Note: Descriptions are shown in the official language in which they were submitted.
CA 02895820 2015-06-26
AUTONOMOUS FLEXIBLE MANUFACTURING SYSTEM FOR BUILDING A
FUSELAGE
RELATED PROVISIONAL APPLICATION
This application claims the benefit of U.S. Provisional Patent Application
Serial
No. 62/022,641, filed July 9, 2014, and entitled "Automated Flexible
Manufacturing
System for Building a Fuselage."
BACKGROUND INFORMATION
1. Field:
The present disclosure relates generally to aircraft and, in particular, to
building
the fuselage of an aircraft. Still more particularly, the present disclosure
relates to a
method, apparatus, and system for autonomously building a fuselage assembly
for an
aircraft.
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
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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.
With some currently available methods for building a fuselage assembly, the
fastening operations performed to assemble the skin panels and the support
members
together may be performed manually. For example, without limitation, a first
human
operator positioned at an exterior of the fuselage assembly and a second human
operator positioned at an interior of the fuselage assembly may use handheld
tools to
perform these fastening operations. In some cases, this type of manual
fastening
process may be more labor-intensive, time-consuming, ergonomically
challenging, or
expensive than desired. Further, some current assembly methods used to build
fuselages that involve manual fastening processes may not allow fuselages to
be built
in the desired assembly facilities or factories at desired assembly rates or
desired
assembly costs.
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 one illustrative embodiment, a method for building a fuselage assembly for
an aircraft may be provided. A number of fixtures may be driven across a floor
to an
assembly area to form an assembly fixture. The fuselage assembly may be built
on
the assembly fixture. In another illustrative embodiment, a flexible
manufacturing
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system may comprise a drivable tower and a number of drivable fixtures that
are
autonomously coupleable to the tower.
In yet another illustrative embodiment, a flexible manufacturing system may
comprise an assembly fixture and an autonomous panel joining system. The
assembly fixture may be comprised of a number of drivable cradle fixtures. The
autonomous panel joining system may join a plurality of panels together on the
assembly fixture.
In another illustrative embodiment, a method for establishing a distributed
utility
network may be provided. A tower may be driven across a floor into a selected
tower
position relative to a utility fixture. A number of utilities may be coupled
between the
tower and the utility fixture to establish the distributed utility network.
In yet another illustrative embodiment, a distributed utility network may
comprise a utility fixture and a drivable mobile system. The utility fixture
may be
fixedly associated with an assembly area. The drivable mobile system may be
coupled to the utility fixture such that a number of utilities is distributed
from the utility
fixture to the drivable mobile system.
In still another illustrative embodiment, a flexible manufacturing system may
comprise a utility fixture, a drivable tower, and a number of drivable cradle
fixtures.
The drivable tower may be autonomously coupleable with the utility fixture.
The
number of drivable cradle fixtures may be autonomously coupleable in series to
the
tower.
In another illustrative embodiment, a method for building a fuselage assembly
may be provided. A tower may be autonomously driven into a selected tower
position
relative to a utility fixture. The tower may be coupled to the utility fixture
autonomously
to enable a number of utilities to flow from the utility fixture to the tower.
A number of
cradle fixtures may be autonomously driven into a number of selected cradle
positions
relative to the tower to build an assembly fixture. The number of cradle
fixtures may
be coupled to the tower in series autonomously to enable a number of utilities
to flow
downstream from the tower to each of the number of cradle fixtures. A
plurality of
panels may be engaged for the fuselage assembly with the assembly fixture. The
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plurality of panels may be temporarily connected to each other to hold the
plurality of
panels in place relative to each other. The plurality of panels may be joined
together
to build the fuselage assembly using an autonomous tooling system while the
fuselage
assembly is being supported by the assembly fixture.
In another embodiment there is provided a method for building a fuselage
assembly for an aircraft. The method involves driving the assembly fixture to
an
assembly position proximate to a selected utility fixture of a plurality of
utility fixtures
associated with an assembly area. The assembly fixture will support at least a
portion
of the fuselage assembly in a designated portion of the assembly area. The
method
further involves forming an interface between the assembly fixture and the
selected
utility fixture to facilitate access to a plurality of utilities available
from the selected
utility fixture, at the assembly fixture and building the fuselage assembly on
the
assembly fixture.
In another embodiment there is provided a flexible manufacturing system
including a plurality of utility fixtures and a plurality of drivable fixtures
coupleable to a
selected utility fixture of the plurality of utility fixtures. The plurality
of drivable fixtures
includes: a drivable tower configured to form a tower interface with the
selected utility
fixture; and a drivable assembly fixture configured to form an assembly
interface with
the drivable tower to facilitate access to a plurality of utilities available
from the
selected utility fixture, at the drivable assembly fixture.
In another embodiment there is provided a flexible manufacturing system
including: a plurality of utility fixtures and an assembly fixture configured
to support a
plurality of panels. The assembly fixture is drivable to an assembly position
proximate
to a selected utility fixture of the plurality of utility fixtures and is
configured to form an
interface with the selected utility fixture to facilitate access to a
plurality of utilities
available from the selected utility fixture, at the assembly fixture. The
flexible
manufacturing system further includes an autonomous panel joining system that
joins
the plurality of panels together on the assembly fixture,
In another embodiment there is provided a method for establishing a
distributed
utility network. The method involves: driving a tower across a floor into a
selected
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tower position relative to a utility fixture; driving an assembly fixture
across the floor to
an assembly position relative to the tower; and coupling a plurality of
utilities between
the utility fixture, the tower and the assembly fixture to establish the
distributed utility
network.
In another embodiment there is provided a distributed utility network
including a
utility fixture fixedly associated with an assembly area and a drivable mobile
system
that is coupled to the utility fixture such that a plurality of utilities is
distributed from the
utility fixture to the drivable mobile system. The drivable mobile system
includes an
assembly fixture configured to form an interface with the utility fixture to
facilitate
access to the plurality of utilities at the assembly fixture.
In another embodiment there is provided a flexible manufacturing system
including a utility fixture, a drivable tower that is autonomously coupleable
with the
utility fixture, and a plurality of drivable cradle fixtures that are
autonomously
coupleable in series to the drivable tower such that a plurality of utilities
available from
the selected utility fixture is accessible at each of the plurality of
drivable cradle
features.
In another embodiment there is provided a method for building a fuselage
assembly. The method involves driving a tower autonomously into a selected
tower
position relative to a utility fixture, coupling the tower to the utility
fixture autonomously
to enable a plurality of utilities to flow from the utility fixture to the
tower, and driving a
plurality of cradle fixtures autonomously into a plurality of selected cradle
positions
relative to the tower to build an assembly fixture. The method further
involves: coupling
the plurality of cradle fixtures to the tower in series autonomously to enable
a plurality
of utilities to flow downstream from the tower to each of the plurality of
cradle fixtures;
engaging a plurality of panels for the fuselage assembly with the assembly
fixture;
connecting, temporarily, the plurality of panels to each other to hold the
plurality of
panels in place relative to each other; and joining the plurality of panels
together to
build the fuselage assembly using an autonomous tooling system while the
fuselage
assembly is being supported by the assembly fixture.
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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.
BRIEF DESCRIPTION OF THE DRAWINGS
The illustrative embodiments may 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;
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Figure 6 is an illustration of an isometric view of a manufacturing
environment
in accordance with an illustrative embodiment;
Figure 7 is an illustration of a first tower coupled to a utility fixture;
Figure 8 is an illustration of an isometric view of a cradle system in
accordance
with an illustrative embodiment;
Figure 9 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 10 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 11 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 12 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 13 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 14 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 15 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 16 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;
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Figure 17 is an illustration of an isometric view of a fully built fuselage
assembly
in accordance with an illustrative embodiment;
Figure 18 is an illustration of an isometric view of fuselage assemblies being
built within a manufacturing environment in accordance with an illustrative
embodiment;
Figure 19 is an illustration of a process for building a fuselage assembly in
the
form of a flowchart in accordance with an illustrative embodiment;
Figure 20 is an illustration of a process for establishing a distributed
utility
network in the form of a flowchart in accordance with an illustrative
embodiment;
Figure 21 is an illustration of a process for building a fuselage assembly in
the
form of a flowchart in accordance with an illustrative embodiment;
Figure 22 is an illustration of a process for joining a plurality of panels
together
in the form of a flowchart in accordance with an illustrative embodiment;
Figure 23 is an illustration of a process for establishing a distributed
utility
network in the form of a flowchart in accordance with an illustrative
embodiment;
Figure 24 is an illustration of a data processing system in the form of a
block
diagram in accordance with an illustrative embodiment;
Figure 25 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 26 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
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recognize and take into account that automating the process of building a
fuselage
assembly may improve the accuracy and precision with which assembly operations
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
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autonomously drivable platform may be a platform that is capable of driving or
being
driven substantially independently of human input.
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-
5,
illustrations of a manufacturing environment are depicted in the form of block
diagrams
in accordance with an illustrative embodiment. In particular, in Figures 1-5,
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.
