illustration of a front view of wheel system 2006
from Figure 21 is depicted in accordance with an illustrative embodiment. In
this
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illustrative example, a front view of wheel system 2006 is depicted taken in
the
direction of lines 22-22 in Figure 21. In this illustrative example, the
attachment of
first portion 2116 of wheel arm 2108 to damper 2118 may be more clearly seen.
In Figure 23, an illustration of a cross-sectional view of wheel system 2006
coupled to base 2001 of vehicle 2000 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, a cross-sectional view of wheel
system
2006 from Figure 21 is depicted taken in the direction of lines 23-23 in
Figure 23.
As depicted, in addition to retainer bushing 2106 and wheel arm 2108, wheel
arm assembly 2104 may include sliding bushing 2300, plate 2302, set of
fasteners
2304, and bearing 2306. Sliding bushing 2300, plate 2302, set of fasteners
2304,
and bearing 2306 may be examples of implementations for sliding bushing 632,
plate
636, set of fasteners 652, and bearing 633, respectively, in Figure 6.
In this illustrative example, retaining structure 2308 may be seen. Retaining
structure 2308 may be integrated with base 2001 in this example. Retaining
structure 2308 may be an example of one implementation for retaining structure
614
in Figure 6. As depicted, retaining structure 2308 may have first end 2310,
second
end 2312, and first channel 2314 that extends from first end 2310 to second
end
2312. First end 2310, second end 2312, and first channel 2314 may be examples
of
implementations for first end 616, second end 618, and first channel 625 in
Figure 6.
Retainer bushing 2106 may be located within first channel 2314. Retainer
bushing 2106 has first end 2316, second end 2318, and second channel 2320 that
extends from first end 2316 to second end 2318. First end 2316, second end
2318,
and second channel 2320 may be examples of implementations for first end 638,
second end 640, and second channel 644 in Figure 6. Retainer bushing 2106 may
have flange 2315 at first end 2316 of retainer bushing 2106. Flange 2315 may
be an
example of one implementation for flange 642 in Figure 6.
Sliding bushing 2300 may be press-fit within second channel 2320 of retainer
bushing 2106. Sliding bushing 2300 may have first end 2322, second end 2324,
and
third channel 2326 that extends from first end 2322 to second end 2324. First
end
2322, second end 2324, and third channel 2326 may be examples of
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CA 02895739 2015-06-25
implementations for first end 647, second end 649, and third channel 648,
respectively, in Figure 6.
Wheel arm 2108 may be located with sliding bushing 2300. Wheel arm 2108
may have first end 2328 and second end 2330. Wheel arm 2108 may have first
portion 2332 located at first end 2328 and second portion 2334 located at
second
end 2330. First end 2328, second end 2330, first portion 2323, and second
portion
2334 may be examples of implementations for first end 653, second end 655,
first
portion 650, and second portion 651, respectively, from Figure 6.
First portion 2332 may be located within third channel 2326 of sliding bushing
2300. Second portion 2334 may protrude outside of third channel 2326 in a
direction
that extends past first end 2322 of sliding bushing 2300.
In this illustrative example, bearing 2306 may be located between wheel arm
2108 and retainer bushing 2106. In particular, bearing 2306 may overlap first
end
2322 of sliding bushing 2300 and at least partially overlap first end 2310 of
retainer
bushing 2106.
Plate 2302 may be fastened to first end 2328 of wheel arm 2108. Plate 2302
may fully overlap first end 2328 of wheel arm 2108 and second end 2324 of
sliding
bushing 2300 and at least partially overlap second end 2318 of retainer
bushing
2106. In this manner, fastening plate 2302 to wheel arm 2108 may attach wheel
arm
2108 to retaining structure 2308 such that wheel arm 2108 is not movable
relative to
retaining structure 2308.
Bearing 2306 may apply first force 2336 against first end 2316 of retainer
bushing 2106, while plate 2302 may apply second force 2338 against second end
2318 of retainer bushing 2106. In this manner, axial motion of wheel arm 2108
in a
direction substantially parallel to wheel axis 2114 shown in Figure 21 may be
prevented.
Further, number of fasteners 2110 may fasten retainer bushing 2106 to
retaining structure 2308. Number of fasteners 2110 may couple wheel arm
assembly
2104, and thereby wheel system 2006 to base 2001 of vehicle 2000. Wheel arm
assembly 2104 may be easily decoupled from base 2001 and removed from
retaining
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CA 02895739 2015-06-25
structure 2308 by removing number of fasteners 2110. When number of fasteners
2110 is removed and wheel arm assembly 2104 decoupled from retaining structure
2308, plate 2302 may freely move through and out of first channel 2314 of
retaining
structure 2308.
