Note: Descriptions are shown in the official language in which they were submitted.
CA 02895824 2015-06-26
UTILITY FIXTURE FOR CREATING A DISTRIBUTED UTILITY NETWORK
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 coupling a number of utilities
between various systems to establish a distributed utility network.
2. Background:
Building a fuselage may include assembling skin panels and a support
structure for the fuselage. The skin panels and support structure may be
joined
together to form a fuselage assembly. For example, without limitation, the
skin
panels may have support members, such as frames and stringers, attached to
the surface of the skin panels that will face the interior of the fuselage
assembly.
These support members may be used to form the support structure for the
fuselage assembly. The skin panels may be positioned relative to each other
and the support members may be tied together to form this support structure.
Fastening operations may then be performed to join the skin panels and
the support members together to form the fuselage assembly. These fastening
operations may include, for example, riveting operations, interference-fit
bolting
operations, other types of attachment operations, or some combination thereof.
The fuselage assembly may need to be assembled in a manner that meets outer
mold line (OML) requirements and inner mold line (IML) requirements for the
fuselage assembly.
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
1
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.
Further, providing utilities, such as power, air, hydraulic fluid, and other
types
of utilities, to the various systems used in some current assembly methods may
be
more difficult or cumbersome than desired. For example, without limitation,
the
various cables and connection devices needed to provide these types of
utilities to
the different tools being used to assemble a fuselage may impede or restrict
the
movement of personnel and tools within a manufacturing environment. 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 embodiment, there is provided a method for distributing a number of
utilities. The method involves: coupling the number of utilities between a
number of
utility sources and a first coupling unit of a utility fixture; coupling the
number of
utilities between the utility fixture and a first mobile system, the first
mobile system
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including a first corresponding coupling unit and a second coupling unit, by
coupling
the first corresponding coupling unit of the first mobile system to the first
coupling
unit of the utility fixture; and coupling the number of utilities between the
first mobile
system and a second mobile system, the second mobile system including a second
corresponding coupling unit, by coupling the second corresponding coupling
unit of
the second mobile system to the second coupling unit of the first mobile
system such
that, when the number of utilities are distributed from the number of utility
sources,
the number of utilities flow downstream from the number of utilities sources
through
the utility fixture, through the first coupling unit of the utility fixture,
through the first
corresponding coupling unit of the first mobile system, through the second
coupling
unit of the first mobile system, and through the second corresponding coupling
unit
of the second mobile system to the second mobile system.
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In another illustrative embodiment, a coupling unit may comprise a quick-
change device, a number of coupling elements, and an alignment system. The
alignment system may align the quick-change device with a corresponding quick-
change device and the number of coupling elements with a corresponding
number of coupling elements.
In yet another illustrative embodiment, a method for mating a coupling unit
with a corresponding coupling unit may be provided. The corresponding
coupling unit may be driven towards the coupling unit. The corresponding
coupling unit may be aligned with the coupling unit autonomously. The
corresponding coupling unit may be mated to the coupling unit to couple a
number of utilities between the coupling unit and the corresponding coupling
unit.
In still another illustrative embodiment, a method for distributing a number
of utilities to a tower may be provided. A tower may be driven towards a
location
of a utility fixture having a set of coupling units. Each of a set of
corresponding
coupling units associated with the tower may be aligned with the set of
coupling
units. A quick-change device of each of the set of coupling units may be mated
with a corresponding quick-change device of each of the set of corresponding
coupling units.
In yet another illustrative embodiment, an apparatus may comprise a set
of coupling units associated with a utility fixture, a set of corresponding
coupling
units associated with a mobile system, and a number of utility cables
connected
to the set of corresponding coupling units. The set of corresponding coupling
units may be coupled to the set of coupling units. The number of utility
cables
may carry away from the set of corresponding coupling units a number of
utilities
received at the set of corresponding coupling units from the set of coupling
units.
The features and functions can be achieved independently in various
embodiments of the present disclosure or may be combined in yet other
embodiments in which further details can be seen with reference to the
following
description and drawings.
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BRIEF DESCRIPTION OF THE DRAWINGS
The illustrative embodiments, as well as a preferred mode of use, further
objectives and features thereof, will best be understood by reference to the
following detailed description of an illustrative embodiment of the present
disclosure when read in conjunction with the accompanying drawings, wherein:
Figure 1 is an illustration of a manufacturing environment in the form of a
block diagram in accordance with an illustrative embodiment;
Figure 2 is an illustration of a fuselage assembly in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 3 is an illustration of a plurality of mobile systems of a flexible
manufacturing system within a manufacturing environment in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 4 is an illustration a plurality of mobile platforms in the form of a
block diagram in accordance with an illustrative embodiment;
Figure 5 is an illustration of a flow of a number of utilities across a
distributed utility network in the form of a block diagram in accordance with
an
illustrative embodiment;
Figure 6 is an illustration of a utility fixture in the form of a block
diagram
in accordance with an illustrative embodiment;
Figure 7 is an illustration of a distributed utility network in the form of a
block diagram in accordance with an illustrative embodiment;
Figure 8 is an illustration of an isometric view of a manufacturing
environment in accordance with an illustrative embodiment;
Figure 9 is an illustration of a first tower coupled to a utility fixture in
accordance with an illustrative embodiment;
Figure 10 is an illustration of an isometric view of a cradle system in
accordance with an illustrative embodiment;
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Figure 11 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 12 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 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 another stage in the
assembly process for building a fuselage assembly being supported by an
assembly fixture in accordance with an illustrative embodiment;
Figure 15 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 16 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 17 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 18 is an illustration of a cross-sectional view of a flexible
manufacturing system performing operations on a fuselage assembly in
accordance with an illustrative embodiment;
Figure 19 is an illustration of an isometric view of a fully built fuselage
assembly in accordance with an illustrative embodiment;
Figure 20 is an illustration of an isometric view of fuselage assemblies
being built within a manufacturing environment in accordance with an
illustrative
embodiment;
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Figure 21 is an illustration of an isometric view of a coupling structure and
a utility fixture in accordance with an illustrative embodiment;
Figure 22 is an illustration of an enlarged isometric view of a coupling unit
and a corresponding coupling unit in accordance with an illustrative
embodiment;
Figure 23 is an illustration of a process for distributing a number of
utilities
in the form of a flowchart in accordance with an illustrative embodiment;
Figure 24 is an illustration of a process for mating a coupling unit with a
corresponding coupling unit in the form of a flowchart in accordance with an
illustrative embodiment;
Figure 25 is an illustration of a process for distributing a number of
utilities
to a tower in the form of a flowchart in accordance with an illustrative
embodiment;
Figure 26 is an illustration of a data processing system in the form of a
block diagram in accordance with an illustrative embodiment;
Figure 27 is an illustration of an aircraft manufacturing and service
method in the form of a block diagram in accordance with an illustrative
embodiment; and
Figure 28 is an illustration of an aircraft in the form of a block diagram in
the form of a block diagram in accordance with an illustrative embodiment.
DETAILED DESCRIPTION
The illustrative embodiments recognize and take into account different
considerations. For example, the illustrative embodiments recognize and take
into account that it may be desirable to automate the process of building a
fuselage assembly for an aircraft. Automating the process of building a
fuselage
assembly for an aircraft may improve build efficiency, improve build quality,
and
reduce costs associated with building the fuselage assembly. The illustrative
embodiments also recognize and take into account that automating the process
of building a fuselage assembly may improve the accuracy and precision with
which assembly operations are performed, thereby ensuring improved
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compliance with outer mold line (OML) requirements and inner mold line (IML)
requirements for the fuselage assembly.
Further, the illustrative embodiments recognize and take into account that
automating the process used to build a fuselage assembly for an aircraft may
significantly reduce the amount of time needed for the build cycle. For
example,
without limitation, automating fastening operations may reduce and, in some
cases, eliminate, the need for human operators to perform these fastening
operations as well as other types of assembly operations.
Further, this type of automation of the process for building a fuselage
assembly for an aircraft may be less labor-intensive, time-consuming,
ergonomically challenging, and expensive than performing this process
primarily
manually. Reduced manual labor may have a desired benefit for the human
laborer. Additionally, automating the fuselage assembly process may allow
fuselage assemblies to be built in desired assembly facilities and factories
at
desired assembly rates and desired assembly costs.
The illustrative embodiments also recognize and take into account that it
may be desirable to use equipment that can be autonomously driven and
operated to automate the process of building a fuselage assembly. In
particular,
it may be desirable to have an autonomous flexible manufacturing system
comprised of mobile systems that may be autonomously driven across a factory
floor, autonomously positioned relative to the factory floor as needed for
building
the fuselage assembly, autonomously operated to build the fuselage assembly,
and then autonomously driven away when building of the fuselage assembly has
been completed.
As used herein, performing any operation, action, or step autonomously
may mean performing that operation substantially without any human input. For
example, without limitation, a platform that may be autonomously driven is a
platform that may be driven substantially independently of any human input. In
this manner, an autonomously drivable platform may be a platform that is
capable of driving or being driven substantially independently of human input.
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Thus, the illustrative embodiments provide a method, apparatus, and
system for building a fuselage assembly for an aircraft. In particular, the
illustrative embodiments provide an autonomous flexible manufacturing system
that automates most, if not all, of the process of building a fuselage
assembly.
For example, without limitation, the autonomous flexible manufacturing system
may automate the process of installing fasteners to join fuselage skin panels
and
a fuselage support structure together to build the fuselage assembly.
However, the illustrative embodiments recognize and take into account
that automating the process for building a fuselage assembly using an
autonomous flexible manufacturing system may present unique technical
challenges that require unique technical solutions. For example, the
illustrative
embodiments recognize and take into account that it may be desirable to
provide
utilities to all of the various systems within the autonomous flexible
manufacturing system. In particular, it may be desirable to provide these
utilities
in a manner that will not disrupt or delay the process of building the
fuselage
assembly or restrict the movement of various mobile systems within the
autonomous flexible manufacturing system over a factory floor.
For example, without limitation, it may be desirable to provide a set of
utilities, such as power, communications, and air, to the autonomous flexible
manufacturing system using an infrastructure that includes only a single
direct
connection to each of a set of utility sources providing the set of utilities.
These
direct connections may be above-ground, in-ground, or embedded. These direct
connections may be established using, for example, without limitation, a
utility
fixture. Thus, the infrastructure may include a utility fixture that provides
a direct
connection to each of the set of utility sources and an assembly area with a
floor
space sufficiently large to allow the various systems of an autonomous
flexible
manufacturing system to be coupled to the utility fixture and each other in
series.
In this manner, the set of utilities may flow from the set of utility sources
to the
utility fixture and then downstream to the various systems of the autonomous
flexible manufacturing system within the assembly area.
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Thus, the illustrative embodiments provide a distributed utility network that
may be used to provide utilities to the various systems of the autonomous
flexible manufacturing system. The distributed utility network may provide
these
utilities in a manner that does not restrict or impede movement of the various
mobile systems of the autonomous flexible manufacturing system. The different
mobile systems of the autonomous flexible manufacturing system may be
autonomously coupled to each other to create this distributed utility network.
Referring now to the figures and, in particular, with reference to Figures
1-7, illustrations of a manufacturing environment are depicted in the form of
block
diagrams in accordance with an illustrative embodiment. In particular, in
Figures
1-7, 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.
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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 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
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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.
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
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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.
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.
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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.
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
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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.
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
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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 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
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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.
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
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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.
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
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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 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.
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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 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
CA 02895824 2015-06-26
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 panel 228, depending on the
implementation. Bulkhead 272 may have a dome-type shape in these illustrative
examples.
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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
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include, for example, without limitation, shear clips 256, ties 258, splices
260,
intercostal connecting members 262, other types of mechanical connecting
members, or some combination thereof.
In one illustrative example, when panel 216 is comprised of multiple sub-
panels, connecting members 244 may be used to, for example, without
limitation,
connect together complementary frames of frames 246 running in the hoop-wise
direction on adjacent sub-panels and complementary stringers of stringers 248
running in the longitudinal direction on adjacent sub-panels. In other
illustrative
examples, connecting members 244 may be used to connect together
complementary frames, stringers, or other types of support members on two or
more adjacent panels in plurality of panels 120. In some cases, connecting
members 244 may be used to connect together complementary support
members on two or more adjacent fuselage sections.
Operations 124, as described in Figure 1, may be performed to join
plurality of panels 120 together to build fuselage assembly 114. In one
illustrative example, plurality of fasteners 264 may be used to join plurality
of
panels 120 together.
As described above, joining plurality of panels 120 together may be
performed in a number of different ways. Joining plurality of panels 120
together
may include at least one of joining at least one panel in plurality of panels
120 to
another one of plurality of panels 120, joining at least one panel in
plurality of
panels 120 to at least one of plurality of members 122, joining at least one
member in plurality of members 122 to another one of plurality of members 122,
or some other type of joining operation. Plurality of panels 120 may be joined
together such that plurality of members 122 ultimately form support structure
121
for fuselage assembly 114.
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
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limitation, at least one of a passenger floor, a cargo floor, or some other
type of
floor.
With reference now to Figure 3, an illustration of plurality of mobile
systems 134 of flexible manufacturing system 106 within manufacturing
environment 100 from Figure 1 is depicted in the form of a block diagram in
accordance with an illustrative embodiment. As depicted, flexible
manufacturing
system 106 may be used to build fuselage assembly 114 on floor 300 of
manufacturing environment 100. When manufacturing environment 100 takes
the form of a factory, floor 300 may be referred to as factory floor 302.