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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
CA 02895820 2015-06-26
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 of" 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,
and ten of
item C; four of item B and seven of item C; or some other suitable
combination.
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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 of" 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.
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
CA 02895820 2015-06-26
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 to each of
plurality of mobile systems 134 downstream of utility fixture 150 in the
series of
autonomous couplings of the mobile systems.
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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
flexible manufacturing system 154 may together form flexible fuselage
manufacturing
system 158.
17
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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-
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
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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 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
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CA 02895820 2015-06-26
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
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
CA 02895820 2015-06-26
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
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
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CA 02895820 2015-06-26
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.
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
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CA 02895820 2015-06-26
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.
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).
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CA 02895820 2015-06-26
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
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
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CA 02895820 2015-06-26
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
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,
CA 02895820 2015-06-26
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.
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
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CA 02895820 2015-06-26
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.
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
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CA 02895820 2015-06-26
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.
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.
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CA 02895820 2015-06-26
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.
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
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CA 02895820 2015-06-26
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
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.
CA 02895820 2015-06-26
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
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
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CA 02895820 2015-06-26
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
plafform 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 plafform to
access and enter interior 236 of fuselage assembly 114.
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
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CA 02895820 2015-06-26
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
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
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CA 02895820 2015-06-26
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
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
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CA 02895820 2015-06-26
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.
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.
CA 02895820 2015-06-26
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
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.
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CA 02895820 2015-06-26
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 plafform 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 platform 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.
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.
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CA 02895820 2015-06-26
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 rivefing 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 relafive 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-
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
38
CA 02895820 2015-06-26
attached to internal mobile plafform 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
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 plafform 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
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CA 02895820 2015-06-26
fuselage assembly 114. In this manner, second tool 419 may be macro-positioned
into internal position 422 using internal mobile plafform 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
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.
CA 02895820 2015-06-26
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 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
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CA 02895820 2015-06-26
426 at exterior 234 of fuselage assembly 114. Internal mobile plafform 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.
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
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CA 02895820 2015-06-26
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.
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.
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The illustrations in Figures 1-5 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 332 may be
drivable with
human guidance.
With reference now to Figure 6, an illustration of an isometric view of a
manufacturing environment is depicted in accordance with an illustrative
embodiment.
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In this illustrative example, manufacturing environment 600 may be an example
of one
implementation for manufacturing environment 100 in Figure 1.
As depicted, manufacturing environment 600 may include holding environment
601 and assembly environment 602. Holding environment 601 may be a designated
area on and over floor 603 of manufacturing environment 600 for storing
plurality of
flexible manufacturing systems 606 when plurality of flexible manufacturing
systems
606 are not in use. Each of plurality of flexible manufacturing systems 606
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
606 may be an example of one implementation for autonomous flexible
manufacturing
system 112 in Figure 1.
Holding environment 601 may include plurality of holding cells 604. In this
illustrative example, each of plurality of holding cells 604 may be considered
an
example of one implementation for holding area 318 in Figure 3. In other
illustrative
examples, the entire holding environment 601 may be considered an example of
one
implementation for holding area 318 in Figure 3.
Each of plurality of flexible manufacturing systems 606 may be stored in a
corresponding one of plurality of holding cells 604. In particular, each of
plurality of
holding cells 604 may be designated for a specific one of plurality of
flexible
manufacturing systems 606. However, in other illustrative examples, any one of
plurality of holding cells 604 may be used for storing any one of plurality of
flexible
manufacturing systems 606.
As depicted, flexible manufacturing system 608 may be an example of one of
plurality of flexible manufacturing systems 606. Flexible manufacturing system
608
may include plurality of mobile systems 611, which may be an example of one
implementation for plurality of mobile systems 134 in Figures 1 and 3.
Flexible manufacturing system 608 may be stored in holding cell 610 of
plurality
of holding cells 604. In this example, all of holding environment 601 may be
considered an example of one implementation for holding area 318 in Figure 3.
However, in other examples, each of plurality of holding cells 604 in holding
CA 02895820 2015-06-26
environment 601 may be considered an example of one implementation for holding
area 318 in Figure 3.
Floor 603 of manufacturing environment 600 may be substantially smooth to
allow the various components and systems of plurality of flexible
manufacturing
systems 606 to be autonomously driven across floor 603 of manufacturing
environment 600 with ease. When one of plurality of flexible manufacturing
systems
606 is ready for use, that flexible manufacturing system may be driven across
floor
603 from holding environment 601 into assembly environment 602.
Assembly environment 602 may be the designated area on and above floor 603
for building fuselage assemblies. When none of plurality of flexible
manufacturing
systems 606 are in use, floor 603 of assembly environment 602 may be kept
substantially open and substantially clear.
As depicted, assembly environment 602 may include plurality of work cells 612.
In one illustrative example, each of plurality of work cells 612 may be an
example of
one implementation for assembly area 304 in Figure 3. Thus, each of plurality
of work
cells 612 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 602 may be
considered
an example of one implementation for assembly area 304 in Figure 3.
In this illustrative example, first portion 614 of plurality of work cells 612
may be
designated for building forward fuselage assemblies, such as forward fuselage
assembly 117 in Figure 1, while second portion 616 of plurality of work cells
612 may
be designated for building aft fuselage assemblies, such as aft fuselage
assembly 116
in Figure 1. In this manner, plurality of work cells 612 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 612.
In one illustrative example, plurality of mobile systems 611 that belong to
flexible manufacturing system 608 may be driven across floor 603 from holding
cell
610 into work cell 613. Within work cell 613, plurality of mobile systems 611
may be
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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 608 is
described in greater detail in Figures 7-17 below.
In some illustrative examples, a sensor system may be associated with one or
more of plurality of work cells 612. For example, without limitation, in some
cases,
sensor system 618 may be associated with work cell 619 of plurality of work
cells 612.
Sensor data generated by sensor system 618 may be used to help drive the
various
mobile systems of the corresponding one of plurality of flexible manufacturing
systems
606 designated for building a fuselage assembly within work cell 619. In one
illustrative example, sensor system 618 may take the form of metrology system
620.
Depending on the implementation, sensor system 618 may be optional. For
example, without limitation, other sensor systems are not depicted associated
with
other work cells of plurality of work cells 612. Not using sensors systems
such as
sensor system 618 may help keep floor 603 of manufacturing environment 600
more
open and clear to help the various mobile systems of plurality of flexible
manufacturing
systems 606 be driven more freely across floor 603.
As depicted, plurality of utility fixtures 624 may be permanently affixed to
floor
603. Each of plurality of utility fixtures 624 may be an example of one
implementation
for utility fixture 150 in Figure 1.
Plurality of utility fixtures 624 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 603. Utility fixture 626 may be an
example of
one of plurality of utility fixtures 624.
In this illustrative example, each of plurality of utility fixtures 624 is
located in a
corresponding one of plurality of work cells 612. Any one of plurality of
flexible
manufacturing systems 606 may be driven towards and interfaced with any one of
plurality of utility fixtures 624. In this manner, plurality of utility
fixtures 624 may be
used to provide one or more utilities to plurality of flexible manufacturing
systems 606.
Referring now to Figures 7-17, illustrations of the building of a fuselage
assembly within manufacturing environment 600 from Figure 6 are depicted in
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CA 02895820 2015-06-26
accordance with an illustrative embodiment. In Figures 7-17, flexible
manufacturing
system 608 from Figure 6 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 612
in Figure 6. For example, without limitation, the building of the fuselage
assembly
may be performed within one of the work cells in second portion 616 of
plurality of
work cells 612 in Figure 6.
Turning now to Figure 7, an illustration of an isometric view of a first tower
coupled to utility fixture 626 from Figure 6 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, first tower 700 may be coupled to
utility
fixture 626. First tower 700 may be an example of one of plurality of mobile
systems
611 of flexible manufacturing system 608 in Figure 6. In particular, first
tower 700
may be an example of one implementation for first tower 334 in Figure 1.
First tower 700 may be at least one of electrically and physically coupled to
utility fixture 626 such that interface 702 is formed between first tower 700
and utility
fixture 626. Interface 702 may be an example of one implementation for
interface 342
in Figure 3.
As depicted, first tower 700 may have base structure 704. Base structure 704
may include top platform 706 and bottom platform 707. In some cases, top
platform
706 and bottom platform 707 may be referred to as top platform level and a
bottom
platform level, respectively. Top platform 706 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 707 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.
In this illustrative example, walkway 708 may provide access from a floor,
such
as floor 603 in Figure 6, to bottom platform 707. Walkway 710 may provide
access
from bottom platform 707 to top platform 706. Railing 712 is associated with
top
platform 706 for the protection of a human operator moving around on top
platform
706. Railing 714 is associated with bottom platform 707 for the protection of
a human
operator moving around on bottom platform 707.
