Mobile manufacturing module

A mobile manufacturing module comprising a platform configured to receive and support one or more interchangeable manufacturing elements and engageable with a removable positioning device that when engaged is configured to enable movement of the platform relative to a work piece, and one or more supports connected to the platform that are configured to contact a floor in order to support the platform when the removable positioning device is disengaged.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application claims the benefit of the Great Britain patent application No. 1719419.2 filed on Nov. 22, 2017, the entire disclosures of which are incorporated herein by way of reference.

FIELD OF TECHNOLOGY

The present technology relates to a mobile manufacturing module.

BACKGROUND OF THE INVENTION

Nowadays, the use of mobile manufacturing manipulators to carry out one or more manufacturing operations is well established, particularly for use during assembly and maintenance of a work piece.

Prior art mobile manufacturing manipulators, for example the Neobotix MMO-700 shown as item101ofFIG. 1, generally consist of a manipulator arm103with a base105that is mounted to a mobile platform107. The platform107is configured to support the manipulator arm103and is fixedly attached to a platform chassis109that comprises a set of 4 wheels111, each omnidirectional and driven via an onboard drivetrain113comprising set of interconnected motors, transmissions and a power-pack attached to the platform chassis109, such that movement of the mobile manufacturing manipulator101to a desired lateral position in an XY floor plane is permitted. The platform107is also provided with braking means, which is provided by the drivetrain that is configured to restrain the mobile manufacturing manipulator101from moving away from a desired lateral position when the breaking means are applied.

When in use, each mobile manufacturing manipulator101is positioned into a lateral and vertical position desired by a technician, such that the manipulator101is moved to a coarse position relative to a work piece115, after which the braking means are applied. The technician then instructs the manipulator101, with the relevant work attachment117or other robot, to execute a desired manufacturing operation to a high degree of positional accuracy relative to the work piece115. Examples of such a manufacturing operation would be a drilling operation or a surface treatment operation.

In some manufacturing lines, the size, irregularity of shape, position or construction characteristics of the work piece(s) requires multiple mobile manufacturing manipulators to be operated by one or more technicians. Provision of multiple mobile manufacturing manipulators is not desirable as they are relatively expensive tooling items, primarily due to their complex and heavy design that integrates a manipulator with a platform, platform chassis, drivetrain and braking means into a single device. It is also undesirable because one or more technicians is required to manage the positioning, selection and operation of each mobile manufacturing manipulator, which impacts the associated operational costs for the manufacturing line. Depending on the number of technicians, it may also increase the overall manufacturing time for a given work piece, which may affect the overall cost of the operation significantly. This is common in aircraft manufacture. Furthermore, provision of multiple mobile manufacturing manipulators to approximately the same work piece position may be desirable to carry out a series of manufacturing operations that requires interdependency between pluralities of manipulators. This may not only be possible due to the aforementioned tooling and technician costs, but also because the movement of multiple mobile manufacturing manipulators to a single area may also be limited by the floor load limits of the work areas.

SUMMARY OF THE INVENTION

It is an object of the present technology to provide a mobile manufacturing manipulator arrangement which overcomes the disadvantages of the state of the art so far described.

An embodiment of the present technology provides a mobile manufacturing module comprising a platform configured to receive and support one or more interchangeable manufacturing elements and engageable with a removable positioning device that when engaged is configured to enable movement of the platform relative to a work piece, and one or more supports connected to the platform that are configured to contact a floor in order to support the platform when the removable positioning device is disengaged.

A further embodiment of the present technology provides mobile manufacturing module wherein the removable positioning device is further configured to generate traction forces such that the module can be driven by the removable positioning device.

Yet a further embodiment of the present technology provides a mobile manufacturing platform wherein the removable positioning device comprises lifting means configured to engage the platform and to lift the platform such that contact between the floor and the one or more supports is removed.

Another embodiment of the present technology provides a mobile manufacturing module wherein at least one of the manufacturing elements comprises a robotic manipulator.

A further embodiment of the present technology provides a mobile manufacturing module wherein at least one of the manufacturing elements comprises a container.

In another embodiment mobile manufacturing module is provided wherein at least one of the manufacturing elements comprises a lifting unit.

In yet another embodiment a mobile manufacturing module is provided wherein at least one of the manufacturing elements comprises a control console.

A further embodiment of the present technology provides a mobile manufacturing module wherein at least one of the manufacturing elements comprises an electrical power distributor.

Another embodiment of the present technology provides a plurality of mobile manufacturing modules further comprising one or more connectors configured to connect a plurality of mobile manufacturing modules to one another and further configured to transfer traction forces between the plurality of modules such that they may move as a single modular assembly when each mobile manufacturing module is simultaneously engaged with a removable positioning device.

The plurality of mobile manufacturing modules may further comprise one or more connectors configured to transfer lift forces between a plurality of mobile manufacturing modules.