In one illustrative example, floor 300 may be substantially smooth and
substantially planar. For example, floor 300 may be substantially level. In
other
illustrative examples, one or more portions of floor 300 may be sloped,
ramped,
or otherwise uneven.
Assembly area 304 may be an area within manufacturing environment
100 designated for performing assembly process 110 in Figure 1 to build a
fuselage assembly, such as fuselage assembly 114. Assembly area 304 may
also be referred to as a cell or a work cell. In this illustrative example,
assembly
area 304 may be a designated area on floor 300. However, in other illustrative
examples, assembly area 304 may include a designated area on floor 300 as
well as the area above this designated area. Any number of assembly areas
may be present within manufacturing environment 100 such that any number of
fuselage assemblies may be built concurrently within manufacturing environment
100.
As depicted, plurality of mobile systems 134 may include plurality of
autonomous vehicles 306, cradle system 308, tower system 310, and
autonomous tooling system 312. Each of plurality of mobile systems 134 may be
drivable across floor 300. In other words, each of plurality of mobile systems
134
may be capable of being autonomously driven across floor 300 from one location
315 to another location 317 on floor 300.
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In one illustrative example, each of plurality of autonomous vehicles 306
may take the form of an automated guided vehicle (AGV), which may be capable
of operating independently without human direction or guidance. In some cases,
plurality of autonomous vehicles 306 may be referred to as a plurality of
automated guided vehicles (AGVs).
In this illustrative example, cradle system 308 may be used to support and
hold fuselage assembly 114 during assembly process 110 in Figure 1. In some
cases, cradle system 308 may be referred to as a drivable cradle system. In
still
other cases, cradle system 308 may be referred to as an autonomously drivable
.. cradle system.
Cradle system 308 may include number of fixtures 313. As used herein, a
"number of" items may include one or more items. In this manner, number of
fixtures 313 may include one or more fixtures. In some illustrative examples,
number of fixtures 313 may be referred to as a number of drivable fixtures. In
other illustrative examples, number of fixtures 313 may be referred to as a
number of autonomously drivable fixtures.
Number of fixtures 313 may include number of cradle fixtures 314. In
some illustrative examples, number of cradle fixtures 314 may be referred to
as a
number of drivable cradle fixtures. In other illustrative examples, number of
cradle fixtures 314 may be referred to as a number of autonomously drivable
cradle fixtures. Cradle fixture 322 may be an example of one of number of
cradle fixtures 314.
Number of retaining structures 326 may be associated with each of
number of cradle fixtures 314. Number of retaining structures 326 associated
with each of number of cradle fixtures 314 may be engaged with and used to
support fuselage assembly 114. For example, number of retaining structures
326 associated with cradle fixture 322 may be engaged with and used to support
one or more of plurality of panels 120.
Number of cradle fixtures 314 may be autonomously driven across floor
300 of manufacturing environment 100 to assembly area 304. In one illustrative
CA 02895824 2015-06-26
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 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.
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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, 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
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CA 02895824 2015-06-26
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 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
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CA 02895824 2015-06-26
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 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,
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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.
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
CA 02895824 2015-06-26
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 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
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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.
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
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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 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
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CA 02895824 2015-06-26
this manner, number of towers 330 may include both first tower 334 and second
tower 336.
First tower 334 may be configured substantially for use by a human
operator, whereas second tower 336 may be configured substantially for use by
a mobile platform having at least one robotic device associated with the
mobile
platform. In other words, first tower 334 may allow a human operator to access
and enter interior 236 of fuselage assembly 114. Second tower 336 may allow a
mobile platform to access and enter interior 236 of fuselage assembly 114.
First tower 334 and second tower 336 may be positioned relative to
assembly fixture 324 at different times during assembly process 110. As one
illustrative example, one of plurality of autonomous vehicles 306 may be used
to
move or autonomously drive first tower 334 from holding area 318 into selected
tower position 338 within assembly area 304. Number of cradle fixtures 314 may
then be autonomously driven, using number of corresponding autonomous
vehicles 316, into number of selected cradle positions 320 relative to first
tower
334, which is in selected tower position 338 within assembly area 304.
Second tower 336 may be exchanged for first tower 334 at some later
stage during assembly process 110 in Figure 1. For example, one of plurality
of
autonomous vehicles 306 may be used to autonomously drive first tower 334 out
of assembly area 304 and back into holding area 318. The same autonomous
vehicle or a different autonomous vehicle in plurality of autonomous vehicles
306
may then be used to autonomously drive second tower 336 from holding area
318 into selected tower position 338 within assembly area 304 that was
previously occupied by first tower 334. Depending on the implementation, first
tower 334 may be later exchanged for second tower 336.
In other illustrative examples, first tower 334 and second tower 336 may
each have an autonomous vehicle in plurality of autonomous vehicles 306
fixedly
associated with the tower. In other words, one of plurality of autonomous
vehicles 306 may be integrated with first tower 334 and one of plurality of
autonomous vehicles 306 may be integrated with second tower 336. For
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CA 02895824 2015-06-26
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 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,
CA 02895824 2015-06-26
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 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
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CA 02895824 2015-06-26
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. 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
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CA 02895824 2015-06-26
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.
As one illustrative example, without limitation, external mobile platform
404 may be autonomously driven across floor 300 using a corresponding one of
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CA 02895824 2015-06-26
plurality of autonomous vehicles 306. In some illustrative examples, external
mobile platform 404 and this corresponding one of plurality of autonomous
vehicles 306 may be integrated with each other. For example, the autonomous
vehicle may be fixedly associated with external mobile platform 404. An entire
load of external mobile platform 404 may be transferable to the autonomous
vehicle such that driving the autonomous vehicle across floor 300 drives
external
mobile 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
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CA 02895824 2015-06-26
insertion tool, to become the new first tool 411 associated with first end
effector
410 to perform a different type of operation.
In one illustrative example, first tool 411 may take the form of first
riveting
tool 412. First riveting tool 412 may be used to perform riveting operations.
In
some illustrative examples, a number of different tools may be exchanged with
first riveting tool 412 and associated with first end effector 410. For
example,
without limitation, first riveting tool 412 may be exchangeable with a
drilling tool,
a fastener insertion tool, a fastener installation tool, an inspection tool,
or some
other type of tool.
External mobile platform 404 may be autonomously driven across floor
300 and positioned relative to assembly fixture 324 in Figure 3 supporting
fuselage assembly 114 to position first end effector 410 and first tool 411
associated with first end effector 410 relative to one of plurality of panels
120.
For example, external mobile platform 404 may be autonomously driven across
floor 300 to external position 414 relative to assembly fixture 324. In this
manner, first tool 411 carried by external mobile platform 404 may be macro-
positioned using external mobile platform 404.
Once in external position 414, first end effector 410 may be autonomously
controlled using at least external robotic device 408 to position first tool
411
associated with first end effector 410 relative to a particular location on an
exterior-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.
CA 02895824 2015-06-26
At least one internal robotic device 416 may be associated with internal
mobile platform 406. In this illustrative example, internal robotic device 416
may
be considered part of internal mobile platform 406. In other illustrative
examples,
internal robotic device 416 may be considered a separate component that is
physically attached to internal mobile platform 406. Internal robotic device
416
may take the form of, for example, without limitation, a robotic arm.
Internal robotic device 416 may have second end effector 418. Any
number of tools may be associated with second end effector 418. For example,
without limitation, at least one of a drilling tool, a fastener insertion
tool, a
fastener installation tool, an inspection tool, or some other type of tool may
be
associated with second end effector 418. In particular, any number of
fastening
tools may be associated with second end effector 418.
As depicted, second tool 419 may be associated with second end effector
418. In one illustrative example, second tool 419 may be any tool that is
removably associated with second end effector 418. In other words, second tool
419 associated with second end effector 418 may be changed as various
operations need to be performed. For example, without limitation, first tool
411
may take the form of one type of tool, such as a drilling tool, to perform one
type
of operation. This tool may then be exchanged with another type of tool, such
as
a fastener insertion tool, to 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.
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CA 02895824 2015-06-26
Internal mobile platform 406 may be driven from second tower 336 into
fuselage assembly 114 and positioned relative to interior 236 of fuselage
assembly 114 to position second end effector 418 and second tool 419
associated with second end effector 418 relative to one of plurality of panels
120.
In one illustrative example, internal mobile platform 406 may be autonomously
driven onto one of number of floors 266 in Figure 2 into internal position 422
within fuselage assembly 114 relative to fuselage assembly 114. In this
manner,
second tool 419 may be macro-positioned into internal position 422 using
internal mobile platform 406.
Once in internal position 422, second end effector 418 may be
autonomously controlled to position second tool 419 associated with second end
effector 418 relative to a particular location on an interior-facing side of
one of
plurality of panels 120 or an interior-facing side of one of plurality of
members
122 in Figure 2 that make up support structure 121. In this manner, second
tool
419 may be micro-positioned relative to the particular location.
In one illustrative example, external position 414 for external mobile
platform 404 and internal position 422 for internal mobile platform 406 may be
selected such that fastening process 424 may be performed at location 426 on
fuselage assembly 114 using external mobile platform 404 and internal mobile
platform 406. Fastening process 424 may include any number of operations. In
one illustrative example, fastening process 424 may include at least one of
drilling operation 428, fastener 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
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CA 02895824 2015-06-26
426. Hole 436 may pass through at least one of two panels in plurality of
panels
120, two members of a plurality of members 122, or a panel and one of
plurality
of members 122.
Fastener insertion operation 430 may be performed autonomously using
first tool 411 associated with first end effector 410 of external mobile
platform
404 or second tool 419 associated with second end effector 418 of internal
mobile platform 406. Fastener insertion operation 430 may result in fastener
438
being inserted into hole 436.
Fastener installation operation 432 may then be performed autonomously
using at least one of first tool 411 associated with first end effector 410 of
external mobile platform 404 or second tool 419 associated with second end
effector 418 of internal mobile platform 406. In one illustrative example,
fastener
installation operation 432 may be performed autonomously using first tool 411
in
the form of first riveting tool 412 and second tool 419 in the form of second
riveting tool 420 such that fastener 438 becomes rivet 442 installed at
location
426. Rivet 442 may be a fully installed rivet. Rivet 442 may be one of
plurality of
fasteners 264 described in Figure 2.
In one illustrative example, fastener installation operation 432 may take
the form of bolt-nut type installation process 433. First tool 411 associated
with
first end effector 410 may be used to, for example, without limitation,
install bolt
435 through hole 436. Second tool 419 associated with second end effector 418
may then be used to install nut 437 over bolt 435. In some cases, installing
nut
437 may include 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.
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CA 02895824 2015-06-26
In yet another illustrative example, fastener installation operation 432 may
take the form of two-stage riveting process 444. Two-stage riveting process
444
may be performed using, for example, without limitation, first riveting tool
412
associated with external mobile platform 404 and second riveting tool 420
.. associated with internal mobile platform 406.
For example, first riveting tool 412 and second riveting tool 420 may be
positioned relative to each other by external mobile platform 404 and internal
mobile platform 406, respectively. For example, external mobile platform 404
and external robotic device 408 may be used to position first riveting tool
412
relative to location 426 at exterior 234 of fuselage assembly 114. Internal
mobile
platform 406 and internal robotic device 416 may be used to position second
riveting tool 420 relative to the same location 426 at interior 236 of
fuselage
assembly 114.
First riveting tool 412 and second riveting tool 420 may then be used to
perform two-stage riveting process 444 to form rivet 442 at location 426.
Rivet
442 may join at least two of plurality of panels 120 together, a panel in
plurality of
panels 120 to support structure 121 formed by plurality of members 122, or two
panels in plurality of panels 120 to support structure 121.
In this example, two-stage riveting process 444 may be performed at each
of plurality of locations 446 on fuselage assembly 114 to install plurality of
fasteners 264 as described in Figure 2. Two-stage riveting process 444 may
ensure that plurality of fasteners 264 in Figure 2 are installed at plurality
of
locations 446 with a desired quality and desired level of accuracy.
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
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CA 02895824 2015-06-26
external mobile platform 404 relative to plurality of locations 446 on
fuselage
assembly 114 for performing operations 124.
With reference now to Figure 5, an illustration of a flow of number of
utilities 146 across distributed utility network 144 from Figure 1 is depicted
in the
form of a block diagram in accordance with an illustrative embodiment. As
depicted, number of utilities 146 may be distributed across distributed
utility
network 144.
Distributed utility network 144 may include, for example, without limitation,
number of utility sources 148, utility fixture 150, number of towers 330,
assembly
fixture 324, number of external mobile platforms 400, and number of utility
units
500. In some cases, distributed utility network 144 may also include number of
internal mobile platforms 402. In some illustrative examples, number of
utility
sources 148 may be considered separate from distributed utility network 144.
In this illustrative example, only one of number of towers 330 may be
included in distributed utility network 144 at a time. When first tower 334 is
used,
distributed utility network 144 may be formed when utility fixture 150 is
coupled
to number of utility sources 148, first tower 334 is coupled to utility
fixture 150,
assembly fixture 324 is coupled to first tower 334, and number of external
mobile
platforms 400 is coupled to number of utility units 500.