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First tower 700 may be autonomously driven across floor 603 using
autonomous vehicle 716. Autonomous vehicle 716 may be an automated guided
vehicle (AGV) in this example. Autonomous vehicle 716 may be an example of one
of
plurality of autonomous vehicles 306 in Figure 3. As depicted, autonomous
vehicle
716 may be used to drive first tower 700 from holding environment 601 in
Figure 6 to
selected tower position 718 relative to utility fixture 626. Selected tower
position 718
may be an example of one implementation for selected tower position 338 in
Figure 3.
Once first tower 700 has been autonomously driven into selected tower position
718, first tower 700 may autonomously couple to utility fixture 626. In
particular, first
tower 700 may electrically and physically couple to utility fixture 626
autonomously to
form interface 702. This type of coupling may enable a number of utilities to
flow from
utility fixture 626 to first tower 700. In this manner, first tower 700 and
utility fixture 626
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 8, an illustration of an isometric view of a
cradle
system is depicted in accordance with an illustrative embodiment. In this
illustrative
example, cradle system 800 may be an example of one implementation for cradle
system 308 in Figure 3. Further, cradle system 800 may be an example of one of
plurality of mobile systems 611 of flexible manufacturing system 608 in Figure
6. In
this manner, cradle system 800 may be an example of one of plurality of mobile
systems 611 that are stored in holding cell 610 in Figure 6.
As depicted, cradle system 800 may be comprised of number of fixtures 803.
Number of fixtures 803 may be an example of one implementation for number of
fixtures 313 in Figure 3. Number of fixtures 803 may include number of cradle
fixtures
802 and fixture 804. Number of cradle fixtures 802 may be an example of one
implementation for number of cradle fixtures 314 in Figure 3.
Number of cradle fixtures 802 may include cradle fixture 806, cradle fixture
808,
and cradle fixture 810. Fixture 804 may be fixedly associated with cradle
fixture 806.
In this illustrative example, fixture 804 may be considered part of cradle
fixture 806.
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However, in other illustrative examples, fixture 804 may be considered a
separate
fixture from cradle fixture 806.
As depicted, cradle fixture 806, cradle fixture 808, and cradle fixture 810
have
base 812, base 814, and base 816, respectively. Number of retaining structures
818
may be associated with base 812. Number of retaining structures 820 may be
associated with base 814. Number of retaining structures 822 may be associated
with
base 816. Each of number of retaining structures 818, number of retaining
structures
820, and number of retaining structures 822 may be an example of an
implementation
for number of retaining structures 326 in Figure 3.
Each retaining structure in number of retaining structures 818, number of
retaining structures 820, and number of retaining structures 822 may have a
curved
shape that substantially matches a curvature of a corresponding fuselage
section to be
received by the retaining structure. Retaining structure 823 may be an example
of one
of number of retaining structures 820. As depicted, retaining structure 823
may have
curved shape 825.
Curved shape 825 may be selected such that curved shape 825 substantially
matches a curvature of a corresponding keel panel (not shown) that is to be
engaged
with retaining structure 823. More specifically, retaining structure 823 may
have a
substantially same radius of curvature as a corresponding keel panel (not
shown) that
is to be engaged with retaining structure 823.
In this illustrative example, plurality of stabilizing members 824, plurality
of
stabilizing members 826, and plurality of stabilizing members 828 may be
associated
with base 812, base 814, and base 816, respectively. Plurality of stabilizing
members
824, plurality of stabilizing members 826, and plurality of stabilizing
members 828 may
be used to stabilize base 812, base 814, and base 816, respectively, relative
to floor
603 of manufacturing environment 600.
In one illustrative example, these stabilizing members may keep their
respective
bases substantially level relative to floor 603. Further, each of plurality of
stabilizing
members 824, plurality of stabilizing members 826, and plurality of
stabilizing
members 828 may substantially support their respective base until that base is
to be
CA 02895820 2015-06-26
moved to a new location within or outside of manufacturing environment 600. In
one
illustrative example, each stabilizing member of plurality of stabilizing
members 824,
plurality of stabilizing members 826, and plurality of stabilizing members 828
may be
implemented using a hydraulic leg.
Each of number of fixtures 803 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 804
may have platform 830 associated with base 832. Platform 830 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 9, an illustration of an isometric view of an
assembly fixture formed using cradle system 800 from Figure 8 and coupled to
first
tower 700 from Figure 7 is depicted in accordance with an illustrative
embodiment. In
this illustrative example, cradle fixture 810 is coupled to first tower 700
and cradle
fixture 810, cradle fixture 806, and cradle fixture 808 are coupled to each
other.
Cradle fixture 810, cradle fixture 808, and cradle fixture 806 may have been
autonomously driven across floor 603 of manufacturing environment 600 to
selected
cradle position 900, selected cradle position 902, and selected cradle
position 904,
respectively, using a number of corresponding autonomous vehicles (not shown),
such
as number of corresponding autonomous vehicles 316 from Figure 3. Driving
cradle
fixture 806 may also cause fixture 804 to be driven when fixture 804 is part
of cradle
fixture 806 as shown. Selected cradle position 900, selected cradle position
902, and
selected cradle position 904 may be an example of one implementation for
number of
selected cradle positions 320 in Figure 3.
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After driving cradle fixture 810, cradle fixture 808, and cradle fixture 806
to
selected cradle position 900, selected cradle position 902, and selected
cradle position
904, 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 810, cradle fixture 808, and cradle fixture 806.
Selected cradle position 900 may be a position relative to selected tower
position 718 of first tower 700. When cradle fixture 810 is in selected cradle
position
900 relative to first tower 700, cradle fixture 810 may be electrically and
physically
coupled to first tower 700 to form interface 906. In some cases, cradle
fixture 810 may
be coupled to first tower 700 autonomously to form interface 906. In one
illustrative
example, interface 906 may be formed by autonomously coupling cradle fixture
810 to
first tower 700. Interface 906 may be an electrical and physical interface
that enables
a number of utilities that are flowing from utility fixture 626 to first tower
700 to also
flow to cradle fixture 810. In this manner, interface 906 may be formed by
autonomously coupling a number of utilities between cradle fixture 810 and
first tower
700. Interface 906 may be an example of one implementation for interface 340
in
Figure 3. In this illustrative example, cradle fixture 810, being coupled to
first tower
700, may be referred to as primary cradle fixture 911.
Further, as depicted, cradle fixture 806, cradle fixture 808, and cradle
fixture
810 may be coupled to each other. In particular, cradle fixture 808 may be
coupled to
cradle fixture 810 to form interface 908. Similarly, cradle fixture 806 may be
coupled
to cradle fixture 808 to form interface 910. In one illustrative example, both
interface
908 and interface 910 may be formed by autonomously coupling these cradle
fixtures
to each other.
In particular, interface 908 and interface 910 may take the form of electrical
and
physical interfaces that enable the number of utilities to flow from cradle
fixture 810, to
cradle fixture 808, and to cradle fixture 806. In this manner, interface 908
may be
formed by autonomously coupling the number of utilities between cradle fixture
810
and cradle fixture 808 and interface 910 may be formed by autonomously
coupling the
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CA 02895820 2015-06-26
number of utilities between cradle fixture 808 and cradle fixture 806. 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 626, first tower 700, cradle fixture 810, cradle
fixture
808, and cradle fixture 806 are all coupled in series as described above, the
number of
utilities may be distributed downstream from utility fixture 626 to first
tower 700, cradle
fixture 810, cradle fixture 808, and cradle fixture 806. In this illustrative
example, any
utilities that flow to cradle fixture 806 may also be distributed to fixture
804.
Any number of coupling units, structural members, connection devices, cables,
other types of elements, or combination thereof may be used to form interface
908 and
interface 910. Depending on the implementation, interface 908 and interface
910 may
take the form of coupling units that both physically and electrically connect
cradle
fixture 810, cradle fixture 808, and cradle fixture 806 to each other. In
other illustrative
examples, interface 908 and interface 910 may be implemented in some other
manner.
When cradle fixture 810, cradle fixture 808, and cradle fixture 806 are in
selected cradle position 900, selected cradle position 902, and selected
cradle position
904, respectively, and coupled to each other, these cradle fixtures together
form
assembly fixture 912. Assembly fixture 912 may be an example of one
implementation for assembly fixture 324 in Figure 3. In this manner, interface
906
between first tower 700 and cradle fixture 810 may also be considered an
electrical
and physical interface between first tower 700 and assembly fixture 912.
With reference now to Figure 10, an illustration of an isometric view of one
stage in the assembly process for building a fuselage assembly that is being
supported by assembly fixture 912 from Figure 9 is depicted in accordance with
an
illustrative embodiment. In this illustrative example, assembly fixture 912
may support
fuselage assembly 1000 as fuselage assembly 1000 is built on assembly fixture
912.
Fuselage assembly 1000 may be an aft fuselage assembly that is an example
of one implementation for aft fuselage assembly 116 in Figure 1. Fuselage
assembly
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1000 may be partially assembled in this illustrative example. Fuselage
assembly 1000
may be at an early stage of assembly in this example.
