Patent Description:
Aircraft manufacturers typically rely on work cell automation during the build process for a fuselage assembly. A typical work cell includes a workstand and one or more cradle fixtures to hold and position the fuselage assembly.

Currently, robots are used outside the fuselage assembly, and some work inside the fuselage assembly is performed by robots as well. However, it is desired to increase the use of robots inside the fuselage assembly, as well provide humans with safe access while the robots operate within the fuselage assembly.

However, platforms used inside the fuselage assembly are not isolated and, as a result, end-of-arm tooling on robots inside the fuselage assembly may bounce or otherwise be impacted due to platform movement caused by human or machine motion nearby, which results in the end-of-arm tooling on the robots being in the wrong location or position.

There is a need, then for a work platform that allows humans to work safely inside the fuselage assembly, and that provides isolated support for human and machine motion without imparting any of that motion to the robots working inside the fuselage assembly.

The German Gebrauchsmusterschrift <CIT> states "an apparatus for arranging windows into vehicle chassis, whereby a work platform for a human operator and a base platform for supporting a robot are external to the chassis".

To overcome the limitations in the prior art described above, and to overcome other limitations that will become apparent upon reading and understanding the present specification, the present disclosure describes a method, according to claims <NUM>-<NUM>, and an apparatus according to claimsl-<NUM>, for positioning robots using a gantry.

A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans. One or more robots are supported on the base platform independently of the work platform. At least one gantry is positioned above the base platform and adjacent the work platform for supporting and positioning the robots along the work platform.

Each of the one or more robots is placed upon an individual support stand that is attached to the gantry.

The individual support stand includes a base that extends underneath the gantry to counter-balance the individual support stand and the robot placed thereon.

Preferably the base platform and work platform are positioned within a fuselage assembly of an aircraft.

The disclosure also relates to an apparatus for supporting collaborative robots and humans
in a work envelope, comprising:.

The robots can be supported independently of the work platform on gantries positioned on both sides of the work platform.

The gantries can be mounted on and supported by the base platform independently of the work platform.

The gantries positioned above the base platform and underneath the work platform, are preferably used for positioning the robots along a length of the work platform.

The robots can be placed on individual support stands are mounted on the gantries.

There are preferably separate gantries on each side of the work platform.

Each of the robots can be placed upon an individual support stand attached to a gantry. The robots and the individual support stands can be fully supported by the gantries which in turn can be supported by the base platform and are not affected by motion of the work platform.

In designing the gantries the need was identified by the inventors to position a robot using only a single gantry and to preferably independently position two robots on each side of the work platform using only the single gantry.

The single gantry allows for independent control to drive two robots on one side of the work platform to their respective specified locations using high precision.

As noted above, there may be one gantry positioned adjacent to each inside edge of the work platform for moving the robot(s) along a length of the work platform.

The gantry is preferably constructed of a steel main square support tube that can be anchored near a riser at one end, i.e., a forward end of the base platform so that the weight of the gantry can be supported from the forward end of the base platform. A remainder of the steel main square support tube can be cantilevered and positioned above the base platform towards another end, i.e., an aft end of the base platform, so that the gantry can be isolated from motion of the work platform.

The steel main square support tube can then be coupled to the end-of-platform support at the aft end of the base platform.

Another gantry can be present on the other side of the work platform in a mirror image of the first gantry.

The main square support tube can be comprised of two guide rails comprising an upper guide rail and a lower guide rail. Each of the individual support stands may include a bracket that mounts the base to the guide rails of the gantry to provide for movement and support of the individual support stand, and the robot thereon.

The disclosure also relates to method of supporting collaborative robots and humans in a work envelope, comprising:.

The robot can be moved, preferably on a support, relative to a work platform side along a gantry.

The gantry can be isolatedly coupled to the base platform.

As also referred to above:
The robot or robots can be supported independently of the work platform on gantries positioned on both sides of the work platform.

The gantries may be mounted on and supported by the base platform independently of the work platform. The gantries positioned above the base platform and underneath the work platform are preferably used for positioning the one or more robots along a length of the work platform.

The one or more robots can be placed on individual support stands which are preferably mounted on the gantries.

There can be separate gantries on each side of the work platform. Each of the robots can be placed upon an individual support stand attached to their respective gantries. The robots and the individual support stands can be fully supported by the gantries which in turn may be supported by the base platform and are not affected by motion of the work platform.

In designing the gantries the need was identified to independently position one or more robots on one, respectively each, side of the work platform using only the single gantry. The single gantry allows for independent control to drive two robots on one side of the work platform to their respective specified locations using high precision.

As also noted above, there can be one gantry positioned adjacent to each inside edge of the work platform for moving one or more robots along a length of the work platform.