Number of utility units 500 may be associated with number of cradle
fixtures 314 of assembly fixture 324 or separated from number of cradle
fixtures
314. For example, without limitation, a number of dual interfaces may be
created
between number of external mobile platforms 400, number of utility units 500,
and number of cradle fixtures 314 using one or more dual-interface couplers.
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
CA 02895824 2015-06-26
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.
With reference now to Figure 6, an illustration of utility fixture 150 from
Figures 1 and 5 is depicted in the form of a block diagram in accordance with
an
illustrative embodiment. As depicted, utility fixture 150 may be associated
with
floor 300. In particular, utility fixture 150 may have base structure 600 that
is
associated with floor 300.
In one illustrative example, utility fixture 150 may be affixed to floor 300
at
location 602. Depending on the implementation, utility fixture 150 may be
permanently affixed to floor 300 or removably affixed to floor 300. For
example,
without limitation, base structure 600 of utility fixture 150 may be
permanently
fastened to floor 300 at location 602 using number of fastener devices 604. In
particular, base structure 600 may be bolted to location 602 using number of
fastener devices 604. In other examples, utility fixture 150 may be
temporarily
affixed to floor 300 at location 602. In still other illustrative examples,
utility
fixture 150 may be embedded in floor 300, mounted to a wall in manufacturing
environment 100 in Figure 1, mounted to a ceiling of manufacturing environment
100 in Figure 1, or mounted to some other surface of structure in
manufacturing
environment 100 in Figure 1.
As depicted, number of input cables 606 may be connected to utility
fixture 150. Number of input cables 606 may connect utility fixture 150 to
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CA 02895824 2015-06-26
number of utility sources 148. For example, without limitation, each of number
of
input cables 606 may be connected to utility fixture 150 at one end and to a
corresponding one of number of output connections 607 associated with number
of utility sources 148 at the other end. Each of number of input cables 606
may
carry a corresponding one of number of utilities 146 from the corresponding
one
of number of utility sources 148 to utility fixture 150.
Number of utility sources 148 may include, for example, without limitation,
a power source, an air supply source, a water source, a hydraulic fluid
source, a
communications source, some other type of source, or some combination
thereof. In some cases, more than one of number of input cables 606 may
connect to a same utility source.
Set of coupling units 608 may be associated with base structure 600. Set
of coupling units 608 may be used to couple mobile system 610 to utility
fixture
150. Mobile system 610 may take the form of tower 332 in Figure 3, cradle
fixture 322 in Figure 3, or some other type of drivable system. A coupling
unit
that is capable of sending at least one utility to or receiving at least one
utility
from a corresponding coupling unit when interfaced with the corresponding
coupling unit may be referred to as a utility coupling unit. The corresponding
coupling unit may then also be referred to as a utility coupling unit. When a
coupling unit is used to provide only a mechanical coupling, the coupling unit
may be referred to as a mechanical coupling unit.
Set of coupling units 608 may be coupled to, or mated with, set of
corresponding coupling units 614 associated with mobile system 610. Set of
corresponding coupling units 614 may be associated with coupling structure
615,
which may be associated with mobile system 610. Depending on the
implementation, set of corresponding coupling units 614 may be considered part
of or independent of coupling structure 615. In some illustrative examples,
coupling structure 615 and set of corresponding coupling units 614 may be
together referred to as a utility coupler. When mobile system 610 takes the
form
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CA 02895824 2015-06-26
of tower 332, coupling structure 615 may be associated with base structure 617
of tower 332.
The mating of set of coupling units 608 to set of corresponding coupling
units 614 may be performed autonomously, manually, or both, depending on the
implementation. In this manner, the coupling of set of coupling units 608 to
set
of corresponding coupling units 614 may take the form of at least one of
autonomous coupling 621, manual coupling 623, or both. In these illustrative
examples, the mating of at least one of set of coupling units 608 with a
corresponding one of set of corresponding coupling units 614 may be performed
autonomously.
Coupling unit 612 may be an example of one of set of coupling units 608.
Corresponding coupling unit 613 may be an example of one of set of
corresponding coupling units 614. Coupling unit 612 may be configured to
couple to corresponding coupling unit 613 associated with mobile system 610.
In other words, coupling unit 612 may be mated with corresponding coupling
unit
613 to physically couple utility fixture 150 to mobile system 610 and at least
one
of electrically or fluidly couple utility fixture 150 to mobile system 610. In
one
illustrative example, coupling unit 612 may be autonomously mated with or
coupled to corresponding coupling unit 613.
Coupling unit 612 may take a number of different forms. Coupling unit
612 may include, for example, without limitation, quick-change device 616 and
at
least one of power coupling element 618, air coupling element 620, hydraulic
coupling element 622, communications coupling element 624, water coupling
element 626, or some other type of coupling element.
Quick-change device 616 may be configured to mate with corresponding
quick-change device 627. For example, without limitation, quick-change device
616 may take the form of male quick-change device 625. Male quick-change
device 625 may be configured to mate with a corresponding female quick-
change device, such as female quick-change device 628 associated with mobile
system 610. Mating male quick-change device 625 to female quick-change
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CA 02895824 2015-06-26
device 628 may concurrently cause the mating of at least one of power coupling
element 618, air coupling element 620, hydraulic coupling element 622,
communications coupling element 624, or water coupling element 626 included
in coupling unit 612 with at least one of corresponding power coupling element
630, corresponding air coupling element 632, corresponding hydraulic coupling
element 634, corresponding communications coupling element 636, or
corresponding water coupling element 638, respectively, included in
corresponding coupling unit 613.
Mating male quick-change device 625 and female quick-change device
628 may physically couple utility fixture 150 with mobile system 610. Mating
power coupling element 618 with corresponding power coupling element 630
may electrically couple utility fixture 150 and mobile system 610. Mating air
coupling element 620 with corresponding air coupling element 632 may fluidly
connect utility fixture 150 and mobile system 610 such that air may flow from
coupling unit 612 to corresponding coupling unit 613.
Further, mating hydraulic coupling element 622 with corresponding
hydraulic coupling element 634 may fluidly connect utility fixture 150 and
mobile
system 610 such that hydraulic fluid may flow from coupling unit 612 to
corresponding coupling unit 613. Similarly, mating communications coupling
element 624 with corresponding communications coupling element 636 may
connect utility fixture 150 and mobile system 610 such that data may be
transmitted from coupling unit 612 to corresponding coupling unit 613. Still
further, mating water coupling element 626 with corresponding water coupling
element 638 may fluidly connect utility fixture 150 and mobile system 610 such
that water may flow from coupling unit 612 to corresponding coupling unit 613.
As depicted, coupling unit 612 may also have alignment system 650 and
corresponding coupling unit 613 may have alignment system 652. Alignment
system 650 and alignment system 652 may be coordinated such that coupling
unit 612 may be aligned with corresponding coupling unit 613 for coupling. In
particular, alignment system 650 and alignment system 652 may align coupling
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CA 02895824 2015-06-26
unit 612 and corresponding coupling unit 613 such that autonomous coupling
621 may be performed. In this illustrative example, alignment system 650 and
alignment system 652 may be used to align coupling unit 612 with corresponding
coupling unit 613 autonomously.
In one illustrative example, alignment system 650 may include at least
one of set of movement systems 654, sensor device 655, or guidance fork 656.
In this example, alignment system 652 may include at least one of set of
movement systems 658, sensor device 659, or roller 660. Sensor device 655
and sensor device 659 may each take the form of an imaging system, depending
on the implementation.
Set of movement systems 654 may be used to move coupling unit 612
with at least one degree of freedom relative to utility fixture 150 for
alignment
purposes. Set of movement systems 658 may be used to move corresponding
coupling unit 613 with at least one degree of freedom relative to mobile
system
610 for alignment purposes. Each movement system in set of movement
systems 654 and set of movement systems 658 may be implemented using at
least one of an actuation device, an air cylinder, a motor, a rail system, an
X-Y
table, a track system, a slider, a roller, a wheel, or some other type of
movement
device.
In one illustrative example, at least one of set of movement systems 654
or set of movement systems 658 may be used to guide roller 660 within
guidance fork 656. In this example, roller 660 may be guided within guidance
fork 656 to provide horizontal alignment or vertical alignment between
coupling
unit 612 and corresponding coupling unit 613, depending on the orientation of
guidance fork 656 relative to utility fixture 150 and roller 660 relative to
mobile
system 610. When roller 660 is within guidance fork 656, roller 660 may be
considered engaged with guidance fork 656, thereby mating alignment system
652 with alignment system 650.
In this illustrative example, data generated by sensor device 655 may be
processed and used to control the operation of set of movement system 658.
CA 02895824 2015-06-26
Further, data generated by sensor device 659 may be processed and used to
control the operation of set of movement systems 658. In this manner, sensor
device 655 may generate data for use in aligning roller 660 relative to
guidance
fork 656 along at least one axis. Similarly, sensor device 659 may generate
data
for use in aligning roller 660 relative to guidance fork 656 along at least
one axis.
Depending on the implementation, alignment system 650 and alignment
system 652 may include any number of structural members, connective
elements, or other types of alignment elements for use in aligning coupling
unit
612 and corresponding coupling unit 613 with each other within selected
tolerances. In these illustrative examples, alignment system 650 and alignment
system 652 may facilitate autonomous coupling 621 of coupling unit 612 and
corresponding coupling unit 613.
In this manner, one or more of the utilities in number of utilities 146 may
be coupled between coupling unit 612 and corresponding coupling unit 613.
Each of set of coupling units 608 may be mated with one of set of
corresponding
coupling units 614 in a similar manner. Different combinations of utilities
may be
coupled between utility fixture 150 and mobile system 610 through each pair of
mated coupling units.
Mating set of coupling units 608 with set of corresponding coupling units
614 may create set of interfaces 640. One or more of the utilities in number
of
utilities 146 may flow across each of set of interfaces 640 from utility
fixture 150
to mobile system 610.
Number of input cables 606 may carry number of utilities 146 to set of
coupling units 608. Number of utilities 146 may flow across set of interfaces
640
to set of corresponding coupling units 614. Number of distribution cables 642
may then carry number of utilities 146 from set of corresponding coupling
units
614 to various systems and components. As one illustrative example, number of
distribution cables 642 may carry number of utilities 146 from set of
corresponding coupling units 614 to at least one of a utility box (not shown)
associated with tower 332, number of internal mobile platforms 402 from Figure
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CA 02895824 2015-06-26
4 located on tower 332, number of cradle fixtures 314 in Figure 3, or some
other
component, system, or platform.
Coupling tower 332 to utility fixture 150 may establish distributed utility
network 144 described in Figure 5. Other systems may be added to distributed
utility network 144 by coupling these other systems in series to tower 332 in
a
similar manner.
As one illustrative example, cradle fixture 322 may be coupled to tower
332 such that number of utilities 146 may flow from tower 332 to cradle
fixture
322. In particular, different set of coupling units 644 may be associated with
tower 332. Different set of coupling units 644 may be autonomously mated with
or coupled to different set of corresponding coupling units 646 associated
with
cradle fixture 322. Each of different set of coupling units 644 may be
implemented in a manner similar to that described for coupling unit 612.
Similarly, each of different set of corresponding coupling units 646 may be
implemented in a manner similar to that described for corresponding coupling
unit 613.
In one illustrative example, each of different set of coupling units 644 may
include a male quick-change device that may be mated with a female quick-
change device of a corresponding one of different set of corresponding
coupling
units 646. Each pair of mated coupling units may form an interface similar to
each of set of interfaces 640.
With reference now to Figure 7, an illustration of one implementation for
distributed utility network 144 from Figures 1 and 5 is depicted in accordance
with an illustrative embodiment. Within distributed utility network 144, tower
332
may be coupled to utility fixture 150; first cradle fixture 700 may be coupled
to
tower 332; second cradle fixture 702 may be coupled to first cradle fixture
700;
and third cradle fixture 704 may be coupled to second cradle fixture 702.
As depicted, set of tower coupling units 706 may be associated with tower
332. Set of corresponding first cradle coupling units 708 and set of first
cradle
coupling units 710 may be associated with first cradle fixture 700. Set of
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CA 02895824 2015-06-26
corresponding second cradle coupling units 712 and set of second cradle
coupling units 714 may be associated with second cradle fixture 702. Set of
corresponding third cradle coupling units 716 may be associated with third
cradle
fixture 704.
In particular, set of coupling units 608 may be mated with set of
corresponding coupling units 614, thereby coupling utility fixture 150 and
tower
332. In one illustrative example, set of coupling units 608 may be referred to
as
a set of utility fixture coupling units and set of corresponding coupling
units 614
may be referred to as a set of corresponding tower coupling units. Number of
utility cables 718 may carry number of utilities 146 from set of corresponding
coupling units 614 to set of tower coupling units 706.
In this illustrative example, set of tower coupling units 706 may be mated
with set of corresponding first cradle coupling units 708, thereby coupling
first
cradle fixture 700 to tower 332. Number of utility cables 720 may carry number
.. of utilities 146 from set of corresponding first cradle coupling units 708
to set of
first cradle coupling units 710. Set of first cradle coupling units 710 may be
mated with set of corresponding second cradle coupling units 712, thereby
coupling second cradle fixture 702 to first cradle fixture 700.