At this stage of the assembly process, fuselage assembly 1000 includes end
panel 1001 and plurality of keel panels 1002. End panel 1001 may have a
tapered
cylindrical shape in this illustrative example. In this manner, one portion of
end panel
1001 may form part of the keel 1005 for fuselage assembly 1000, another
portion of
end panel 1001 may form part of the sides (not fully shown) for fuselage
assembly
1000, and yet another portion of end panel 1001 may form part of a crown (not
fully
shown) for fuselage assembly 1000.
Further, as depicted, bulkhead 1003 may be associated with end panel 1001.
Bulkhead 1003 may be a pressure bulkhead. Bulkhead 1003 may be an example of
one implementation for bulkhead 272 in Figure 2.
Plurality of keel panels 1002 include keel panel 1004, keel panel 1006, and
keel
panel 1008. End panel 1001 and plurality of keel panels 1002 have been engaged
with assembly fixture 912. In particular, end panel 1001 has been engaged with
fixture
804. Keel panel 1004, keel panel 1006, and keel panel 1008 have been engaged
with
cradle fixture 806, cradle fixture 808, and cradle fixture 810, respectively.
In one illustrative example, end panel 1001 is first engaged with fixture 804
with
keel panel 1004, keel panel 1006, and keel panel 1008 then being successively
engaged with cradle fixture 806, cradle fixture, 808, and cradle fixture 810,
respectively. In this manner, keel 1005 of fuselage assembly 1000 may be
assembled
in a direction from the aft end of fuselage assembly 1000 to the forward end
of
fuselage assembly 1000.
Each of cradle fixture 806, cradle fixture 808, and cradle fixture 810 may be
at
least one of autonomously or manually adjusted, as needed, to accommodate
plurality
of keel panels 1002 such that fuselage assembly 1000 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 806, cradle fixture 808, and cradle
fixture
810 may have at least one retaining structure that can be adjusted to adapt to
the
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CA 02895820 2015-06-26
shifting of fuselage assembly 1000 during the assembly process due to
increased
loading as fuselage assembly 1000 is built.
As depicted, members 1011 may be associated with end panel 1001 and
plurality of keel panels 1002. Members 1011 may include frames and stringers
in this
illustrative example. However, depending on the implementation, members 1011
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 1011 attached to end panel 1001 may form support
section 1010. The portions of members 1011 attached to keel panel 1004, keel
panel
1006, and keel panel 1008 may form support section 1012, support section 1014,
and
support section 1016, respectively.
In this illustrative example, end panel 1001 may form fuselage section 1018
for
fuselage assembly 1000. Each of keel panel 1004, keel panel 1006, and keel
panel
1008 may form a portion of fuselage section 1020, fuselage section 1022, and
fuselage section 1024, respectively, for fuselage assembly 1000. Fuselage
section
1018, fuselage section 1020, fuselage section 1022, and fuselage section 1024
may
together form plurality of fuselage sections 1025 for fuselage assembly 1000.
Each of
fuselage section 1018, fuselage section 1020, fuselage section 1022, and
fuselage
section 1024 may be an example of one implementation for fuselage section 207
in
Figure 2.
End panel 1001 and plurality of keel panels 1002 may be temporarily connected
together using temporary fasteners such as, for example, without limitation,
tack
fasteners. In particular, end panel 1001 and plurality of keel panels 1002 may
be
temporarily connected to each other as each of the panels is engaged with
assembly
fixture 912 and other panels.
For example, without limitation, coordination holes (not shown) may be present
at the edges of end panel 1001 and each of plurality of keel panels 1002. In
some
CA 02895820 2015-06-26
cases, a coordination hole may pass through a panel and at least one of
members
1011 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 1011 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
1001
and plurality of keel panels 1002 have been temporarily connected together,
assembly
fixture 912 may help maintain the position and orientation of end panel 1001
and each
of plurality of keel panels 1002 relative to each other.
Turning now to Figure 11, 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
1100 has been
added to fuselage assembly 1000. In particular, cargo floor 1100 may be
associated
with plurality of keel panels 1002.
As depicted, at least a portion of cargo floor 1100 may be substantially level
with bottom platform 707 of first tower 700. In particular, at least the
portion of cargo
floor 1100 nearest first tower 700 may be substantially aligned with bottom
platform
707 of first tower 700. In this manner, a human operator (not shown) may use
bottom
platform 707 of first tower 700 to easily walk onto cargo floor 1100 and
access interior
1101 of fuselage assembly 1000.
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As depicted, first side panels 1102 and second side panels 1104 have been
added to fuselage assembly 1000. First side panels 1102 and second side panels
1104 may be an example of one implementation for first side panels 224 and
second
side panels 226, respectively, in Figure 2. First side panels 1102, second
side panels
1104, and a first and second portion of end panel 1001 may form sides 1105 of
fuselage assembly 1000. In this illustrative example, plurality of keel panels
1002, end
panel 1001, first side panels 1102, and second side panels 1104 may all be
temporarily connected together using, for example, without limitation, tack
fasteners.
First side panels 1102 may include side panel 1106, side panel 1108, and side
panel 1110 that have been engaged with and temporarily connected to keel panel
1004, keel panel 1006, and keel panel 1008, respectively. Similarly, second
side
panels 1104 may include side panel 1112, side panel 1114, and side panel 1116
that
have been engaged with and temporarily connected to keel panel 1004, keel
panel
1006, and keel panel 1008, respectively. Further, both side panel 1106 and
side panel
1112 have been engaged with end panel 1001.
As depicted, members 1118 may be associated with first side panels 1102.
Other members (not shown) may be similarly associated with second side panels
1104. Members 1118 may be implemented in a manner similar to members 1011. In
this illustrative example, corresponding portion 1120 of members 1118 may be
associated with side panel 1106. Corresponding portion 1120 of members 1118
may
form support section 1122 associated with side panel 1106. Support section
1122 be
an example of one implementation for support section 238 in Figure 2.
With reference 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,
passenger
floor 1200 has been added to fuselage assembly 1000. As depicted, passenger
floor
1200 may be substantially level with top platform 706 of first tower 700.
Human
operator 1202 may use top platform 706 of first tower 700 to walk onto
passenger floor
1200 and access interior 1101 of fuselage assembly 1000.
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CA 02895820 2015-06-26
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,
plurality of
crown panels 1300 have been added to fuselage assembly 1000. Plurality of
crown
panels 1300 may be an example of one implementation for crown panels 218 in
Figure 2.
In this illustrative example, plurality of crown panels 1300 may include crown
panel 1302, crown panel 1304, and crown panel 1306. These crown panels along
with
a top portion of end panel 1001 may form crown 1307 of fuselage assembly 1000.
Crown panel 1302 may be engaged with and temporarily connected to end panel
1001, side panel 1106 shown in Figure 11, side panel 1112, and crown panel
1304.
Crown panel 1304 may be engaged with and temporarily connected to crown panel
1302, crown panel 1306, side panel 1108 shown in Figure 11, and side panel
1114.
Further, crown panel 1306 may be engaged with and temporarily connected to
crown
panel 1304, side panel 1110, and side panel 1116.
Together, end panel 1001, plurality of keel panels 1002, first side panels
1102,
second side panels 1104, and plurality of crown panels 1300 may form plurality
of
panels 1308 for fuselage assembly 1000. Plurality of panels 1308 may be an
example
of one implementation for plurality of panels 120 in Figure 1.
Plurality of panels 1308 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 1000.
In
other words, temporarily connecting plurality of panels 1308 to each other may
enable
outer mold line requirements and inner mold line requirements to be met within
selected tolerances during the building of fuselage assembly 1000 and, in
particular,
the joining of plurality of panels 1308 together.
Members (not shown) may be associated with plurality of crown panels 1300 in
a manner similar to the manner in which members 1118 are associated with first
side
panels 1102. These members associated with plurality of crown panels 1300 may
be
implemented in a manner similar to members 1118 and members 1011 as shown in
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CA 02895820 2015-06-26
Figures 11-12. The various members associated with end panel 1001, plurality
of
keel panels 1002, plurality of crown panels 1300, first side panels 1102, and
second
side panels 1104 may form plurality of members 1310 for fuselage assembly
1000.
When plurality of panels 1308 are joined together, plurality of members 1310
may form
a support structure (not yet shown) for fuselage assembly 1000, similar to
support
structure 121 in Figure 1.
After plurality of crown panels 1300 have been added to fuselage assembly
1000, first tower 700 may be autonomously decoupled from assembly fixture 912
and
utility fixture 626. First tower 700 may then be autonomously driven away from
utility
fixture 626 using, for example, without limitation, autonomous vehicle 716 in
Figure 7.
In one illustrative example, first tower 700 may be autonomously driven back
to
holding environment 601 in Figure 6.
When first tower 700 is decoupled from assembly fixture 912 and utility
fixture
626, 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 14, an illustration of an isometric view of a
second tower coupled to utility fixture 626 and assembly fixture 912
supporting
fuselage assembly 1000 from Figure 13 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, second tower 1400 has been
positioned
relative to assembly fixture 912 and utility fixture 626. Second tower 1400
may be an
example of one implementation for second tower 336 in Figure 3.