The plurality of mobile manufacturing modules may comprise a pair of mobile manufacturing modules, each engageable to a corresponding removable positioning device and each connected by one or more connectors to one or more adjacent mobile manufacturing modules, wherein each adjacent mobile manufacturing modules does not contact the floor when the pair of mobile manufacturing modules engaged to their corresponding removable positioning devices.

A further embodiment of the present technology provides a plurality of mobile manufacturing modules comprising at least two mobile manufacturing modules, each comprising a robotic manipulator configured to work in tandem to carry out a series of manufacturing operations.

Another embodiment of the present technology provides a mobile manufacturing module configured for use on an aircraft manufacturing line. The plurality of mobile manufacturing modules may be configured for use on an aircraft manufacturing line.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

With reference toFIG. 2, a first mobile manufacturing module201is shown engaged with a removable positioning device203. The removable positioning device203is provided with a lifting means205configured to engage an underside portion of a platform206and lift the platform206such that contact of the supports207with the floor209is removed and therefore allow the module201to be moved. Alternatively, the lengths of the supports207may be adjustable such that contact can be removed once the platform206is lifted sufficiently to remove load from supports207when the removable positioning device203is engaged. Similarly, once the module is in a desired position, the lifting means205can lower the platform206such that contact of the supports207with the floor209is re-established and the removable positioning device203can be disengaged for use in repositioning other modules. This increases the usability of the modules and reduces their complexity and therefore costs. The first mobile manufacturing module201also comprises a platform206configured to receive an interchangeable manufacturing element, which for the first module201is in the form of a robotic manipulator210attached to the platform206.

Also shown is plurality of mobile manufacturing modules211comprising a second mobile manufacturing module213connected to a third mobile manufacturing module215. Both the second and third mobile manufacturing modules213215are shown disengaged from a removable positioning device and such that their supports217219supports contact the floor and to support their platforms221223, respectively.

The second mobile manufacturing module213comprises a manufacturing element in the form of a robotic manipulator225attached to the platform221. The manipulator225is smaller than the manipulator210of the first mobile manufacturing module201.

The third mobile manufacturing module215comprises a manufacturing element in the form of a container227attached to its corresponding platform223. The container is configured to engage a corresponding standardized docking unit.

A fourth mobile manufacturing module229is shown disengaged with a removable positioning device203in proximity to the second and third modules213,215. The fourth mobile manufacturing module229comprises a manufacturing element in the form of a container231attached to the platform232. The container is configured to engage the corresponding standardized docking unit.

The manufacturing elements210,225,227and231are interchangeable and attachable to each of the modules201,213,215,229via an interface provided at each of the platforms206.221.223.232. This is advantageous in that it enables standardization of interfaces and enables retrofitting or adaptation of each module to provide a particular function in a manufacturing operation.

Each module201,213,215,229further comprises a plurality of corresponding connectors233configured to engage one another one such that each module201,213,215,229can be connected to one another such that traction forces or lifting forces can be transferred between a plurality of modules201,213,215,229. The connectors233permit a plurality of modules211to move as a single modular assembly when a connected and each mobile manufacturing module is simultaneously engaged with one or more removable positioning. They further allow one or more redundant module not required for or at a point in time during a particular manufacturing to be removed, thus increasing accessibility to the work area, and freeing up modules that can be used in other manufacturing operations.

One or more of the modules201,213,215,229can furthermore be connected to at least control console235that may be interchangeable with a platform of a module or otherwise connect to and identify the manufacturing elements of one or more of the modules. The control console may comprise a hardware component and a software component, configured to enable controlled interactions between the manufacture elements of each of the modules, enabling interaction, collaboration or merging of functions between the modules.

An exemplary interaction may comprise autonomous loading or removal of fasteners from a particular module or a container attached to a particular module. Another exemplary interaction may comprise automated and intelligent module merging according to a prescribed set of tasks in one or manufacturing operations.

The control console235may provide an interface allowing a technician to pause a manufacturing operation or segments of a manufacturing operation, or to override a module merging decision. In such cases, the control console235may be further configured to compute and offer an alternative manufacturing operations solution in real-time. Inputs to the control console235may be provided using teach-in, direct instruction programming via an input device such as a keyboard or mouse, voice control, or gesture recognition.

Furthermore, one or more of the modules201,213,215,229can furthermore be connected to at least an electrical power distributor, which may further provide direct or inductive charging for one or more modules and their respective manufacturing elements.

With reference toFIG. 3, a further embodiment of the technology is shown comprising pair of modules301,303adjacent to each other and connected via set of 4 connectors304(2 per side) in accordance with the previous embodiment.