Number of utility cables 722 may carry number of utilities 146 from set of
corresponding second cradle coupling units 712 to set of second cradle
coupling
units 714. Set of second cradle coupling units 714 may be mated with set of
corresponding third cradle coupling units 716, thereby coupling third cradle
fixture 704 to second cradle fixture 702. In this manner, utility fixture 150,
tower
332, first cradle fixture 700, second cradle fixture 702, and third cradle
fixture
704 may be connected in series.
Depending on the implementation, one or more of number of external
mobile platforms 400 from Figure 4 may be coupled to first cradle fixture 700,
second cradle fixture 702, or third cradle fixture 704. In one illustrative
example,
these couplings may be implemented in a manner similar to that described
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CA 02895824 2015-06-26
above. In other illustrative examples, these couplings may be implemented
using dual-interface couplers.
Further, number of internal mobile platforms 402 may receive number of
utilities 146 from tower 332 when tower 332 takes the form of second tower 336
described in Figure 3. For example, at least a portion of number of
distribution
cables 642 in Figure 6 may be used to carry number of utilities 146 to number
of
internal mobile platforms 402.
In some illustrative examples, number of utility connection devices 724
may be associated with tower 332. For example, without limitation, number of
utility connection devices 724 may be associated with base structure 617 of
tower 322 as shown in Figure 6. Base structure 617 may include any number of
platform levels for tower 332. At least a portion of number of distribution
cables
642 in Figure 6 may be used to carry number of utilities 146 from set of
corresponding coupling units 614 to number of utility connection devices 724.
Number of utility connection devices 724 may be used to provide number
of utilities 146 from tower 332 to number of human-operated tools 726. For
example, without limitation, one or more human operators may plug one or more
utility cables extending from number of human-operated tools 726 into number
of
utility connection devices 724. Number of human-operated tools 726 may then
be carried into interior 236 of fuselage assembly 114 shown in Figure 2. In
this
manner, utility sources, such as a power generator, an air compressor, a
hydraulic fluid tank, and other types of utility sources, may not need to be
located
within interior 236 of fuselage assembly 114 shown in Figure 2 during the
building of fuselage assembly 114. Consequently, the weight placed on number
of floors 266 of fuselage assembly 114 in Figure 2 during building may be
reduced. For example, the weight associated with providing number of utilities
146 to tools inside fuselage assembly 114 may be reduced to simply the weight
of the tools and the weight of the utility cables used to connect the tools to
number of utility connection devices 724.
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CA 02895824 2015-06-26
The illustrations in Figures 1-7 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.
CA 02895824 2015-06-26
In some illustrative examples, set of coupling units 608 may be distributed
across more than one utility fixture. For example, without limitation, in some
cases, multiple utility fixtures, implemented in a manner similar to utility
fixture
150 may be used to provide number of utilities 146 from number of utility
sources
148 to flexible manufacturing system 106 in Figure 1. In some cases, the
coupling units in set of coupling units 608 may be located in different
locations on
floor 300 or other surfaces of manufacturing environment 100. For example,
without limitation, a portion of the coupling units may be mounted to or
embedded in the floor, while another portion of the coupling units may be
mounted to or attached to a ceiling of manufacturing environment 100.
As one illustrative example, a first coupling unit may have power coupling
element 618, a second coupling unit may have air coupling element 620, a third
coupling unit may have hydraulic coupling element 622 and water coupling
element 626, and a fourth coupling unit may have communications coupling
element 624. Depending on the implementation, all of these coupling units may
be part of utility fixture 150 or may be associated with different utility
fixtures.
These different utility fixtures may be located in different locations on
floor 300 or
other surfaces of manufacturing environment 100. For
example, without
limitation, one or more utility fixtures may be mounted to or embedded in the
floor, one or more utility fixtures may be mounted to or attached to a ceiling
of
manufacturing environment 100, and one or more other utility fixtures may be
mounted to or attached to a wall in manufacturing environment 100.
With this type of implementation, the corresponding coupling units to be
mated to these types of coupling units may also be located in different
locations.
For example, coupling units in set of corresponding coupling units 614 may be
associated with various coupling structures attached to different locations on
base structure 617 of tower 332.
In still other illustrative examples, a portion of set of coupling units 608
may be mated with corresponding coupling units associated with tower 332,
while another portion of set of coupling units 608 may be mated with
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CA 02895824 2015-06-26
corresponding coupling units associated with assembly fixture 324. In this
manner, distributed utility network 144 may be implemented in a number of
different ways. Further, number of utilities 146 may be provided to flexible
manufacturing system 106 in any number of different ways.
In still other illustrative examples, mobile system 610 in Figure 6 may take
the form of cradle fixture 322 in Figure 3. Consequently, utility fixture 150
may
be coupled to cradle fixture 322. In these examples, number of utilities 146
may
be distributed from utility fixture 150, to cradle fixture 322, and then to a
remaining portion of assembly fixture 324 and tower 332. In this manner,
distributed utility network 144 may have any number of configurations. Number
of utilities 146 may flow downstream in series through distributed utility
network
144 regardless of the configuration of distributed utility network 144.
With reference now to Figure 8, an illustration of an isometric view of a
manufacturing environment is depicted in accordance with an illustrative
embodiment. In this illustrative example, manufacturing environment 800 may
be an example of one implementation for manufacturing environment 100 in
Figure 1.
As depicted, manufacturing environment 800 may include holding
environment 801 and assembly environment 802. Holding environment 801 may
be a designated area on and over floor 803 of manufacturing environment 800
for storing plurality of flexible manufacturing systems 806 when plurality of
flexible manufacturing systems 806 are not in use. Each of plurality of
flexible
manufacturing systems 806 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 806 may be an example of
one implementation for autonomous flexible manufacturing system 112 in Figure
1.
Holding environment 801 may include plurality of holding cells 804. In this
illustrative example, each of plurality of holding cells 804 may be considered
an
example of one implementation for holding area 318 in Figure 3. In other
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CA 02895824 2015-06-26
illustrative examples, the entire holding environment 801 may be considered an
example of one implementation for holding area 318 in Figure 3.
Each of plurality of flexible manufacturing systems 806 may be stored in a
corresponding one of plurality of holding cells 804. In particular, each of
plurality
of holding cells 804 may be designated for a specific one of plurality of
flexible
manufacturing systems 806. However, in other illustrative examples, any one of
plurality of holding cells 804 may be used for storing any one of plurality of
flexible manufacturing systems 806.
As depicted, flexible manufacturing system 808 may be an example of
one of plurality of flexible manufacturing systems 806. Flexible manufacturing
system 808 may include plurality of mobile systems 811, which may be an
example of one implementation for plurality of mobile systems 134 in Figures 1
and 3.
Flexible manufacturing system 808 may be stored in holding cell 810 of
plurality of holding cells 804. In this example, all of holding environment
801
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 804
in
holding environment 801 may be considered an example of one implementation
for holding area 318 in Figure 3.
Floor 803 of manufacturing environment 800 may be substantially smooth
to allow the various components and systems of plurality of flexible
manufacturing systems 806 to be autonomously driven across floor 803 of
manufacturing environment 800 with ease. When one of plurality of flexible
manufacturing systems 806 is ready for use, that flexible manufacturing system
may be driven across floor 803 from holding environment 801 into assembly
environment 802.
Assembly environment 802 may be the designated area on and above
floor 803 for building fuselage assemblies. When none of plurality of flexible
manufacturing systems 806 are in use, floor 803 of assembly environment 802
may be kept substantially open and substantially clear.
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CA 02895824 2015-06-26
As depicted, assembly environment 802 may include plurality of work cells
812. In one illustrative example, each of plurality of work cells 812 may be
an
example of one implementation for assembly area 304 in Figure 3. Thus, each
of plurality of work cells 812 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 802 may be considered an example of one
implementation for assembly area 304 in Figure 3.
In this illustrative example, first portion 814 of plurality of work cells 812
may be designated for building forward fuselage assemblies, such as forward
fuselage assembly 117 in Figure 1, while second portion 816 of plurality of
work
cells 812 may be designated for building aft fuselage assemblies, such as aft
fuselage assembly 116 in Figure 1. In this manner, plurality of work cells 812
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 812.
In one illustrative example, plurality of mobile systems 811 that belong to
flexible manufacturing system 808 may be driven across floor 803 from holding
cell 810 into work cell 813. Within work cell 813, plurality of mobile systems
811
may be used to build a fuselage assembly (not shown). An example of one
manner in which this fuselage assembly may be built using flexible
manufacturing system 808 is described in greater detail in Figures 9-19 below.
In some illustrative examples, a sensor system may be associated with
one or more of plurality of work cells 812. For example, without limitation,
in
some cases, sensor system 818 may be associated with work cell 819 of
plurality of work cells 812. Sensor data generated by sensor system 818 may be
used to help drive the various mobile systems of the corresponding one of
plurality of flexible manufacturing systems 806 designated for building a
fuselage
assembly within work cell 819. In one illustrative example, sensor system 818
may take the form of metrology system 820.
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CA 02895824 2015-06-26
Depending on the implementation, sensor system 818 may be optional.
For example, without limitation, other sensor systems are not depicted
associated with other work cells of plurality of work cells 812. Not using
sensors
systems such as sensor system 818 may help keep floor 803 of manufacturing
environment 800 more open and clear to help the various mobile systems of
plurality of flexible manufacturing systems 806 be driven more freely across
floor
803.
As depicted, plurality of utility fixtures 824 may be permanently affixed to
floor 803. Each of plurality of utility fixtures 824 may be an example of one
implementation for utility fixture 150 in Figure 1.
Plurality of utility fixtures 824 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 803. Utility fixture 826
may be
an example of one of plurality of utility fixtures 824.
In this illustrative example, each of plurality of utility fixtures 824 is
located
in a corresponding one of plurality of work cells 812. Any one of plurality of
flexible manufacturing systems 806 may be driven towards and interfaced with
any one of plurality of utility fixtures 824. In this manner, plurality of
utility fixtures
824 may be used to provide one or more utilities to plurality of flexible
manufacturing systems 806.
Referring now to Figures 9-19, illustrations of the building of a fuselage
assembly within manufacturing environment 800 from Figure 8 are depicted in
accordance with an illustrative embodiment. In
Figures 9-19, flexible
manufacturing system 808 from Figure 8 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 812 in Figure 8. For example, without
limitation, the
building of the fuselage assembly may be performed within one of the work
cells
in second portion 816 of plurality of work cells 812 in Figure 8.
Turning now to Figure 9, an illustration of an isometric view of a first tower
coupled to utility fixture 826 from Figure 8 is depicted in accordance with an
CA 02895824 2015-06-26
illustrative embodiment. In this illustrative example, first tower 900 may be
coupled to utility fixture 826. First tower 900 may be an example of one of
plurality of mobile systems 811 of flexible manufacturing system 808 in Figure
8.
In particular, first tower 900 may be an example of one implementation for
first
tower 334 in Figure 3.
First tower 900 may be at least one of electrically and physically coupled
to utility fixture 826 such that interface 902 is formed between first tower
900 and
utility fixture 826. Interface 902 may be an example of one implementation for
interface 342 in Figure 3.
As depicted, first tower 900 may have base structure 904. Base structure
904 may include top platform 906 and bottom platform 907. In some cases, top
platform 906 and bottom platform 907 may be referred to as top platform level
and a bottom platform level, respectively. Top platform 906 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 907 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 908 may provide access from a floor,
such as floor 803 in Figure 8, to bottom platform 907. Walkway 910 may
provide access from bottom platform 907 to top platform 906. Railing 912 is
associated with top platform 906 for the protection of a human operator moving
around on top platform 906. Railing 914 is associated with bottom platform 907
for the protection of a human operator moving around on bottom platform 907.
First tower 900 may be autonomously driven across floor 803 using
autonomous vehicle 916. Autonomous vehicle 916 may be an automated guided
vehicle (AGV) in this example. Autonomous vehicle 916 may be an example of
one of plurality of autonomous vehicles 306 in Figure 3. As depicted,
autonomous vehicle 916 may be used to drive first tower 900 from holding
environment 801 in Figure 8 to selected tower position 918 relative to utility
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CA 02895824 2015-06-26
fixture 826.
Selected tower position 918 may be an example of one
implementation for selected tower position 338 in Figure 3.
Once first tower 900 has been autonomously driven into selected tower
position 918, first tower 900 may autonomously couple to utility fixture 826.
In
particular, first tower 900 may electrically and physically couple to utility
fixture
826 autonomously to form interface 902. This type of coupling may enable a
number of utilities to flow from utility fixture 826 to first tower 900. In
this
manner, first tower 900 and utility fixture 826 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 10, an illustration of an isometric view of a
cradle system is depicted in accordance with an illustrative embodiment. In
this
illustrative example, cradle system 1000 may be an example of one
implementation for cradle system 308 in Figure 3. Further, cradle system 1000
may be an example of one of plurality of mobile systems 811 of flexible
manufacturing system 808 in Figure 8. In this manner, cradle system 1000 may
be an example of one of plurality of mobile systems 811 that are stored in
holding cell 810 in Figure 8.
As depicted, cradle system 1000 may be comprised of number of fixtures
.. 1003. Number of fixtures 1003 may be an example of one implementation for
number of fixtures 313 in Figure 3. Number of fixtures 1003 may include
number of cradle fixtures 1002 and fixture 1004. Number of cradle fixtures
1002
may be an example of one implementation for number of cradle fixtures 314 in
Figure 3.