Second tower 1400 may be autonomously driven across floor 603 using an
autonomous vehicle (not shown), similar to autonomous vehicle 716 in Figure 7.
Second tower 1400 may be autonomously driven into selected tower position 1418
relative to utility fixture 626. Selected tower position 1418 may be an
example of one
implementation for selected tower position 338 in Figure 3.
In this illustrative
example, selected tower position 1418 may be substantially the same as
selected
tower position 718 in Figure 7.
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Once second tower 1400 has been autonomously driven into selected tower
position 1418, second tower 1400 may autonomously couple to utility fixture
626. In
particular, second tower 1400 may electrically and physically couple to
utility fixture
626 autonomously to form interface 1402. Interface 1402 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 626 to second tower 1400.
Further, second tower 1400 may autonomously couple to cradle fixture 810,
thereby autonomously coupling to assembly fixture 912, to form interface 1405.
Interface 1405 may enable the number of utilities to flow downstream from
second
tower 1400. In this manner, the number of utilities may flow from second tower
1400
to cradle fixture 810, to cradle fixture 808, and then to cradle fixture 806.
In this
manner, second tower 1400 may fill the gap in the distributed utility network
that was
created when first tower 700 in Figure 13 was decoupled from assembly fixture
912
and utility fixture 626 and driven away.
Similar to first tower 700 in Figure 7, second tower 1400 may include base
structure 1404, top platform 1406, and bottom platform 1407. However, top
plafform
1406 and bottom platform 1407 may be used to provide internal mobile platforms
with
access to interior 1101 of fuselage assembly 1000 instead of human operators.
In this illustrative example, internal mobile platform 1408 may be positioned
on
top platform 1406. Top platform 1406 may be substantially aligned with
passenger
floor 1200 such that internal mobile platform 1408 may be able to autonomously
drive
across top platform 1406 onto passenger floor 1200.
Similarly, an internal mobile platform (not shown in this view) may be
positioned
on bottom platform 1407. Bottom platform 1407 may be substantially aligned
with
cargo floor 1100 (not shown in this view) from Figure 11 such that this other
internal
mobile platform (not shown in this view) may be able to autonomously drive
across
bottom platform 1407 onto the cargo floor. Internal mobile platform 1408 and
the other
internal mobile platform (not shown in this view) may be examples of
implementations
for internal mobile platform 406 in Figure 4.
CA 02895820 2015-06-26
As depicted, internal robotic device 1410 and internal robotic device 1412 may
be associated with internal mobile platform 1408. Although internal robotic
device
1410 and internal robotic device 1412 are shown associated with the same
internal
mobile platform 1408, in other illustrative examples, internal robotic device
1410 may
be associated with one internal mobile platform and internal robotic device
1412 may
be associated with another internal mobile platform. Each of internal robotic
device
1410 and internal robotic device 1412 may be an example of one implementation
for
internal robotic device 416 in Figure 4.
Internal robotic device 1410 and internal robotic device 1412 may be used to
perform operations within interior 1101 of fuselage assembly 1000 for joining
plurality
of panels 1308. For example, without limitation, internal robotic device 1410
and
internal robotic device 1412 may be used to perform fastening operations, such
as
riveting operations, within interior 1101 of fuselage assembly 1000.
In one illustrative example, utility box 1420 may be associated with base
structure 1404. Utility box 1420 may manage the number of utilities received
from
utility fixture 626 through interface 1402 and may distribute these utilities
into utility
cables that are managed using cable management system 1414 and cable
management system 1416.
As depicted in this example, cable management system 1414 may be
associated with top platform 1406 and cable management system 1416 may be
associated with bottom platform 1407. Cable management system 1414 and cable
management system 1416 may be implemented similarly.
Cable management system 1414 may include cable wheels 1415 and cable
management system 1416 may include cable wheels 1417. Cable wheels 1415 may
be used to spool utility cables that are connected to internal mobile platform
1408. For
example, without limitation, cable wheels 1415 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 1408 moves away from second tower 1400 along
passenger floor 1200, the utility cables may extend from cable wheels 1415 to
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maintain utility support to internal mobile platform 1408 and manage the
utility cables
such that they do not become tangled. Cable wheels 1417 may be implemented in
a
manner similar to cable wheels 1415.
By using cable wheels 1415 to spool the utility cables, the utility cables may
be
kept off of internal mobile platform 1408, thereby reducing the weight of
internal mobile
platform 1408 and the load applied by internal mobile platform 1408 to
passenger floor
1200. The number of utilities provided to internal mobile platform 1408 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 15, an illustration of an isometric cutaway view
of
a plurality of mobile platforms performing fastening processes within interior
1101 of
fuselage assembly 1000 is depicted in accordance with an illustrative
embodiment. In
this illustrative example, plurality of mobile platforms 1500 may be used to
perform
fastening processes to join plurality of panels 1308 together.
In particular, plurality of panels 1308 may be joined together at selected
locations along fuselage assembly 1000. Plurality of panels 1308 may be joined
to
form at least one of lap joints, butt joints, or other types of joints. In
this manner,
plurality of panels 1308 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 1308.
As depicted, plurality of mobile platforms 1500 may include internal mobile
platform 1408 and internal mobile platform 1501. Internal mobile platform 1408
and
internal mobile platform 1501 may be an example of one implementation for
number of
internal mobile platforms 402 in Figure 4. Internal mobile platform 1408 may
be
configured to move along passenger floor 1200, while internal mobile platform
1501
may be configured to move along cargo floor 1100.
As depicted, internal robotic device 1502 and internal robotic device 1504 may
be associated with internal mobile platform 1501. Each of internal robotic
device 1502
and internal robotic device 1504 may be an example of one implementation for
internal
robotic device 416 in Figure 4. Internal robotic device 1502 and internal
robotic
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device 1504 may be similar to internal robotic device 1410 and internal
robotic device
1412.
Plurality of mobile platforms 1500 may also include external mobile platform
1505 and external mobile platform 1507. External mobile platform 1505 and
external
mobile platform 1507 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 1505
and external mobile platform 1507 may be examples of implementations for
external
mobile platform 404 in Figure 4.
External robotic device 1506 may be associated with external mobile platform
1505. External robotic device 1508 may be associated with external mobile
platform
1507. Each of external robotic device 1506 and external robotic device 1508
may be
an example of one implementation for external robotic device 408 in Figure 4.
As depicted, external robotic device 1506 and internal robotic device 1412 may
work collaboratively to install fasteners autonomously in fuselage assembly
1000.
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 1508 and internal robotic
device
1504 may work collaboratively to install fasteners autonomously in fuselage
assembly
1000. As one illustrative example, end effector 1510 of internal robotic
device 1412
and end effector 1512 of external robotic device 1506 may be positioned
relative to a
same location 1520 on fuselage assembly 1000 to perform a fastening process at
location 1520, such as fastening process 424 in Figure 4.
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.
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In this illustrative example, autonomous vehicle 1511 may be fixedly
associated
with external mobile platform 1505. Autonomous vehicle 1511 may be used to
drive
external mobile platform 1505 autonomously. For example, autonomous vehicle
1511
may be used to autonomously drive external mobile platform 1505 across floor
603 of
manufacturing environment 600 relative to assembly fixture 912.
Similarly, autonomous vehicle 1513 may be fixedly associated with external
mobile plafform 1507. Autonomous vehicle 1513 may be used to drive external
mobile
platform 1507 autonomously. For example, autonomous vehicle 1513 may be used
to
autonomously drive external mobile platform 1507 across floor 603 of
manufacturing
environment 600 relative to assembly fixture 912.
By being fixedly associated with external mobile platform 1505 and external
mobile plafform 1507, autonomous vehicle 1511 and autonomous vehicle 1513 may
be considered integral to external mobile platform 1505 and external mobile
platform
1507, respectively. However, in other illustrative examples, these
autonomous
vehicles may be independent of the external mobile plafforms in other
illustrative
examples.
Once all fastening processes have been completed for fuselage assembly
1000, internal mobile platform 1408 and internal mobile platform 1501 may be
autonomously driven across passenger floor 1200 back onto top platform 1406
and
bottom platform 1407, respectively, of second tower 1400. Second tower 1400
may
then be autonomously decoupled from both utility fixture 626 and assembly
fixture
912. Autonomous vehicle 1514 may then be used to autonomously drive or move
second tower 1400 away.
In this illustrative example, building of fuselage assembly 1000 may now be
considered completed for this stage in the overall assembly process for the
fuselage.
Consequently, assembly fixture 912 may be autonomously driven across floor 603
to
move fuselage assembly 1000 to some other location. In other illustrative
examples,
first tower 700 from Figure 7 may be autonomously driven back into selected
tower
position 718 in Figure 7 relative to utility fixture 626. First tower 700 from
Figure 7
may then be autonomously recoupled to utility fixture 626 and assembly fixture
912.