The first module301is interchangeably fitted with a first manipulator307that is smaller than a second manipulator309interchangeably fitted to a second module303. A removable lifting device306with lifting means lifts both modules301303in the +Z direction indicated such that contact is removed between the floor and the respective supports305and305of each module301,303, such that the modules may be repositioned to an assembly position adjacent to a wing work piece. The connectors304are stiff rods removably attached to the modules that in the present embodiment are configured to enable lifting forces (−+Z direction) and traction forces (in the XY plane) to be transmitted between the modules301303. Once in position the removable positioning device306with lifting means lowers both modules301303in the Z direction indicated, then disengages the modules301,301and repositions to another set of modules being used in separate operations.

With reference toFIG. 4A, a lifting connector401is shown in greater detail in a pre-connected state. The connector401comprises a male element403and a female element405that are correspondingly cone shaped elements. The male element403is fixedly attached to a support of a first module407, and the female element405is fixedly attached to an adjacent support of a second module409. In the pre-connected state, an end portion411centered on an axis413of the male element403, is positioned above corresponding center axis415of the female element405.

With reference toFIG. 4B, the lifting connector401ofFIG. 4Ais shown in greater detail in a connected state. During the connection, the first module407with the male element403is moved into contact at point P of the female element405of the second module409. Further movement results in the end411of the male element403imparting a lifting load L in the positive Z direction on the female element405that lifts the second module409as the first module407is brought closer under a traction force T to the second module409.

With reference toFIG. 5, a plurality of mobile manufacturing modules501,502,503are shown connected, interchangeably connected to a large manipulator504, a small manipulator505and a container506, respectively and interacting with a control console507. The control console507is programmable via an interface with a technician508to enable the manipulators504,505to interact collaboratively to perform operation steps in a manufacturing operation with one another, the container506, and the technician508. The manufacturing operations involves the technician508instructing the modules501,502,503to be positioned adjacent to a wing509which in this case is the work piece, in a manner the same as described in previously. Once in position the removable positioning device510disengages the modules501,502,503and repositions to another of module511being re-stocked by a standardized docking unit513. While the technician508performs the manufacturing operation tasks, the manipulators504,505assist by holding various structural elements such as raceways, holding panels, unscrew panels, positioning or screw raceways, in a desired position. The manipulators504505interact, wherein for example the large manipulator504carries tools or materials required by the technician508, while the smaller manipulator505supports for navigation or controlling the task (i.e., by monitoring manufacturing steps using a manufacturing element that comprises a camera, scanner, or other sensors, or by pushing a tool trigger button. The smaller manipulator505may also assist by also holding materials or tools for the technician.

With reference toFIG. 6, it should be considered that a pair of removable positioning devices601may be used to move a plurality of mobile manufacturing modules603,605,606,607connected to one another by connectors602. The pair of removable positioning devices601may engage a corresponding pair of modules603and607as shown and be used in to pull and to push the plurality of connected mobile manufacturing modules603,605,606,607. This may be advantageous where the weight of the modules is close to exceeding the traction capability of single removable positioning devices601.

In the present embodiment the connectors602are configured to transmit traction as well as lifting forces between adjacent modules603,605,606,607, such that when lifting means is engaged at the end modules603and607by their corresponding removable positioning devices601, each adjacent mobile manufacturing module605and607does not contact the floor. When the corresponding removable positioning devices601then move, the traction forces are transferred between the connectors602such that the plurality of modules move as a single modular assembly. Alternatively, the middle modules605,606may comprise supports, the length of which may be adjustable such that contact with the floor can be removed once the platform is lifted sufficiently to remove load from supports when the removable positioning device601is engaged.

The pair of removable positioning devices601may interact to provide a more accurate and failsafe positioning system. Additionally, the removable positioning devices601may interact as master/slave combination or in flexible guidance (depending of moving direction).

With reference toFIG. 7, a system701is shown wherein individual modules703, substantially in accordance to those previously described, may be moved by one or more removable positioning devices705with functional autonomy such that the modules703may self-organize to carry out a series of manufacturing operations. The modules as described are provided with interaction means via a control console or any other suitable alternative, such that the interactions are autonomous without requiring inputs from a technician and self-optimizing according to the required manufacturing operation.

Wherein the foregoing description, integers or members are mentioned which have known, obvious or foreseeable equivalents; then such equivalents are herein incorporated as if individually set forth. By way of example it should be appreciated that, while the exemplary embodiments above have been given for a work piece that is an aircraft wing, the modules may be used to carry out similar manufacturing operations to any other aircraft component such as a tail unit, fuselage, powerplant or pylon or landing gear element. It should further be appreciated that it is application internal and external to any aircraft structure or space structure.

Reference should be made to the claims for determining the true scope of the present technology, which should be construed so as to encompass any such equivalents. It will also be appreciated by the reader that integers or features of the technology that are described as preferable, advantageous, convenient or the like are optional and do not limit the scope of the independent claims. Moreover, it is to be understood that such optional integers or features, whilst of possible benefit in some embodiments of the technology, may not be desirable, and may therefore be absent, in other embodiments.