Number of cradle fixtures 1002 may include cradle fixture 1006, cradle
fixture 1008, and cradle fixture 1010. Fixture 1004 may be fixedly associated
with cradle fixture 1006. In this illustrative example, fixture 1004 may be
considered part of cradle fixture 1006. However, in other illustrative
examples,
fixture 1004 may be considered a separate fixture from cradle fixture 1006.
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CA 02895824 2015-06-26
As depicted, cradle fixture 1006, cradle fixture 1008, and cradle fixture
1010 have base 1012, base 1014, and base 1016, respectively. Number of
retaining structures 1018 may be associated with base 1012. Number of
retaining structures 1020 may be associated with base 1014. Number of
retaining structures 1022 may be associated with base 1016. Each of number of
retaining structures 1018, number of retaining structures 1020, and number of
retaining structures 1022 may be an example of an implementation for number of
retaining structures 326 in Figure 3.
Each retaining structure in number of retaining structures 1018, number of
retaining structures 1020, and number of retaining structures 1022 may have a
curved shape that substantially matches a curvature of a corresponding
fuselage
section to be received by the retaining structure. Retaining structure 1023
may
be an example of one of number of retaining structures 1020. As depicted,
retaining structure 1023 may have curved shape 1025.
Curved shape 1025 may be selected such that curved shape 1025
substantially matches a curvature of a corresponding keel panel (not shown)
that
is to be engaged with retaining structure 1023. More specifically, retaining
structure 1023 may have a substantially same radius of curvature as a
corresponding keel panel (not shown) that is to be engaged with retaining
structure 1023.
In this illustrative example, plurality of stabilizing members 1024, plurality
of stabilizing members 1026, and plurality of stabilizing members 1028 may be
associated with base 1012, base 1014, and base 1016, respectively. Plurality
of
stabilizing members 1024, plurality of stabilizing members 1026, and plurality
of
stabilizing members 1028 may be used to stabilize base 1012, base 1014, and
base 1016, respectively, relative to floor 803 of manufacturing environment
800.
In one illustrative example, these stabilizing members may keep their
respective bases substantially level relative to floor 803. Further, each of
plurality of stabilizing members 1024, plurality of stabilizing members 1026,
and
plurality of stabilizing members 1028 may substantially support their
respective
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CA 02895824 2015-06-26
base until that base is to be moved to a new location within or outside of
manufacturing environment 800. In one illustrative example, each stabilizing
member of plurality of stabilizing members 1024, plurality of stabilizing
members
1026, and plurality of stabilizing members 1028 may be implemented using a
.. hydraulic leg.
Each of number of fixtures 1003 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 1004 may have platform 1030 associated with base 1032.
Platform 1030 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 11, an illustration of an isometric view of an
assembly fixture formed using cradle system 1000 from Figure 10 and coupled
to first tower 900 from Figure 9 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, cradle fixture 1010 is coupled to
first
tower 900 and cradle fixture 1010, cradle fixture 1006, and cradle fixture
1008
are coupled to each other.
Cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006 may have
been autonomously driven across floor 803 of manufacturing environment 800 to
selected cradle position 1100, selected cradle position 1102, and selected
cradle
position 1104, respectively, using a number of corresponding autonomous
vehicles (not shown), such as number of corresponding autonomous vehicles
316 from Figure 3. Driving cradle fixture 1006 may also cause fixture 1004 to
be
.. driven when fixture 1004 is part of cradle fixture 1006 as shown. Selected
cradle
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CA 02895824 2015-06-26
position 1100, selected cradle position 1102, and selected cradle position
1104
may be an example of one implementation for number of selected cradle
positions 320 in Figure 3.
After driving cradle fixture 1010, cradle fixture 1008, and cradle fixture
1006 to selected cradle position 1100, selected cradle position 1102, and
selected cradle position 1104, 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 1010, cradle fixture 1008,
and
cradle fixture 1006.
Selected cradle position 1100 may be a position relative to selected tower
position 918 of first tower 900. When cradle fixture 1010 is in selected
cradle
position 1100 relative to first tower 900, cradle fixture 1010 may be
electrically
and physically coupled to first tower 900 to form interface 1106. In some
cases,
cradle fixture 1010 may be coupled to first tower 900 autonomously to form
interface 1106. In one illustrative example, interface 1106 may be formed by
autonomously coupling cradle fixture 1010 to first tower 900. Interface 1106
may
be an electrical and physical interface that enables a number of utilities
that are
flowing from utility fixture 826 to first tower 900 to also flow to cradle
fixture 1010.
In this manner, interface 1106 may be formed by autonomously coupling a
number of utilities between cradle fixture 1010 and first tower 900. Interface
1106 may be an example of one implementation for interface 340 in Figure 3. In
this illustrative example, cradle fixture 1010, being coupled to first tower
900,
may be referred to as primary cradle fixture 1111.
Further, as depicted, cradle fixture 1006, cradle fixture 1008, and cradle
fixture 1010 may be coupled to each other. In particular, cradle fixture 1008
may
be coupled to cradle fixture 1010 to form interface 1108. Similarly, cradle
fixture
1006 may be coupled to cradle fixture 1008 to form interface 1110. In one
illustrative example, both interface 1108 and interface 1110 may be formed by
autonomously coupling these cradle fixtures to each other.
CA 02895824 2015-06-26
In particular, interface 1108 and interface 1110 may take the form of
electrical and physical interfaces that enable the number of utilities to flow
from
cradle fixture 1010, to cradle fixture 1008, and to cradle fixture 1006. In
this
manner, interface 1108 may be formed by autonomously coupling the number of
utilities between cradle fixture 1010 and cradle fixture 1008 and interface
1110
may be formed by autonomously coupling the number of utilities between cradle
fixture 1008 and cradle fixture 1006. 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 826, first tower 900, cradle fixture 1010, cradle
fixture 1008, and cradle fixture 1006 are all coupled in series as described
above, the number of utilities may be distributed downstream from utility
fixture
826 to first tower 900, cradle fixture 1010, cradle fixture 1008, and cradle
fixture
1006. In this illustrative example, any utilities that flow to cradle fixture
1006 may
also be distributed to fixture 1004.
Any number of coupling units, structural members, connection devices,
cables, other types of elements, or combination thereof may be used to form
interface 1108 and interface 1110. Depending on the implementation, interface
1108 and interface 1110 may take the form of coupling units that both
physically
.. and electrically connect cradle fixture 1010, cradle fixture 1008, and
cradle
fixture 1006 to each other. In other illustrative examples, interface 1108 and
interface 1110 may be implemented in some other manner.
When cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006 are
in selected cradle position 1100, selected cradle position 1102, and selected
cradle position 1104, respectively, and coupled to each other, these cradle
fixtures together form assembly fixture 1112. Assembly fixture 1112 may be an
example of one implementation for assembly fixture 324 in Figure 3. In this
manner, interface 1106 between first tower 900 and cradle fixture 1010 may
also
be considered an electrical and physical interface between first tower 900 and
assembly fixture 1112.
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With reference now to Figure 12, 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 1112 from Figure 11 is depicted in accordance
with an illustrative embodiment. In this illustrative example, assembly
fixture
1112 may support fuselage assembly 1200 as fuselage assembly 1200 is built
on assembly fixture 1112.
Fuselage assembly 1200 may be an aft fuselage assembly that is an
example of one implementation for aft fuselage assembly 116 in Figure 1.
Fuselage assembly 1200 may be partially assembled in this illustrative
example.
Fuselage assembly 1200 may be at an early stage of assembly in this example.
At this stage of the assembly process, fuselage assembly 1200 includes
end panel 1201 and plurality of keel panels 1202. End panel 1201 may have a
tapered cylindrical shape in this illustrative example. In this manner, one
portion
of end panel 1201 may form part of the keel 1205 for fuselage assembly 1200,
another portion of end panel 1201 may form part of the sides (not fully shown)
for
fuselage assembly 1200, and yet another portion of end panel 1201 may form
part of a crown (not fully shown) for fuselage assembly 1200.
Further, as depicted, bulkhead 1203 may be associated with end panel
1201. Bulkhead 1203 may be a pressure bulkhead. Bulkhead 1203 may be an
example of one implementation for bulkhead 272 in Figure 2.
Plurality of keel panels 1202 include keel panel 1204, keel panel 1206,
and keel panel 1208. End panel 1201 and plurality of keel panels 1202 have
been engaged with assembly fixture 1112. In particular, end panel 1201 has
been engaged with fixture 1004. Keel panel 1204, keel panel 1206, and keel
panel 1208 have been engaged with cradle fixture 1006, cradle fixture 1008,
and
cradle fixture 1010, respectively.
In one illustrative example, end panel 1201 is first engaged with fixture
1004 with keel panel 1204, keel panel 1206, and keel panel 1208 then being
successively engaged with cradle fixture 1006, cradle fixture, 1008, and
cradle
fixture 1010, respectively. In this manner, keel 1205 of fuselage assembly
1200
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may be assembled in a direction from the aft end of fuselage assembly 1200 to
the forward end of fuselage assembly 1200.
Each of cradle fixture 1006, cradle fixture 1008, and cradle fixture 1010
may be at least one of autonomously or manually adjusted, as needed, to
accommodate plurality of keel panels 1202 such that fuselage assembly 1200
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 1006, cradle fixture 1008, and cradle fixture 1010 may have at least
one
retaining structure that can be adjusted to adapt to the shifting of fuselage
assembly 1200 during the assembly process due to increased loading as
fuselage assembly 1200 is built.
As depicted, members 1211 may be associated with end panel 1201 and
plurality of keel panels 1202. Members 1211 may include frames and stringers
in this illustrative example.
However, depending on the implementation,
members 1211 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 1211 attached to end panel 1201 may form
support section 1210. The portions of members 1211 attached to keel panel
1204, keel panel 1206, and keel panel 1208 may form support section 1212,
support section 1214, and support section 1216, respectively.
In this illustrative example, end panel 1201 may form fuselage section
1218 for fuselage assembly 1200. Each of keel panel 1204, keel panel 1206,
and keel panel 1208 may form a portion of fuselage section 1220, fuselage
section 1222, and fuselage section 1224, respectively, for fuselage assembly
1200. Fuselage section 1218, fuselage section 1220, fuselage section 1222,
and fuselage section 1224 may together form plurality of fuselage sections
1225
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for fuselage assembly 1200. Each of fuselage section 1218, fuselage section
1220, fuselage section 1222, and fuselage section 1224 may be an example of
one implementation for fuselage section 207 in Figure 2.
End panel 1201 and plurality of keel panels 1202 may be temporarily
connected together using temporary fasteners such as, for example, without
limitation, tack fasteners. In particular, end panel 1201 and plurality of
keel
panels 1202 may be temporarily connected to each other as each of the panels
is engaged with assembly fixture 1112 and other panels.
For example, without limitation, coordination holes (not shown) may be
present at the edges of end panel 1201 and each of plurality of keel panels
1202.
In some cases, a coordination hole may pass through a panel and at least one
of
members 1211 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 1211 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 1201 and plurality of keel panels 1202 have been temporarily connected
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CA 02895824 2015-06-26
together, assembly fixture 1112 may help maintain the position and orientation
of
end panel 1201 and each of plurality of keel panels 1202 relative to each
other.
Turning 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,
cargo
floor 1300 has been added to fuselage assembly 1200. In particular, cargo
floor
1300 may be associated with plurality of keel panels 1202.
As depicted, at least a portion of cargo floor 1300 may be substantially
level with bottom platform 907 of first tower 900. In particular, at least the
portion
of cargo floor 1300 nearest first tower 900 may be substantially aligned with
bottom platform 907 of first tower 900. In this manner, a human operator (not
shown) may use bottom platform 907 of first tower 900 to easily walk onto
cargo
floor 1300 and access interior 1301 of fuselage assembly 1200.
As depicted, first side panels 1302 and second side panels 1304 have
been added to fuselage assembly 1200. First side panels 1302 and second side
panels 1304 may be an example of one implementation for first side panels 224
and second side panels 226, respectively, in Figure 2. First side panels 1302,
second side panels 1304, and a first and second portion of end panel 1201 may
form sides 1305 of fuselage assembly 1200. In this illustrative example,
plurality
of keel panels 1202, end panel 1201, first side panels 1302, and second side
panels 1304 may all be temporarily connected together using, for example,
without limitation, tack fasteners.
First side panels 1302 may include side panel 1306, side panel 1308, and
side panel 1310 that have been engaged with and temporarily connected to keel
panel 1204, keel panel 1206, and keel panel 1208, respectively. Similarly,
second side panels 1304 may include side panel 1312, side panel 1314, and
side panel 1316 that have been engaged with and temporarily connected to keel
panel 1204, keel panel 1206, and keel panel 1208, respectively. Further, both
side panel 1306 and side panel 1312 have been engaged with end panel 1201.
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As depicted, members 1318 may be associated with first side panels
1302. Other members (not shown) may be similarly associated with second side
panels 1304. Members 1318 may be implemented in a manner similar to
members 1211. In this illustrative example, corresponding portion 1320 of
members 1318 may be associated with side panel 1306. Corresponding portion
1320 of members 1318 may form support section 1322 associated with side
panel 1306. Support section 1322 be an example of one implementation for
support section 238 in Figure 2.