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CA 02895820 2015-06-26
First tower 700 from Figure 7 may enable a human operator (not shown) to
access
interior 1101 of fuselage assembly 1000 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 16, an illustration of a cross-sectional view of
flexible manufacturing system 608 performing operations on fuselage assembly
1000
from Figure 15 is depicted in accordance with an illustrative embodiment. In
this
illustrative example, a cross-sectional view of fuselage assembly 1000 from
Figure 15
is depicted taken in the direction of lines 16-16 in Figure 15.
As depicted, internal mobile plafform 1408 and internal mobile platform 1501
are performing operations within interior 1101 of fuselage assembly 1000.
External
mobile platform 1505 and external mobile platform 1507 are performing assembly
operations along exterior 1600 of fuselage assembly 1000.
In this illustrative example, external mobile platform 1505 may be used to
perform operations along portion 1602 of exterior 1600 between axis 1604 and
axis
1606 at first side 1610 of fuselage assembly 1000. External robotic device
1506 of
external mobile platform 1505 may work collaboratively with internal robotic
device
1410 of internal mobile platform 1408 to perform fastening processes.
Similarly, external mobile platform 1507 may be used to perform operations
along portion 1608 of exterior 1600 of fuselage assembly 1000 between axis
1604 and
axis 1606 at second side 1612 of fuselage assembly 1000. External robotic
device
1508 of external mobile platform 1507 may work collaboratively with internal
robotic
device 1504 of internal mobile platform 1501 to perform fastening processes.
Although external mobile platform 1505 is depicted as being located at first
side
1610 of fuselage assembly 1000, external mobile platform 1505 may be
autonomously
driven by autonomous vehicle 1511 to second side 1612 of fuselage assembly
1000 to
perform operations along portion 1611 of exterior 1600 of fuselage assembly
1000
CA 02895820 2015-06-26
between axis 1604 and axis 1606. Similarly, external mobile platform 1507 may
be
autonomously driven by autonomous vehicle 1513 to second side 1612 of fuselage
assembly 1000 to perform operations along portion 1613 of exterior 1600 of
fuselage
assembly 1000 between axis 1604 and axis 1606.
Although not shown in this illustrative example, an external mobile platform
similar to external mobile platform 1505 may have an external robotic device
configured to work collaboratively with internal robotic device 1412 of
internal mobile
platform 1408 at second side 1612 of fuselage assembly 1000. Similarly, an
external
mobile platform similar to external mobile platform 1507 may have an external
robotic
device configured to work collaboratively with internal robotic device 1502 of
internal
mobile platform 1501 at first side 1610 of fuselage assembly 1000.
These four different external mobile platforms and two internal mobile
platforms
may be controlled such that the operations performed by internal mobile
platform 1408
located on passenger floor 1200 may occur at a different location with respect
to the
longitudinal axis of fuselage assembly 1000 than the operations performed by
internal
mobile platform 1501 located on cargo floor 1100. The four external mobile
platforms
may be controlled such that the two external mobile platforms located on the
same
side of fuselage assembly 1000 do not collide or impede one another. The two
external mobile platforms located at the same side of fuselage assembly 1000
may be
unable to occupy the same footprint in this illustrative example.
In this illustrative example, external mobile platform 1505 may autonomously
couple to assembly fixture 912 to form interface 1622 such that a number of
utilities
may flow from assembly fixture 912 to external mobile platform 1505. In other
words,
the number of utilities may be autonomously coupled between external mobile
platform
1505 and assembly fixture 912 through interface 1622. In particular, external
mobile
platform 1505 has been coupled to cradle fixture 810 through interface 1622.
Similarly, external mobile platform 1507 may autonomously couple to assembly
fixture 912 to form interface 1624 such that a number of utilities may flow
from
assembly fixture 912 to external mobile platform 1507. In other words, the
number of
utilities may be autonomously coupled between external mobile platform 1507
and
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CA 02895820 2015-06-26
assembly fixture 912 through interface 1624. In particular, external mobile
platform
1507 has been coupled to cradle fixture 810 through interface 1624.
As operations are performed along fuselage assembly 1000 by external mobile
platform 1505, external mobile platform 1507, and any other external mobile
plafforms,
these external mobile platforms may be coupled to and decoupled from assembly
fixture 912 as needed. For example, external mobile platform 1507 may decouple
from cradle fixture 810 as external mobile platform 1507 moves aftward along
fuselage
assembly 1000 such that external mobile platform 1507 may then autonomously
couple to cradle fixture 808 (not shown) from Figures 8-15. Further, these
external
mobile platforms may be coupled to and decoupled from assembly fixture 912 to
avoid
collisions and prevent the external mobile platforms from impeding each other
during
maneuvering of the external mobile platforms relative to assembly fixture 912
and
fuselage assembly 1000.
As depicted, autonomous vehicle 1614 is shown positioned under the assembly
fixture 912 formed by cradle system 800. In this illustrative example,
autonomous
vehicle 1614, autonomous vehicle 1511, and autonomous vehicle 1513 may have
omnidirectional wheels 1616, omnidirectional wheels 1618, and omnidirectional
wheels 1620, respectively. In some illustrative examples, metrology system
1626 may
be used to help position external mobile platform 1505 and external mobile
platform
1507 relative to fuselage assembly 1000.
Turning now to Figure 17, 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 1000 may be considered completed when
plurality of panels 1308 have been fully joined.
In other words, all fasteners needed to join together plurality of panels 1308
have been fully installed. With plurality of panels 1308 joined together,
support
structure 1700 may be fully formed. Support structure 1700 may be an example
of
one implementation for support structure 121 in Figure 1. Fuselage assembly
1000,
which is an aft fuselage assembly, may now be ready for attachment to a
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CA 02895820 2015-06-26
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 1514 shown in Figure 15, may be positioned under base 812
of
cradle fixture 806, base 814 of cradle fixture 808, and base 816 of cradle
fixture 810,
respectively. Autonomous vehicles, such as number of corresponding autonomous
vehicles 316 in Figure 3, may lift up base 812, base 814, and base 816,
respectively,
such that plurality of stabilizing members 824, plurality of stabilizing
members 826, and
plurality of stabilizing members 828, respectively, no longer contact the
floor.
These autonomous vehicles (not shown) may then autonomously drive cradle
system 800 carrying fuselage assembly 1000 that has been fully built away from
assembly environment 602 in Figure 6 and, in some cases, away from
manufacturing
environment 600 in Figure 6. Computer-controlled movement of these autonomous
vehicles (not shown) may ensure that number of cradle fixtures 802 maintain
their
positions relative to each other as fuselage assembly 1000 is being moved.
With reference now to Figure 18, an illustration of an isometric view of
fuselage
assemblies being built within manufacturing environment 600 is depicted in
accordance with an illustrative embodiment. In this illustrative example,
plurality of
fuselage assemblies 1800 are being built within plurality of work cells 612 in
manufacturing environment 600.
Plurality of fuselage assemblies 1800 may include plurality of forward
fuselage
assemblies 1801 being built in first portion 614 of plurality of work cells
612 and
plurality of aft fuselage assemblies 1802 being built in second portion 616 of
plurality
of work cells 612. Each of plurality of fuselage assemblies 1800 may be an
example
of one implementation for fuselage assembly 114 in Figure 1.
As depicted, plurality of fuselage assemblies 1800 are being built
concurrently.
However, plurality of fuselage assemblies 1800 are at different stages of
assembly in
this illustrative example.
Forward fuselage assembly 1804 may be an example of one of plurality of
forward fuselage assemblies 1801. Forward fuselage assembly 1804 may be an
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CA 02895820 2015-06-26
example of one implementation for forward fuselage assembly 117 in Figure 1.
Aft
fuselage assembly 1805 may be an example of one of plurality of aft fuselage
assemblies 1802. Aft fuselage assembly 1805 may be an example of one
implementation for aft fuselage assembly 116 in Figure 1. In this illustrative
example,
aft fuselage assembly 1805 may be at an earlier stage of assembly than forward
fuselage assembly 1804.
Aft fuselage assembly 1806, 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 1806 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 1805 may be partially assembled.
In this illustrative example, aft fuselage assembly 1805 has keel 1810, end
panel
1811, and first side 1812. End panel 1811 may form an end fuselage section of
aft
fuselage assembly 1805. As depicted, side panel 1814 may be added to aft
fuselage
assembly 1805 to build a second side of aft fuselage assembly 1805.
Forward fuselage assembly 1815 may be another example of one of plurality of
forward fuselage assemblies 1801. In this illustrative example, forward
fuselage
assembly 1815 has keel 1816 and end panel 1818. End panel 1818 may form an end
fuselage section of forward fuselage assembly 1815. As depicted, side panel
1820
may be added to forward fuselage assembly 1815 to begin building a first side
of
forward fuselage assembly 1815.