The illustrations of manufacturing environment 700 in Figures 7-23 are not
meant to imply physical or architectural limitations to the manner in which an
illustrative embodiment may be implemented. Other components in addition to or
in
place of the ones illustrated may be used. Some components may be optional.
The different components shown in Figures 7-23 may be illustrative examples
of how components shown in block form in Figures 1-6 can be implemented as
physical structures. Additionally, some of the components in Figures 7-23 may
be
combined with components in Figures 1-6, used with components in Figure 1-6,
or a
combination of the two.
With reference now to Figure 24, an illustration of a process for installing a
wheel arm assembly for a vehicle is depicted in the form of a flowchart in
accordance
with an illustrative embodiment. The process illustrated in Figure 24 may be
used to
install wheel arm assembly 620 for vehicle 600 in Figure 6.
The process may begin by inserting wheel arm assembly 620 into base 602 of
vehicle 600 from exterior 619 of base 602 (operation 2400). In some cases,
vehicle
600 may be autonomous vehicle 601 in Figure 6. In operation 2400, wheel arm
assembly 620 may be inserted into first channel 625 of retaining structure 614
associated with base 602 in a direction from first end 616 of retaining
structure to
second end 628 of retaining structure 614.
Next, number of fasteners 658 may be installed at exterior 619 of base 602 to
attach wheel arm assembly 620 to base 602 of vehicle 600 (operation 2402),
with the
process terminating thereafter. In operation 2402, number of fasteners 658 may
be
installed to attach retainer bushing 630 to first end 616 of retaining
structure 614,
where first end 616 is the externally-facing, or outboard-facing end, of
retaining
structure 614.
CA 02895739 2015-06-25
First end 616 of retaining structure 614 may be easily accessible without
having to disassemble any components of base 602 of vehicle 600. In this
manner,
wheel arm assembly 620 may be coupleable to base 602 of vehicle 600 without
requiring disassembly of vehicle 600 or taking vehicle 600 out of service.
With reference now to Figure 25, an illustration of a process for removing a
wheel arm assembly from a vehicle is depicted in the form of a flowchart in
accordance with an illustrative embodiment. The process illustrated in Figure
25
may be used to remove wheel arm assembly 620 from vehicle 600 in Figure 6.
The process may begin by removing number of fasteners 658 that attach
wheel arm assembly 620 to base 602 of vehicle 600 from exterior 619 of base
602 of
vehicle 600 (operation 2500). In particular, in operation 2500, number of
fasteners
658 that attach retainer bushing 630 to retaining structure 614 at first end
616 of
retaining structure 614 may be removed.
In some cases, vehicle 600 may be autonomous vehicle 601 in Figure 6.
Next, wheel arm assembly 620 may be removed from base 602 of vehicle 600
(operation 2502), with the process terminating thereafter. In operation 2502,
retainer
bushing 630 may be pulled out of retaining structure 614 associated with base
602.
With reference now to Figure 26, an illustration of a process for assembling
and installing a wheel arm assembly for an autonomous vehicle is depicted in
the
form of a flowchart in accordance with an illustrative embodiment. The process
illustrated in Figure 26 may be used to assemble and install, for example,
without
limitation, wheel arm assembly 620 for autonomous vehicle 601 in Figure 6.
The process may begin by inserting sliding bushing 632 into retainer bushing
630 at first end 638 of retainer bushing 630 to press-fit 646 sliding bushing
632 within
retainer bushing 630 (operation 2600). Next, bearing 633 may be positioned the
first
end 638 of retainer bushing 630 (operation 2602). Then, wheel arm 634 may be
inserted into sliding bushing 632 at first end 638 of retainer bushing 630
such that
first portion 650 of wheel arm 634 is located within sliding bushing 632, such
that
second portion 651 of wheel arm 634 extends past first end 638 of retainer
bushing
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630, and such that bearing 633 contacts wheel arm 634, sliding bushing 634,
and
first end 638 of retainer bushing 630 (operation 2604).
Thereafter, plate 636 may be attached to wheel arm 634 at second end 640 of
retainer bushing 630 using set of fasteners 652 such that plate 636 at least
partially
overlaps second end 640 of retainer bushing 630 and such that sliding bushing
632,
retainer bushing 630, wheel arm 634, and plate 636 together form wheel arm
assembly 620 (operation 2606). Next, wheel arm assembly 620 may be inserted
into
retaining structure 614 associated with base 602 of autonomous vehicle 601 in
a
direction from first end 616 of retaining structure 614 to second end 618 of
retaining
structure 614 (operation 2608).
Then, number of fasteners 658 may be installed to attach first end 638 of
retainer bushing 630 of wheel arm assembly 620 to first end 616 of retaining
structure (operation 2610), with the process terminating thereafter. With this
type of
process, wheel arm assembly 620 may be quickly and easily decoupled from
retaining structure 614 and thereby, autonomous vehicle 601, by removing
number of
fasteners 658.