With reference now to Figure 14, an illustration of an isometric view of
another stage in the assembly process for building a fuselage assembly is
depicted in accordance with an illustrative embodiment. In
this illustrative
example, passenger floor 1400 has been added to fuselage assembly 1200. As
depicted, passenger floor 1400 may be substantially level with top platform
906
of first tower 900. Human operator 1402 may use top platform 906 of first
tower
900 to walk onto passenger floor 1400 and access interior 1301 of fuselage
assembly 1200.
With reference now to Figure 15, 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 1500 have been added to fuselage assembly
1200. Plurality of crown panels 1500 may be an example of one implementation
for crown panels 218 in Figure 2.
In this illustrative example, plurality of crown panels 1500 may include
crown panel 1502, crown panel 1504, and crown panel 1506. These crown
panels along with a top portion of end panel 1201 may form crown 1507 of
fuselage assembly 1200. Crown panel 1502 may be engaged with and
temporarily connected to end panel 1201, side panel 1306 shown in Figure 13,
side panel 1312, and crown panel 1504. Crown panel 1504 may be engaged
with and temporarily connected to crown panel 1502, crown panel 1506, side
panel 1308 shown in Figure 13, and side panel 1314. Further, crown panel
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1506 may be engaged with and temporarily connected to crown panel 1504, side
panel 1310, and side panel 1316.
Together, end panel 1201, plurality of keel panels 1202, first side panels
1302, second side panels 1304, and plurality of crown panels 1500 may form
plurality of panels 1508 for fuselage assembly 1200. Plurality of panels 1508
may be an example of one implementation for plurality of panels 120 in Figure
1.
Plurality of panels 1508 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
1200. In other words, temporarily connecting plurality of panels 1508 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
1200 and, in particular, the joining of plurality of panels 1508 together.
Members (not shown) may be associated with plurality of crown panels
1500 in a manner similar to the manner in which members 1318 are associated
with first side panels 1302. These members associated with plurality of crown
panels 1500 may be implemented in a manner similar to members 1318 and
members 1211 as shown in Figures 13-14. The various members associated
with end panel 1201, plurality of keel panels 1202, plurality of crown panels
1500, first side panels 1302, and second side panels 1304 may form plurality
of
members 1510 for fuselage assembly 1200. When plurality of panels 1508 are
joined together, plurality of members 1510 may form a support structure (not
yet
shown) for fuselage assembly 1200, similar to support structure 131 in Figure
1.
After plurality of crown panels 1500 have been added to fuselage
assembly 1200, first tower 900 may be autonomously decoupled from assembly
fixture 1112 and utility fixture 826. First tower 900 may then be autonomously
driven away from utility fixture 826 using, for example, without limitation,
autonomous vehicle 916 in Figure 9. In one illustrative example, first tower
900
may be autonomously driven back to holding environment 801 in Figure 8.
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When first tower 900 is decoupled from assembly fixture 1112 and utility
fixture 826, 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 16, an illustration of an isometric view of a
second tower coupled to utility fixture 826 and assembly fixture 1112
supporting
fuselage assembly 1200 from Figure 15 is depicted in accordance with an
illustrative embodiment. In this illustrative example, second tower 1600 has
been positioned relative to assembly fixture 1112 and utility fixture 826.
Second
tower 1600 may be an example of one implementation for second tower 336 in
Figure 3.
Second tower 1600 may be autonomously driven across floor 803 using
an autonomous vehicle (not shown), similar to autonomous vehicle 916 in Figure
9. Second tower 1600 may be autonomously driven into selected tower position
1618 relative to utility fixture 826. Selected tower position 1618 may be an
example of one implementation for selected tower position 338 in Figure 3. In
this illustrative example, selected tower position 1618 may be substantially
the
same as selected tower position 918 in Figure 9.
Once second tower 1600 has been autonomously driven into selected
tower position 1618, second tower 1600 may autonomously couple to utility
fixture 826. In particular, second tower 1600 may electrically and physically
couple to utility fixture 826 autonomously to form interface 1602. Interface
1602
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
826 to second tower 1600.
Further, second tower 1600 may autonomously couple to cradle fixture
1010, thereby autonomously coupling to assembly fixture 1112, to form
interface
1605. Interface 1605 may enable the number of utilities to flow downstream
from
second tower 1600. In this manner, the number of utilities may flow from
second
tower 1600 to cradle fixture 1010, to cradle fixture 1008, and then to cradle
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CA 02895824 2015-06-26
fixture 1006. In this manner, second tower 1600 may fill the gap in the
distributed utility network that was created when first tower 900 in Figure 15
was
decoupled from assembly fixture 1112 and utility fixture 826 and driven away.
Similar to first tower 900 in Figure 9, second tower 1600 may include
base structure 1604, top platform 1606, and bottom platform 1607. However, top
platform 1606 and bottom platform 1607 may be used to provide internal mobile
platforms with access to interior 1301 of fuselage assembly 1200 instead of
human operators.
In this illustrative example, internal mobile platform 1608 may be
.. positioned on top platform 1606. Top platform 1606 may be substantially
aligned
with passenger floor 1400 such that internal mobile platform 1608 may be able
to
autonomously drive across top platform 1606 onto passenger floor 1400.
Similarly, an internal mobile platform (not shown in this view) may be
positioned on bottom platform 1607. Bottom platform 1607 may be substantially
aligned with cargo floor 1300 (not shown in this view) from Figure 13 such
that
this other internal mobile platform (not shown in this view) may be able to
autonomously drive across bottom platform 1607 onto the cargo floor. Internal
mobile platform 1608 and the other internal mobile platform (not shown in this
view) may be examples of implementations for internal mobile platform 406 in
Figure 4.
As depicted, internal robotic device 1610 and internal robotic device 1612
may be associated with internal mobile platform 1608. Although internal
robotic
device 1610 and internal robotic device 1612 are shown associated with the
same internal mobile platform 1608, in other illustrative examples, internal
robotic device 1610 may be associated with one internal mobile platform and
internal robotic device 1612 may be associated with another internal mobile
platform. Each of internal robotic device 1610 and internal robotic device
1612
may be an example of one implementation for internal robotic device 416 in
Figure 4.
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Internal robotic device 1610 and internal robotic device 1612 may be used
to perform operations within interior 1301 of fuselage assembly 1200 for
joining
plurality of panels 1508. For example, without limitation, internal robotic
device
1610 and internal robotic device 1612 may be used to perform fastening
operations, such as riveting operations, within interior 1301 of fuselage
assembly
1200.
In one illustrative example, utility box 1620 may be associated with base
structure 1604. Utility box 1620 may manage the number of utilities received
from utility fixture 826 through interface 1602 and may distribute these
utilities
into utility cables that are managed using cable management system 1614 and
cable management system 1616.
As depicted in this example, cable management system 1614 may be
associated with top platform 1606 and cable management system 1616 may be
associated with bottom platform 1607. Cable management system 1614 and
cable management system 1616 may be implemented similarly.
Cable management system 1614 may include cable wheels 1615 and
cable management system 1616 may include cable wheels 1617. Cable wheels
1615 may be used to spool utility cables that are connected to internal mobile
platform 1608. For example, without limitation, cable wheels 1615 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 1608 moves away from second tower 1600
along passenger floor 1400, the utility cables may extend from cable wheels
1615 to maintain utility support to internal mobile platform 1608 and manage
the
utility cables such that they do not become tangled. Cable wheels 1617 may be
implemented in a manner similar to cable wheels 1615.
By using cable wheels 1615 to spool the utility cables, the utility cables
may be kept off of internal mobile platform 1608, thereby reducing the weight
of
internal mobile platform 1608 and the load applied by internal mobile platform
CA 02895824 2015-06-26
1608 to passenger floor 1400. The number of utilities provided to internal
mobile
platform 1608 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 17, an illustration of an isometric cutaway
view of a plurality of mobile platforms performing fastening processes within
interior 1301 of fuselage assembly 1200 is depicted in accordance with an
illustrative embodiment. In this illustrative example, plurality of mobile
platforms
1700 may be used to perform fastening processes to join plurality of panels
1508
together.
In particular, plurality of panels 1508 may be joined together at selected
locations along fuselage assembly 1200. Plurality of panels 1508 may be joined
to form at least one of lap joints, butt joints, or other types of joints. In
this
manner, plurality of panels 1508 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 1508.
As depicted, plurality of mobile platforms 1700 may include internal mobile
platform 1608 and internal mobile platform 1701. Internal mobile platform 1608
and internal mobile platform 1701 may be an example of one implementation for
number of internal mobile platforms 402 in Figure 4. Internal mobile platform
1608 may be configured to move along passenger floor 1400, while internal
mobile platform 1701 may be configured to move along cargo floor 1300.
As depicted, internal robotic device 1702 and internal robotic device 1704
may be associated with internal mobile platform 1701. Each of internal robotic
device 1702 and internal robotic device 1704 may be an example of one
implementation for internal robotic device 416 in Figure 4. Internal robotic
device 1702 and internal robotic device 1704 may be similar to internal
robotic
device 1610 and internal robotic device 1612.
Plurality of mobile platforms 1700 may also include external mobile
platform 1705 and external mobile platform 1707. External mobile platform 1705
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CA 02895824 2015-06-26
and external mobile platform 1707 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 1705 and external mobile platform 1707 may be
examples of implementations for external mobile platform 404 in Figure 4.
External robotic device 1706 may be associated with external mobile
platform 1705. External robotic device 1708 may be associated with external
mobile platform 1707. Each of external robotic device 1706 and external
robotic
device 1708 may be an example of one implementation for external robotic
device 408 in Figure 4.
As depicted, external robotic device 1706 and internal robotic device 1612
may work collaboratively to install fasteners autonomously in fuselage
assembly
1200. 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 1708 and
internal robotic device 1704 may work collaboratively to install fasteners
autonomously in fuselage assembly 1200. As one illustrative example, end
effector 1710 of internal robotic device 1612 and end effector 1712 of
external
robotic device 1706 may be positioned relative to a same location 1720 on
fuselage assembly 1200 to perform a fastening process at location 1720, 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.
In this illustrative example, autonomous vehicle 1711 may be fixedly
associated with external mobile platform 1705. Autonomous vehicle 1711 may
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CA 02895824 2015-06-26
be used to drive external mobile platform 1705 autonomously. For example,
autonomous vehicle 1711 may be used to autonomously drive external mobile
platform 1705 across floor 803 of manufacturing environment 800 relative to
assembly fixture 1112.
Similarly, autonomous vehicle 1713 may be fixedly associated with
external mobile platform 1707. Autonomous vehicle 1713 may be used to drive
external mobile platform 1707 autonomously. For example, autonomous vehicle
1713 may be used to autonomously drive external mobile platform 1707 across
floor 803 of manufacturing environment 800 relative to assembly fixture 1112.
By being fixedly associated with external mobile platform 1705 and
external mobile platform 1707, autonomous vehicle 1711 and autonomous
vehicle 1713 may be considered integral to external mobile platform 1705 and
external mobile platform 1707, respectively.
However, in other illustrative
examples, these autonomous vehicles may be independent of the external
mobile platforms in other illustrative examples.
Once all fastening processes have been completed for fuselage assembly
1200, internal mobile platform 1608 and internal mobile platform 1701 may be
autonomously driven across passenger floor 1400 back onto top platform 1606
and bottom platform 1607, respectively, of second tower 1600. Second tower
1600 may then be autonomously decoupled from both utility fixture 826 and
assembly fixture 1112. Autonomous vehicle 1714 may then be used to
autonomously drive or move second tower 1600 away.
In this illustrative example, building of fuselage assembly 1200 may now
be considered completed for this stage in the overall assembly process for the
fuselage. Consequently, assembly fixture 1112 may be autonomously driven
across floor 803 to move fuselage assembly 1200 to some other location. In
other illustrative examples, first tower 900 from Figure 9 may be autonomously
driven back into selected tower position 918 in Figure 9 relative to utility
fixture
826. First tower 900 from Figure 9 may then be autonomously recoupled to
utility fixture 826 and assembly fixture 1112. First tower 900 from Figure 9
may
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enable a human operator (not shown) to access interior 1301 of fuselage
assembly 1200 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 18, an illustration of a cross-sectional view
of flexible manufacturing system 808 performing operations on fuselage
assembly 1200 from Figure 17 is depicted in accordance with an illustrative
embodiment. In this illustrative example, a cross-sectional view of fuselage
assembly 1200 from Figure 17 is depicted taken in the direction of lines 18-18
in
Figure 17.
As depicted, internal mobile platform 1608 and internal mobile platform
1701 are performing operations within interior 1301 of fuselage assembly 1200.
External mobile platform 1705 and external mobile platform 1707 are performing
assembly operations along exterior 1800 of fuselage assembly 1200.
In this illustrative example, external mobile platform 1705 may be used to
perform operations along portion 1802 of exterior 1800 between axis 1804 and
axis 1806 at first side 1810 of fuselage assembly 1200. External robotic
device
1706 of external mobile platform 1705 may work collaboratively with internal
robotic device 1610 of internal mobile platform 1608 to perform fastening
processes.