The illustrations of manufacturing environment 600 in Figures 6-18 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 6-18 may be illustrative examples
of how components shown in block form in Figures 1-5 can be implemented as
physical structures. Additionally, some of the components in Figures 6-18 may
be
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CA 02895820 2015-06-26
combined with components in Figures 1-5, used with components in Figure 1-5,
or a
combination of the two.
Turning now to Figure 19, an illustration of a process for building a fuselage
assembly is depicted in the form of a flowchart in accordance with an
illustrative
embodiment. The process illustrated in Figure 19 may be implemented using
flexible
manufacturing system 106 in Figure 1. In particular, plurality of mobile
systems 134 in
Figure 3 may be used.
The process may begin by driving number of fixtures 313 autonomously across
floor 300 to assembly area 304 to form assembly fixture 324 (operation 1900).
Number of fixtures 313 may take the form of number of cradle fixtures 314.
Next,
fuselage assembly 114 may be built on assembly fixture 324 (operation 1902),
with the
process terminating thereafter.
Turning now to Figure 20, an illustration of a process for establishing a
distributed utility network is depicted in the form of a flowchart in
accordance with an
illustrative embodiment. The process illustrated in Figure 20 may be
implemented
using flexible manufacturing system 106 in Figure 1 to form distributed
utility network
144 in Figure 1.
The process may begin by driving tower 332 autonomously across floor 300
into selected tower position 338 relative to utility fixture 150 within
selected tolerances
(operation 2000). Tower 332 may be coupled to utility fixture 150 to establish
distributed utility network 144 such that number of utilities 146 flow from
utility fixture
150 to tower 332 (operation 2002).
Next, assembly fixture 324 may be coupled to the tower to add assembly fixture
324 to distributed utility network 144 such that number of utilities 146 flows
from tower
332 to assembly fixture 324 (operation 2004). Thereafter, number of external
mobile
platforms 400 may be coupled to number of utility units 500 associated with
assembly
fixture 324 to add number of external mobile plafforms 400 to distributed
utility network
144 such that number of utilities 146 may flow from assembly fixture 324
through
number of utility units 500 to number of external mobile platforms 400
(operation
2006), with the process terminating thereafter.
CA 02895820 2015-06-26
In some cases, when tower 332 takes the form of first tower 334, first tower
334
may provide a means for providing number of utilities 146 for use by human
operators.
In one illustrative example, tower 332 may allow a human operator to couple
one or
more devices to tower 332 to receive number of utilities 146. In this manner,
number
of utilities 146 may be coupled between tower 332 and any number of devices
usable
by a human operator such that these devices may be added to distributed
utility
network 144.
For example, without limitation, a human operator may be able to plug one or
more utility cables from a handheld device into one or more utility
connections
associated with tower 332 or a utility box associated with tower. Once the
handheld
device is plugged in, the handheld device may become part of distributed
utility
network 144. The handheld device may take the form of, for example, without
limitation, a drill, a fastener insertion tool, a fastener installation tool,
an electric-
powered hammer, or some other type of handheld device or tool.
When tower 332 takes the form of second tower 336, number of internal mobile
platforms 402 located on second tower 336 may be automatically added to
distributed
utility network 144 by autonomously coupling number of utilities 146 between
second
tower 336 and utility fixture 150. In particular, number of utilities 146 may
flow
downstream, in series, from utility fixture 150, to second tower 336, and to
number of
internal mobile platforms 402.
Turning now to Figure 21, an illustration of a process for building a fuselage
assembly is depicted in the form of a flowchart in accordance with an
illustrative
embodiment. The process illustrated in Figure 21 may be implemented using
flexible
manufacturing system 106 in Figure 1 to form distributed utility network 144
in Figure
1.
The process may begin by driving tower 332 autonomously into selected tower
position 338 relative to utility fixture 150 within selected tolerances
(operation 2100).
Tower 332 may be coupled to utility fixture 150 autonomously to enable number
of
utilities 146 to flow from utility fixture 150 to tower 332 (operation 2102).
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Number of cradle fixtures 314 may be driven autonomously into number of
selected cradle positions relative to tower 332 within selected tolerances to
build
assembly fixture 324 (operation 2104). Number of cradle fixtures 314 may be
coupled
to tower 332 in series to enable number of utilities 146 to flow downstream
from tower
332 to each of number of cradle fixtures 314 (operation 2106). Next, plurality
of
panels 120 for fuselage assembly 114 may be engaged with assembly fixture 324
(operation 2108).
Plurality of panels 120 may be temporarily connected to each other to hold
plurality of panels 120 in place relative to each other (operation 2110).
Plurality of
panels 120 may be joined together to build fuselage assembly 114 using
autonomous
tooling system 312 while fuselage assembly 114 is being supported by assembly
fixture 324 (operation 2112), with the process terminating thereafter.
With reference now to Figure 22, an illustration of a process for joining a
plurality of panels together is depicted in the form of a flowchart in
accordance with an
illustrative embodiment. The process illustrated in Figure 22 may be an
example of
one manner in which operation 2112 in Figure 21 may be performed.
The process may begin by autonomously driving number of external mobile
platforms 400 autonomously across floor 300 towards assembly fixture 324
(operation
2200). Next, each of number of external mobile platforms 400 may be
autonomously
driven into an initial external position relative to fuselage assembly 114
being
supported by assembly fixture 324 (operation 2202). The initial external
position for
each of number of external mobile platforms 400 may be selected such that
number of
external mobile platforms 400 will not collide with or impede each other's
path as
number of external mobile platforms 400 move longitudinally along fuselage
assembly
114.
In one illustrative example, when fuselage assembly 114 takes the form of
forward fuselage assembly 117, a first external mobile platform may be
positioned at
the aftmost end of forward fuselage assembly 117 along first side 206 of
forward
fuselage assembly 117. In this example, the aftmost end of forward fuselage
assembly 117 may be located nearest to second tower 336 coupled to assembly
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fixture 324 supporting forward fuselage assembly 117. A second external mobile
platform may then be positioned at the aftmost end of forward fuselage
assembly 117
along second side 208 of forward fuselage assembly 117. The first and second
external mobile platforms may be positioned at these initial external
positions such that
the first and second external mobile platforms may then be moved together
longitudinally along forward fuselage assembly 117 from the aftmost end to the
forwardmost end without one colliding with or impeding the movement of the
other.
In another illustrative example, a first external mobile platform may be
positioned at the aftmost end of forward fuselage assembly 117 along first
side 206 of
forward fuselage assembly 117, while the second external mobile platform may
be
positioned relative to first side 206 of forward fuselage assembly 117 just
behind the
first external mobile platform near second tower 336. A third external mobile
platform
may be similarly positioned at the aftmost end of forward fuselage assembly
117 but
along second side 208 of forward fuselage assembly 117 and a fourth external
mobile
platform may be positioned relative to second side 208 of forward fuselage
assembly
117 just behind the third external mobile platform near second tower 336.
These initial external positions for the first, second, third, and fourth
external
mobile platforms may be selected such that the first and third external mobile
platforms may begin autonomous longitudinal movement along exterior 234 of
forward
fuselage assembly 117. At some selected time later, the second and third
external
mobile platforms may then begin autonomous longitudinal movement along
exterior
234 of forward fuselage assembly 117. In this manner, the first, second,
third, and
fourth external mobile platforms may be autonomously driven longitudinally
along
forward fuselage assembly 117 to perform operations along exterior 234 of
forward
fuselage assembly 117 without one colliding with or impeding the movement of
another.
In this manner, number of external mobile platforms 400 may be autonomously
positioned in a number of initial external positions relative to fuselage
assembly 114 in
any number of ways. Further, depending on the implementation, number of
external
mobile platforms 400 may include one, two, three, four, five, six, or some
other number
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of external mobile platforms that may be autonomously driven relative to
fuselage
assembly 114 such that these external mobile plafforms do not collide with or
impede
each other's movement.
Thereafter, number of internal mobile platforms 402 may be autonomously
driven from second tower 336 into a number of initial internal positions
within interior
236 of fuselage assembly 114 (operation 2204). Plurality of locations 446 on
fuselage
assembly 114 may be identified (operation 2206). One of number of external
mobile
platforms 400 and one of number of internal mobile platforms 402 may be
autonomously and collaboratively driven along fuselage assembly 114 to each of
plurality of locations 446 on fuselage assembly 114 to perform fastening
process 424
at each of plurality of locations 446 (operation 2208), with the process
terminating
thereafter.
In operation 2208, the end effector associated with each of number of external
mobile platforms 400 and the end effector associated with each of number of
internal
mobile platforms 402 may have a number of degrees of freedom. In one
illustrative
example, each of these end effectors may have at least one degree of freedom.
In
this manner, the end effectors may be autonomously controlled to move in a
longitudinal direction, a hoop-wise direction, and in other directions. In
this manner,
fastening process 424 may be performed at locations on fuselage assembly 114
located in the hoop-wise direction as well as locations on fuselage assembly
114
located in the longitudinal direction.