The flowcharts and block diagrams in the different depicted embodiments
illustrate the architecture, functionality, and operation of some possible
implementations of apparatuses and methods in an illustrative embodiment. In
this
regard, each block in the flowcharts or block diagrams may represent a module,
a
segment, a function, and/or a portion of an operation or step.
In some alternative implementations of an illustrative embodiment, the
function
or functions noted in the blocks may occur out of the order noted in the
figures. For
example, in some cases, two blocks shown in succession may be executed
substantially concurrently, or the blocks may sometimes be performed in the
reverse
order, depending upon the functionality involved. Also, other blocks may be
added in
addition to the illustrated blocks in a flowchart or block diagram.
The illustrative embodiments of the disclosure may be described in the context
of aircraft manufacturing and service method 2700 as shown in Figure 27 and
aircraft 2800 as shown in Figure 28. Turning first to Figure 27, an
illustration of an
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CA 02895739 2015-06-25
aircraft manufacturing and service method is depicted in the form of a block
diagram
in accordance with an illustrative embodiment. During pre-production, aircraft
manufacturing and service method 2700 may include specification and design
2702
of aircraft 2800 in Figure 28 and material procurement 2704.
During production, component and subassembly manufacturing 2706 and
system integration 2708 of aircraft 2800 in Figure 28 takes place. Thereafter,
aircraft
2800 in Figure 28 may go through certification and delivery 2710 in order to
be
placed in service 2712. While in service 2712 by a customer, aircraft 2800 in
Figure
28 is scheduled for routine maintenance and service 2714, which may include
modification, reconfiguration, refurbishment, and other maintenance or
service.
Each of the processes of aircraft manufacturing and service method 2700 may
be performed or carried out by at least one of a system integrator, a third
party, or an
operator. In these examples, the operator may be a customer. For the purposes
of
this description, a system integrator may include, without limitation, any
number of
aircraft manufacturers and major-system subcontractors; a third party may
include,
without limitation, any number of vendors, subcontractors, and suppliers; and
an
operator may be an airline, a leasing company, a military entity, a service
organization, and so on.
With reference now to Figure 28, an illustration of an aircraft is depicted in
the
form of a block diagram in which an illustrative embodiment may be
implemented. In
this example, aircraft 2800 is produced by aircraft manufacturing and service
method
2700 in Figure 27 and may include airframe 2802 with plurality of systems 2804
and
interior 2806. Examples of systems 2804 include one or more of propulsion
system
2808, electrical system 2810, hydraulic system 2812, and environmental system
2814. Any number of other systems may be included. Although an aerospace
example is shown, different illustrative embodiments may be applied to other
industries, such as the automotive industry.
Apparatuses and methods embodied herein may be employed during at least
one of the stages of aircraft manufacturing and service method 2700 in Figure
27. In
particular, flexible manufacturing system 106 from Figure 1 may be used to
build at
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CA 02895739 2015-06-25
least a portion of airframe 2802 of aircraft 2800 during any one of the stages
of
aircraft manufacturing and service method 2700. For example, without
limitation,
flexible manufacturing system 106 from Figure 1 may be used during at least
one of
component and subassembly manufacturing 2706, system integration 2708, or some
other stage of aircraft manufacturing and service method 2700 to form a
fuselage for
aircraft 2800.
In one illustrative example, components or subassemblies produced in
component and subassembly manufacturing 2706 in Figure 27 may be fabricated or
manufactured in a manner similar to components or subassemblies produced
while aircraft 2800 is in service 2712 in Figure 27. As yet another example,
one or
more apparatus embodiments, method embodiments, or a combination thereof may
be utilized during production stages, such as component and subassembly
manufacturing 2706 and system integration 2708 in Figure 27. One or more
apparatus embodiments, method embodiments, or a combination thereof may be
utilized while aircraft 2800 is in service 2712, during maintenance and
service 2714 in
Figure 27, or both. The use of a number of the different illustrative
embodiments may
substantially expedite the assembly of and reduce the cost of aircraft 2800.
The description of the different illustrative embodiments has been presented
for purposes of illustration and description, and is not intended to be
exhaustive or
limited to the embodiments in the form disclosed. Many modifications and
variations
will be apparent to those of ordinary skill in the art. Further, different
illustrative
embodiments may provide different features as compared to other desirable
embodiments. The embodiment or embodiments selected are chosen and described
in order to best explain the principles of the embodiments, the practical
application,
and to enable others of ordinary skill in the art to understand the disclosure
for
various embodiments with various modifications as are suited to the particular
use
contemplated.
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