Similarly, external mobile platform 1707 may be used to perform
operations along portion 1808 of exterior 1800 of fuselage assembly 1200
between axis 1804 and axis 1806 at second side 1812 of fuselage assembly
1200. External robotic device 1708 of external mobile platform 1707 may work
collaboratively with internal robotic device 1704 of internal mobile platform
1701
to perform fastening processes.
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Although external mobile platform 1705 is depicted as being located at
first side 1810 of fuselage assembly 1200, external mobile platform 1705 may
be
autonomously driven by autonomous vehicle 1711 to second side 1812 of
fuselage assembly 1200 to perform operations along portion 1811 of exterior
1800 of fuselage assembly 1200 between axis 1804 and axis 1806. Similarly,
external mobile platform 1707 may be autonomously driven by autonomous
vehicle 1713 to second side 1812 of fuselage assembly 1200 to perform
operations along portion 1813 of exterior 1800 of fuselage assembly 1200
between axis 1804 and axis 1806.
Although not shown in this illustrative example, an external mobile
platform similar to external mobile platform 1705 may have an external robotic
device configured to work collaboratively with internal robotic device 1612 of
internal mobile platform 1608 at second side 1812 of fuselage assembly 1200.
Similarly, an external mobile platform similar to external mobile platform
1707
may have an external robotic device configured to work collaboratively with
internal robotic device 1702 of internal mobile platform 1701 at first side
1810 of
fuselage assembly 1200.
These four different external mobile platforms and two internal mobile
platforms may be controlled such that the operations performed by internal
mobile platform 1608 located on passenger floor 1400 may occur at a different
location with respect to the longitudinal axis of fuselage assembly 1200 than
the
operations performed by internal mobile platform 1701 located on cargo floor
1300. The four external mobile platforms may be controlled such that the two
external mobile platforms located on the same side of fuselage assembly 1200
do not collide or impede one another. The two external mobile platforms
located
at the same side of fuselage assembly 1200 may be unable to occupy the same
footprint in this illustrative example.
In this illustrative example, external mobile platform 1705 may
autonomously couple to assembly fixture 1112 to form interface 1822 such that
a
number of utilities may flow from assembly fixture 1112 to external mobile
CA 02895824 2015-06-26
platform 1705. In other words, the number of utilities may be autonomously
coupled between external mobile platform 1705 and assembly fixture 1112
through interface 1822. In particular, external mobile platform 1705 has been
coupled to cradle fixture 1010 through interface 1822.
Similarly, external mobile platform 1707 may autonomously couple to
assembly fixture 1112 to form interface 1824 such that a number of utilities
may
flow from assembly fixture 1112 to external mobile platform 1707. In other
words, the number of utilities may be autonomously coupled between external
mobile platform 1707 and assembly fixture 1112 through interface 1824. In
particular, external mobile platform 1707 has been coupled to cradle fixture
1010
through interface 1824.
As operations are performed along fuselage assembly 1200 by external
mobile platform 1705, external mobile platform 1707, and any other external
mobile platforms, these external mobile platforms may be coupled to and
decoupled from assembly fixture 1112 as needed. For example, external mobile
platform 1707 may decouple from cradle fixture 1010 as external mobile
platform
1707 moves aftward along fuselage assembly 1200 such that external mobile
platform 1707 may then autonomously couple to cradle fixture 1008 (not shown)
from Figures 10-17. Further, these external mobile platforms may be coupled to
and decoupled from assembly fixture 1112 to avoid collisions and prevent the
external mobile platforms from impeding each other during maneuvering of the
external mobile platforms relative to assembly fixture 1112 and fuselage
assembly 1200.
As depicted, autonomous vehicle 1814 is shown positioned under the
assembly fixture 1112 formed by cradle system 1000. In this illustrative
example, autonomous vehicle 1814, autonomous vehicle 1711, and autonomous
vehicle 1713 may have omnidirectional wheels 1816, omnidirectional wheels
1818, and omnidirectional wheels 1820, respectively. In
some illustrative
examples, metrology system 1826 may be used to help position external mobile
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platform 1705 and external mobile platform 1707 relative to fuselage assembly
1200.
Turning now to Figure 19, 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 1200 may be
considered completed when plurality of panels 1508 have been fully joined.
In other words, all fasteners needed to join together plurality of panels
1508 have been fully installed. With plurality of panels 1508 joined together,
support structure 1900 may be fully formed. Support structure 1900 may be an
example of one implementation for support structure 121 in Figure 1. Fuselage
assembly 1200, which is an aft fuselage assembly, may now be ready for
attachment to a corresponding middle fuselage assembly (not shown) and
forward fuselage assembly (not shown).
As depicted, autonomous vehicles (not shown in this view), similar to
autonomous vehicle 1714 shown in Figure 17, may be positioned under base
1012 of cradle fixture 1006, base 1014 of cradle fixture 1008, and base 1016
of
cradle fixture 1010, respectively. Autonomous vehicles, such as number of
corresponding autonomous vehicles 316 in Figure 3, may lift up base 1012,
base 1014, and base 1016, respectively, such that plurality of stabilizing
members 1024, plurality of stabilizing members 1026, and plurality of
stabilizing
members 1028, respectively, no longer contact the floor.
These autonomous vehicles (not shown) may then autonomously drive
cradle system 1000 carrying fuselage assembly 1200 that has been fully built
away from assembly environment 802 in Figure 8 and, in some cases, away
from manufacturing environment 800 in Figure 8. Computer-
controlled
movement of these autonomous vehicles (not shown) may ensure that number
of cradle fixtures 1002 maintain their positions relative to each other as
fuselage
assembly 1200 is being moved.
With reference now to Figure 20, an illustration of an isometric view of
fuselage assemblies being built within manufacturing environment 800 is
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depicted in accordance with an illustrative embodiment. In this illustrative
example, plurality of fuselage assemblies 2000 are being built within
plurality of
work cells 812 in manufacturing environment 800.
Plurality of fuselage assemblies 2000 may include plurality of forward
fuselage assemblies 2001 being built in first portion 814 of plurality of work
cells
812 and plurality of aft fuselage assemblies 2002 being built in second
portion
816 of plurality of work cells 812. Each of plurality of fuselage assemblies
2000
may be an example of one implementation for fuselage assembly 114 in Figure
1.
As depicted, plurality of fuselage assemblies 2000 are being built
concurrently. However, plurality of fuselage assemblies 2000 are at different
stages of assembly in this illustrative example.
Forward fuselage assembly 2004 may be an example of one of plurality of
forward fuselage assemblies 2001. Forward fuselage assembly 2004 may be an
example of one implementation for forward fuselage assembly 117 in Figure 1.
Aft fuselage assembly 2005 may be an example of one of plurality of aft
fuselage
assemblies 2002. Aft fuselage assembly 2005 may be an example of one
implementation for aft fuselage assembly 116 in Figure 1. In this illustrative
example, aft fuselage assembly 2005 may be at an earlier stage of assembly
than forward fuselage assembly 2004.
Aft fuselage assembly 2006, 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 2006 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 2005 may be partially
assembled. In this illustrative example, aft fuselage assembly 2005 has keel
2010, end panel 2011, and first side 2012. End panel 2011 may form an end
fuselage section of aft fuselage assembly 2005. As depicted, side panel 2014
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may be added to aft fuselage assembly 2005 to build a second side of aft
fuselage assembly 2005.
Forward fuselage assembly 2015 may be another example of one of
plurality of forward fuselage assemblies 2001. In this illustrative example,
forward fuselage assembly 2015 has keel 2016 and end panel 2018. End panel
2018 may form an end fuselage section of forward fuselage assembly 2015. As
depicted, side panel 2020 may be added to forward fuselage assembly 2015 to
begin building a first side of forward fuselage assembly 2015.
With reference now to Figure 21, an illustration of an isometric view of a
coupling structure and utility fixture 826 from Figures 8 and 10-20 is
depicted in
accordance with an illustrative embodiment. As described above, utility
fixture
826 may be an example of one implementation for utility fixture 150 in Figures
1,
5, 6, and 7.
Coupling structure 2100 may be an example of one implementation for
coupling structure 615 in Figure 6. Coupling structure 2100 may be used to
couple a tower, such as first tower 900 in Figure 9 or second tower 1600 in
Figure 16 to utility fixture 826. For example, without limitation, coupling
structure
2100 may be associated with base structure 904 of first tower 900 in Figure 9
and used to form interface 902 between first tower 900 and utility fixture 826
shown in Figure 9. In a similar manner, coupling structure 2100 may be
associated with base structure 1604 of second tower 1600 in Figure 16 and
used to form interface 902 between second tower 1600 and utility fixture 826
shown in Figure 16.
As depicted in this example, utility fixture 826 may include base structure
2102. Base structure 2102 may be an example of one implementation for base
structure 600 in Figure 6. Set of coupling units 2103 may be associated with
base structure 2102. Set of coupling units 2103 may be an example of one
implementation for set of coupling units 608 in Figure 6.
In this illustrative example, set of coupling units 2103 may include
coupling unit 2104, coupling unit 2105, and coupling unit 2106. Coupling unit
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2104 may include male quick-change device 2108 and air coupling element
2110. Coupling unit 2105 may include male quick-change device 2112, power
coupling element 2114, communications coupling element 2116, power coupling
element 2118, and communications coupling element 2120. Coupling unit 2106
may include male quick-change device 2122, power coupling element 2124,
communications coupling element 2126, power coupling element 2128, and
communications coupling element 2130.
Male quick-change device 2108, male quick-change device 2112, and
male quick-change device 2122 may be examples of implementations for male
quick-change device 625 in Figure 6. Air coupling element 2110 may be an
example of one implementation for air coupling element 620 in Figure 6. Power
coupling element 2114, power coupling element 2118, power coupling element
2124, and power coupling element 2128 may be examples of implementations
for power coupling element 618 in Figure 6. Communications coupling element
2116, communications coupling element 2120, communications coupling
element 2126, and communications coupling element 2130 may be examples of
implementations for communications coupling element 624 in Figure 6.
Set of corresponding coupling units 2132 may be associated with coupling
structure 2100. Set of corresponding coupling units 2132 may include
corresponding coupling unit 2134, corresponding coupling unit 2136, and
corresponding coupling unit 2138. As depicted, corresponding coupling unit
2134 may include female quick-change device 2140 and corresponding air
coupling element 2142. Corresponding coupling unit 2136 may include female
quick-change device 2144, corresponding power coupling element 2146,
corresponding communications coupling element 2148, corresponding power
coupling element 2150, and corresponding communications coupling element
2152. Corresponding coupling unit 2138 may include female quick-change
device 2154, corresponding power coupling element 2156, corresponding
communications coupling element 2158, corresponding power coupling element
2160, and corresponding communications coupling element 2162.
CA 02895824 2015-06-26
Female quick-change device 2140, female quick-change device 2144,
and female quick-change device 2154 may be examples of implementations for
female quick-change device 628 in Figure 6. Corresponding air coupling
element 2142 may be an example of one implementation for air coupling element
620 in Figure 6. Corresponding power coupling element 2146, corresponding
power coupling element 2150, corresponding power coupling element 2156, and
corresponding power coupling element 2160 may be examples of
implementations for corresponding power coupling element 630 in Figure 6.
Corresponding communications coupling element 2148, corresponding
communications coupling element 2152, corresponding communications
coupling element 2158, and corresponding communications coupling element
2162 may be examples of implementations for corresponding communications
coupling element 636 in Figure 6.
In this illustrative example, coupling unit 2104, coupling unit 2105, and
coupling unit 2106 may mate with corresponding coupling unit 2134,
corresponding coupling unit 2136, and corresponding coupling unit 2138 to
couple utility fixture 826 and coupling structure 2100 together. In this
manner,
utility fixture 826 may be coupled with whichever tower (not shown) coupling
structure 2100 is associated. Consequently, utilities such as power, air, and
communications may flow from utility fixture 826 to coupling structure 2100
and
the tower (not shown) with which coupling structure 2100 is associated.
As depicted, number of distribution cables 2164 may be used to distribute
these utilities to the tower (not shown). When the tower is second tower 1600
in
Figure 16, at least a portion of the utilities may be distributed to internal
mobile
platform 1608 and internal mobile platform 1701 shown in Figures 16-17.
With reference now to Figure 22, an illustration of an enlarged isometric
view of a coupling unit and a corresponding coupling unit is depicted in
accordance with an illustrative embodiment. In this illustrative example,
coupling
unit 2200 may be an example of one implementation for coupling unit 612 in
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CA 02895824 2015-06-26
Figure 6. Corresponding coupling unit 2202 may be an example of one
implementation for corresponding coupling unit 613 in Figure 6.
Coupling unit 2200 may be associated with one of, for example, without
limitation, a utility fixture, such as utility fixture 826 in Figure 8, a
tower such as
first tower 900 in Figure 9 or second tower 1600 in Figure 16, or a cradle
fixture,
such as one of number of cradle fixtures 1002 in Figure 10. Corresponding
coupling unit 2202 may be associated with a mobile system, selected from one
of a tower, such as first tower 900 in Figure 9 or second tower 1600 in Figure
16, or a cradle fixture, such as one of number of cradle fixtures 1002 in
Figure
10. In some illustrative examples, corresponding coupling unit 2202 may be
associated with an external mobile platform, such as one of external mobile
platform 1705 or external mobile platform 1707 in Figure 17.