In operation 2208, each of number of external mobile platforms 400 may work
collaboratively with a corresponding one of number of internal mobile
platforms 402 to
perform a fastening process at a particular location on fuselage assembly 114.
For
example, without limitation, external mobile platform 404 may perform one or
more
operations at location 426 on fuselage assembly 114 at exterior 234 of
fuselage
assembly 114 while internal mobile platform 406 may perform one or more
operations
at location 426 on fuselage assembly 114 at interior 236 of fuselage assembly
114.
The operations performed by external mobile platform 404 and internal mobile
platform
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406 may be coordinated such that fastening process 424 is fully performed at
location
426.
Turning now to Figure 23, an illustration of a process for establishing a
distributed utility network is depicted in the form of a flowchart in
accordance with an
illustrative embodiment. The process illustrated in Figure 23 may be
implemented
using flexible manufacturing system 106 in Figure 1 to establish distributed
utility
network 144 described in Figures 1 and 5.
The process may begin by autonomously driving tower 332 across floor 300
into selected tower position 338 relative to utility fixture 150 within
selected tolerances
(operation 2300). Next, tower 332 may be coupled with utility fixture 150 to
establish
distributed utility network 144 such that number of utilities 146 flows from
utility fixture
150 to the tower 332 (operation 2302). In operation 2302, interface 342 may be
formed between tower 332 and utility fixture 150.
When tower 332 takes the form of second tower 336, number of internal mobile
platforms 402 may be located on tower 332. In these cases, coupling tower 332
to
utility fixture 150 may result in number of internal mobile plafforms 402 also
being
added to distributed utility network 144. Number of utilities 146 may flow
from tower
332 to number of internal mobile platforms 402.
Thereafter, number of cradle fixtures 314 may be autonomously driven across
floor 300 into number of selected cradle positions 320 relative to tower 332
within
selected tolerances to form assembly fixture 324 (operation 2304). Number of
cradle
fixtures 314 may then be coupled to tower 332 in series such that number of
cradle
fixtures 314 is added to distributed utility network 144 and such that number
of utilities
146 flows downstream from tower 332 to number of cradle fixtures 314
(operation
2306). In particular, in operation 2306, assembly fixture 324 may form
interface 340
with tower 332.
Next, number of external mobile platforms 400 may be autonomously driven
across floor 300 to position number of external mobile platforms 400 relative
to
assembly fixture 324 (operation 2308). Number of external mobile platforms 400
may
be coupled to number of utility units 500 associated with number of cradle
fixtures 314
CA 02895820 2015-06-26
such that number of external mobile platforms 400 is added to distributed
utility
network 144 and such that number of utilities 146 flows from number of cradle
fixtures
314, through number of utility units 500, and to number of external mobile
plafforms
400 (operation 2310), with the process terminating thereafter.
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, a portion of an operation or step, some combination
thereof.
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.
Turning now to Figure 24, an illustration of a data processing system is
depicted in the form of a block diagram in accordance with an illustrative
embodiment.
Data processing system 2400 may be used to implement any of the controllers
described above, including control system 136 in Figure 1. As depicted, data
processing system 2400 includes communications framework 2402, which provides
communications between processor unit 2404, storage devices 2406,
communications
unit 2408, input/output unit 2410, and display 2412. In some cases,
communications
framework 2402 may be implemented as a bus system.
Processor unit 2404 is configured to execute instructions for software to
perform a number of operations. Processor unit 2404 may comprise at least one
of a
number of processors, a multi-processor core, or some other type of processor,
depending on the implementation. In some cases, processor unit 2404 may take
the
form of a hardware unit, such as a circuit system, an application specific
integrated
circuit (ASIC), a programmable logic device, or some other suitable type of
hardware
unit.
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Instructions for the operating system, applications and programs run by
processor unit 2404 may be located in storage devices 2406. Storage devices
2406
may be in communication with processor unit 2404 through communications
framework 2402. As used herein, a storage device, also referred to as a
computer
readable storage device, is any piece of hardware capable of storing
information on a
temporary basis, a permanent basis, or both. This information may include, but
is not
limited to, data, program code, other information, or some combination
thereof.
Memory 2414 and persistent storage 2416 are examples of storage devices
2406. Memory 2414 may take the form of, for example, a random access memory or
some type of volatile or non-volatile storage device. Persistent storage 2416
may
comprise any number of components or devices. For example, persistent storage
2416 may comprise a hard drive, a flash memory, a rewritable optical disk, a
rewritable
magnetic tape, or some combination of the above. The media used by persistent
storage 2416 may or may not be removable.
Communications unit 2408 allows data processing system 2400 to
communicate with other data processing systems, devices, or both.
Communications
unit 2408 may provide communications using physical communications links,
wireless
communications links, or both.
Input/output unit 2410 allows input to be received from and output to be sent
to
other devices connected to data processing system 2400. For example,
input/output
unit 2410 may allow user input to be received through a keyboard, a mouse,
some
other type of input device, or a combination thereof. As another example,
input/output
unit 2410 may allow output to be sent to a printer connected to data
processing
system 2400.
Display 2412 is configured to display information to a user. Display 2412 may
comprise, for example, without limitation, a monitor, a touch screen, a laser
display, a
holographic display, a virtual display device, some other type of display
device, or a
combination thereof.
In this illustrative example, the processes of the different illustrative
embodiments may be performed by processor unit 2404 using computer-implemented
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instructions. These instructions may be referred to as program code, computer
usable
program code, or computer readable program code and may be read and executed
by
one or more processors in processor unit 2404.
In these examples, program code 2418 is located in a functional form on
computer readable media 2420, which is selectively removable, and may be
loaded
onto or transferred to data processing system 2400 for execution by processor
unit
2404. Program code 2418 and computer readable media 2420 together form
computer program product 2422. In this illustrative example, computer readable
media 2420 may be computer readable storage media 2424 or computer readable
signal media 2426.
Computer readable storage media 2424 is a physical or tangible storage device
used to store program code 2418 rather than a medium that propagates or
transmits
program code 2418. Computer readable storage media 2424 may be, for example,
without limitation, an optical or magnetic disk or a persistent storage device
that is
connected to data processing system 2400.
Alternatively, program code 2418 may be transferred to data processing system
2400 using computer readable signal media 2426. Computer readable signal media
2426 may be, for example, a propagated data signal containing program code
2418.
This data signal may be an electromagnetic signal, an optical signal, or some
other
type of signal that can be transmitted over physical communications links,
wireless
communications links, or both.
The illustration of data processing system 2400 in Figure 24 is not meant to
provide architectural limitations to the manner in which the illustrative
embodiments
may be implemented. The different illustrative embodiments may be implemented
in a
data processing system that includes components in addition to or in place of
those
illustrated for data processing system 2400. Further, components shown in
Figure 24
may be varied from the illustrative examples shown.
The illustrative embodiments of the disclosure may be described in the context
of aircraft manufacturing and service method 2500 as shown in Figure 25 and
aircraft
2600 as shown in Figure 26. Turning first to Figure 25, an illustration of an
aircraft
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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 2500 may include specification and design
2502 of
aircraft 2600 in Figure 26 and material procurement 2504.
During production, component and subassembly manufacturing 2506 and
system integration 2508 of aircraft 2600 in Figure 26 takes place. Thereafter,
aircraft
2600 in Figure 26 may go through certification and delivery 2510 in order to
be placed
in service 2512. While in service 2512 by a customer, aircraft 2600 in Figure
26 is
scheduled for routine maintenance and service 2514, which may include
modification,
reconfiguration, refurbishment, and other maintenance or service.
Each of the processes of aircraft manufacturing and service method 2500 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 26, 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 2600 is produced by aircraft manufacturing and service
method
2500 in Figure 25 and may include airframe 2602 with plurality of systems 2604
and
interior 2606. Examples of systems 2604 include one or more of propulsion
system
2608, electrical system 2610, hydraulic system 2612, and environmental system
2614.
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 2500 in Figure
25. In
particular, flexible manufacturing system 106 from Figure 1 may be used to
build at
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CA 02895820 2015-06-26
least a portion of airframe 2602 of aircraft 2600 during any one of the stages
of aircraft
manufacturing and service method 2500. For example, without limitation,
flexible
manufacturing system 106 from Figure 1 may be used during at least one of
component and subassembly manufacturing 2506, system integration 2508, or some
other stage of aircraft manufacturing and service method 2500 to form a
fuselage for
aircraft 2600.
In one illustrative example, components or subassemblies produced in
component and subassembly manufacturing 2506 in Figure 25 may be fabricated or
manufactured in a manner similar to components or subassemblies produced
while aircraft 2600 is in service 2512 in Figure 25. 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
2506 and system integration 2508 in Figure 25.
One or more apparatus
embodiments, method embodiments, or a combination thereof may be utilized
while
aircraft 2600 is in service 2512, during maintenance and service 2514 in
Figure 25, or
both. The use of a number of the different illustrative embodiments may
substantially
expedite the assembly of and reduce the cost of aircraft 2600.
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.