Further, coupling unit 2200 may be an example of one manner in which
one of set of tower coupling units 706, one of set of first cradle coupling
units
710, or one of set of second cradle coupling units 714 may be implemented.
Similarly, corresponding coupling unit 2202 may be an example of one manner in
which one of set of corresponding first cradle coupling units 708, one of set
of
corresponding second cradle coupling units 712, or one of set of corresponding
third cradle coupling units 716 in Figure 7 may be implemented.
Number of utility cables 2203 may carry a number of utilities to coupling
unit 2200. Number of utility cables 2205 may carry a number of utilities away
from corresponding coupling unit 2202.
As depicted, coupling unit 2200 may include male quick-change device
2204, power coupling element 2206, air coupling element 2208, communications
coupling element 2210, power coupling element 2212, air coupling element
2214, and communications coupling element 2216. Corresponding coupling unit
2202 may include female quick-change device 2218, corresponding power
coupling element 2220, corresponding air coupling element 2222, corresponding
communications coupling element 2224, corresponding power coupling element
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2226, corresponding air coupling element 2228, and corresponding
communications coupling element 2230.
Corresponding coupling unit 2202 is shown rotated about 90 degrees
counter-clockwise from the orientation corresponding coupling unit 2202 may
have when mating with coupling unit 2200. In particular, corresponding
coupling
unit 2202 is shown rotated in the direction of arrow 2231 about Z-axis 2235.
In
this manner, the various coupling elements associated with corresponding
coupling unit 2202 may be more clearly seen.
In this illustrative example, guidance fork 2232 may be associated with
coupling unit 2200. Roller 2234 may be associated with corresponding coupling
unit 2202. The mobile system (not shown) with which corresponding coupling
unit 2202 is associated may be driven autonomously towards coupling unit 2200.
As corresponding coupling unit 2202 is moved towards coupling unit 2200,
roller
2234 may engage guidance fork 2232. Guidance fork 2232 may guide roller
2234 during the mating of corresponding coupling unit 2202 to coupling unit
2200
to maintain alignment during coupling.
Imaging system 2236 associated with corresponding coupling unit 2202
may be used to guide the mobile system with which corresponding coupling unit
2202 is associated. For example, without limitation, the imaging data
generated
by imaging system 2236 may be used to drive the mobile system in a manner
that moves corresponding coupling unit 2202 towards coupling unit 2200 and
roller 2234 into guidance fork 2232. In this manner, movement along Y-axis
2233 may be guided using roller 2234 and guidance fork 2232. Using roller 2234
and guidance fork 2232 may also help with vertical alignment along Z-axis
2235.
Roller 2234 may need to be within a selected distance of guidance fork 2232
with respect to Z-axis 2235 in order for roller 2234 to engage and be guided
within guidance fork 2232.
Imaging system 2238 associated with coupling unit 2200 may be used to
adjust the positioning of coupling unit 2200 relative to the system with which
coupling unit 2200 is attached. For example, without limitation, the imaging
data
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generated by imaging system 2238 may be processed to generate commands
for controlling air cylinder 2240, which may move coupling unit 2200 in a
direction along X-axis 2242. Further, the imaging data generated by imaging
system 2238 may also be used to control movement system 2237. Movement
system 2237 may control the movement of coupling unit 2200 in a direction
along Z-axis 2235.
In other illustrative examples, some other type of controllable movement
system may be associated with coupling unit 2200 and used to move coupling
unit 2200 with at least one degree of freedom relative to the system with
which
coupling unit 2200 is attached. In still other illustrative examples, one or
more
controllable movement systems (not shown) may be associated with
corresponding coupling unit 2202 and used to move corresponding unit 2202
with at least one degree of freedom relative to the system or structure with
which
corresponding coupling unit 2202 is attached.
The illustrations in Figures 8-22 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 8-22 may be illustrative
examples of how components shown in block form in Figure 1-7 can be
implemented as physical structures. Additionally, some of the components in
Figures 8-22 may be combined with components in Figure 1-7, used with
components in Figure 1-7, or a combination of the two.
With reference now to Figure 23, an illustration of a process for
distributing a number of utilities is depicted in the form of a flowchart in
accordance with an illustrative embodiment. The process illustrated in Figure
23
may be implemented using utility fixture 150 shown in Figures 1, 5, 6, and 7.
The process may begin by coupling number of utilities 146 between
number of utility sources 148 and utility fixture 150 (operation 2300). Next,
number of utilities 146 may be coupled between utility fixture 150 and mobile
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system 610 (operation 2302). Number of utilities 146 may be distributed
downstream from number of utility sources 148, through utility fixture 150, to
mobile system 610 (operation 2304), with the process terminating thereafter.
With reference now to Figure 24, an illustration of a process for mating a
coupling unit with a corresponding coupling unit is depicted in the form of a
flowchart in accordance with an illustrative embodiment. The process
illustrated
in Figure 24 may be used to mate a coupling unit, such as coupling unit 612 in
Figure 6, with a corresponding coupling unit, such as corresponding coupling
unit 613 in Figure 6.
The process may begin by driving corresponding coupling unit 613
towards coupling unit 612 (operation 2400). Corresponding coupling unit 613
may be aligned with coupling unit 612 autonomously (operation 2402).
Operation 2402 may be performed by, for example, without limitation, guiding a
roller associated with corresponding coupling unit 613 within a guidance fork
associated with coupling unit 612 as corresponding coupling unit 613 is driven
towards coupling unit 612.
Next, corresponding coupling unit 613 may be mated to coupling unit 612
to couple a number of utilities between coupling unit 612 and corresponding
coupling unit 613 (operation 2404), with the process terminating thereafter.
Mating these coupling units in operation 2404 may create an interface over
which the number of utilities may flow from coupling unit 612 to corresponding
coupling unit 613.
With reference now to Figure 25, an illustration of a process for
distributing a number of utilities to a tower is depicted in the form of a
flowchart in
accordance with an illustrative embodiment. The process illustrated in Figure
25
may be used to couple a tower, such as tower 332 in Figures 3 and 6, to a
utility
fixture, such as utility fixture 150 in Figures 1, 5, 6, and 7.
The process may begin by locating utility fixture 150 having set of
coupling units 608 in assembly area 304 (operation 2500). Operation 2500 may
be performed in a number of different ways. Utility fixture 150 may be, for
CA 02895824 2015-06-26
example, without limitation, affixed to floor 300, embedded in floor 300, or
attached to a wall, ceiling, or some other surface in manufacturing
environment
100.
Next, tower 332 may be driven towards location 602 of utility fixture 150
having set of coupling units 608 (operation 2502). Each of set of
corresponding
coupling units 614 associated with tower 332 may be aligned with set of
coupling
units 608 using a roller associated with each of set of corresponding coupling
units 614 and a guidance fork associated with each of set of coupling units
608
(operation 2504).
A male quick-change device of each of set of coupling units 608 may be
mated with a female quick-change device of each of set of corresponding
coupling units 614, thereby mating a number of coupling elements associated
with each of set of coupling units 608 with a number of corresponding coupling
elements associated with each of set of corresponding coupling units 614
(operation 2506). Number of utilities 146 may then be distributed from utility
fixture 150 to tower 332 through set of interfaces 640 formed by mating set of
coupling units 608 and set of corresponding coupling units 614 (operation
2508),
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
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blocks may be added in addition to the illustrated blocks in a flowchart or
block
diagram.
Turning now to Figure 26, 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 2600 may be used to implement any of
the controllers described above, including control system 136 in Figure 1. In
some illustrative examples, data processing system 2600 may be used to
implement at least one of a controller in set of controllers 140 in Figure 1.
As depicted, data processing system 2600 includes communications
framework 2602, which provides communications between processor unit 2604,
storage devices 2606, communications unit 2608, input/output unit 2610, and
display 2612. In some cases, communications framework 2602 may be
implemented as a bus system.
Processor unit 2604 is configured to execute instructions for software to
perform a number of operations. Processor unit 2604 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
2604 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.
Instructions for the operating system, applications and programs run by
processor unit 2604 may be located in storage devices 2606. Storage devices
2606 may be in communication with processor unit 2604 through
communications framework 2602. 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 2614 and persistent storage 2616 are examples of storage
devices 2606. Memory 2614 may take the form of, for example, a random
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access memory or some type of volatile or non-volatile storage device.
Persistent storage 2616 may comprise any number of components or devices.
For example, persistent storage 2616 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 2616 may or
may not be removable.
Communications unit 2608 allows data processing system 2600 to
communicate with other data processing systems, devices, or both.
Communications unit 2608 may provide communications using physical
communications links, wireless communications links, or both.
Input/output unit 2610 allows input to be received from and output to be
sent to other devices connected to data processing system 2600. For example,
input/output unit 2610 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 2610 may allow output to be sent to a printer
connected to data processing system 2600.
Display 2612 is configured to display information to a user. Display 2612
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 2604 using computer-
implemented 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 2604.
In these examples, program code 2618 is located in a functional form on
computer readable media 2620, which is selectively removable, and may be
loaded onto or transferred to data processing system 2600 for execution by
processor unit 2604. Program code 2618 and computer readable media 2620
together form computer program product 2622. In this illustrative example,
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computer readable media 2620 may be computer readable storage media 2624
or computer readable signal media 2626.
Computer readable storage media 2624 is a physical or tangible storage
device used to store program code 2618 rather than a medium that propagates
or transmits program code 2618. Computer readable storage media 2624 may
be, for example, without limitation, an optical or magnetic disk or a
persistent
storage device that is connected to data processing system 2600.
Alternatively, program code 2618 may be transferred to data processing
system 2600 using computer readable signal media 2626. Computer readable
signal media 2626 may be, for example, a propagated data signal containing
program code 2618. 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 2600 in Figure 26 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 2600.
Further, components shown in Figure 26 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 2700 as shown in Figure
27 and aircraft 2800 as shown in Figure 28. Turning first to Figure 27, an
illustration of an aircraft manufacturing and service method is depicted in
the
form of a block diagram in accordance with an illustrative embodiment. During
pre-production, aircraft manufacturing and service method 2700 may include
specification and design 2702 of aircraft 2800 in Figure 28 and material
procurement 2704.
During production, component and subassembly manufacturing 2706 and
system integration 2708 of aircraft 2800 in Figure 28 takes place. Thereafter,
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aircraft 2800 in Figure 28 may go through certification and delivery 2710 in
order
to be placed in service 2712. While in service 2712 by a customer, aircraft
2800
in Figure 28 is scheduled for routine maintenance and service 2714, which may
include modification, reconfiguration, refurbishment, and other maintenance or
service.
Each of the processes of aircraft manufacturing and service method 2700
may be performed or carried out by at least one of a system integrator, a
third
party, or an operator. In these examples, the operator may be a customer. For
the purposes of this description, a system integrator may include, without
limitation, any number of aircraft manufacturers and major-system
subcontractors; a third party may include, without limitation, any number of
vendors, subcontractors, and suppliers; and an operator may be an airline, a
leasing company, a military entity, a service organization, and so on.
With reference now to Figure 28, an illustration of an aircraft is depicted in
the form of a block diagram in which an illustrative embodiment may be
implemented. In this example, aircraft 2800 is produced by aircraft
manufacturing and service method 2700 in Figure 27 and may include airframe
2802 with plurality of systems 2804 and interior 2806. Examples of systems
2804 include one or more of propulsion system 2808, electrical system 2810,
hydraulic system 2812, and environmental system 2814. Any number of other
systems may be included. Although an aerospace example is shown, different
illustrative embodiments may be applied to other industries, such as the
automotive industry.
The apparatuses and methods embodied herein may be employed during
at least one of the stages of aircraft manufacturing and service method 2700
in
Figure 27. In particular, flexible manufacturing system 106 from Figure 1 may
be used to build at least a portion of airframe 2802 of aircraft 2800 during
any
one of the stages of aircraft manufacturing and service method 2700. For
example, without limitation, flexible manufacturing system 106 from Figure 1
may be used during at least one of component and subassembly manufacturing
CA 02895824 2015-06-26
2706, system integration 2708, or some other stage of aircraft manufacturing
and
service method 2700 to form a fuselage for aircraft 2800.
In one illustrative example, components or subassemblies produced in
component and subassembly manufacturing 2706 in Figure 27 may be
fabricated or manufactured in a manner similar to components or
subassemblies produced while aircraft 2800 is in service 2712 in Figure 27. As
yet another example, one or more apparatus embodiments, method
embodiments, or a combination thereof may be utilized during production
stages,
such as component and subassembly manufacturing 2706 and system
integration 2708 in Figure 27. One or more apparatus embodiments, method
embodiments, or a combination thereof may be utilized while aircraft 2800 is
in
service 2712, during maintenance and service 2714 in Figure 27, or both. The
use of a number of the different illustrative embodiments may substantially
expedite the assembly of and reduce the cost of aircraft 2800.
The description of the different illustrative embodiments has been
presented for purposes of illustration and description, and is not intended to
be
exhaustive or limited to the embodiments in the form disclosed. Many
modifications and variations will be apparent to those of ordinary skill in
the art.
Further, different illustrative embodiments may provide different features as
compared to other desirable embodiments. The embodiment or embodiments
selected are chosen and described in order to best explain the principles of
the
embodiments, the practical application, and to enable others of ordinary skill
in
the art to understand the disclosure for various embodiments with various
modifications as are suited to the particular use contemplated.
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