The gantry can be constructed of a steel main square support tube preferably anchored near a riser at one end, i.e., a forward end of the base platform so that the weight of the gantry may be supported from the forward end of the base platform.

A remainder of the steel main square support tube can be cantilevered and positioned above the base platform towards another end, i.e., an aft end of the base platform so that the gantry can be isolated from motion of the work platform.

The steel main square support tube can then be coupled to the end-of-platform support at the aft end of the base platform.

Another gantry may be present on the other side of the work platform in a mirror image of the first gantry.

The main square support tube can be comprised of two guide rails, preferably comprising an upper guide rail and a lower guide rail.

Each of the individual support stands can include a bracket that mounts the base to the guide rails of the gantry to provide for movement and support of the individual support stand and the robot thereon.

The base platform and work platform can be positioned within a fuselage assembly of an aircraft.

The disclosure also relates to an apparatus for positioning robots along a gantry, comprising:.

The gantry can be positioned relative to the base platform.

The gantry is preferably positioned above the base platform and adjacent the work platform, and supports and positions the robots along the work platform.

The gantry may comprise one or more drive belts for independently positioning the one or more robots along the gantry to specified locations.

Preferably the gantry is a belt drive dual robot gantry, which may be constructed of a steel square gantry that can be anchored and cantilevered so that its weight is supported from a forward end of the platform.

Preferably it is equipped with a dual belt drive system for driving robot mount systems independently.

The belt system can run a return side internal to the gantry's main square support tube. An external face can have two rail guide systems that each robot carrier can be mounted to.

The belts on the external face can each attach to one of the robot carriers with a tensioning block.

Pulleys can be used to position drive motors near an entrance for ease of access and for maintenance.

Communication cables and service / product tubes can be mounted below the gantry and may follow each robot carrier by connecting to a dedicated cable track.

The disclosure also refers to a method using such an comprising:.

The gantry is preferably disposed relative to the base platform, whereby the base platform can be operated either dependent on or independently from the base platform.

The gantry can be positioned above the base platform and adjacent the work platform, for supporting and positioning the robots along the work platform.

The robots can be drivingly positioned along the gantry.

According to an example an apparatus for positioning robots along a gantry comprises
a base platform; a work platform positioned above the base platform for supporting one or more humans; and one or more robots driven along the gantry relative to the base platform.

The gantry can be positioned between the base platform and the work platform.

Each robot can be connected to the gantry with a support stand.

The gantry may provide position support of the one or more robots along the work platform.

The gantry may comprise one or more drive belts for independently positioning a plurality of the robots along the gantry to specified locations.

The drive belts can move each of the one or more robots laterally along one side of the work platform.

The drive belts can be positioned vertically relative to each other.

The drive belts can move each of the robots laterally along one side of the work platform, except for spaces occupied by other robots.

One or more bearing blocks can be coupled to the support stand.

A bearing block can be coupled to each end of the drive belts.

Each bearing block can be coupled with a belt tensioning mechanism.

A bracket can include the one or more bearing blocks that are attached to ends of a drive belt, and a belt tensioning mechanism that connects the bearing blocks to ensure that a proper tension is maintained on the drive belt.

Each of the drive belts may include a motor and one or more pulleys, and the motor can be positioned at one end of the work platform adjacent an access panel for ease of access for maintenance.

A bracket can be coupled to the individual support stand.

In another example a method of positioning robots is provided comprising
positioning a work platform for supporting one or more humans; supporting one or more robots on a gantry relative to the work platform; and drivingly positioning one or more robots on along the gantry.

A gantry can be positioned below a work platform and above a base platform.

The base platform can be located independently of the work platform.

The one or more robots can be supported in position on the gantry along the work platform.

The one or more robots can be driven along the gantry with one or more drive belts.

The one or more robots can be independently positioned along the gantry to specified locations.

Each of the one or more robots can be laterally moved along a side of the work platform.

The drive belts can be vertically positioned relative to each other.

Each of the one or more robots can be coupled to the gantry with a support stand.

Each of the drive belts can be motor driven.

A bracket can be coupled to the support stand.

The disclosure will now be discussed with reference to the following description and drawings.

According to another example an apparatus for positioning robots using a gantry, comprises a base platform; a work platform positioned above the base platform for supporting one or more humans; one or more robots supported on the base platform independently of the work platform; and at least one gantry, positioned above the base platform and adjacent the work platform, for supporting and positioning the robots along the work platform.

Each of the robots can be placed upon an individual support stand that is attached to the gantry.

The individual support stand may include a base that extends underneath the gantry to counter-balance the individual support stand and the robot placed thereon.

The gantry can be comprised of one or more guide rails, and the individual support stand includes a bracket that mounts the base to the guide rails to provide for movement and support of the individual support stand and the robot placed thereon.

The individual support stand can be cantilevered from the guide rails, so that the individual support stand and the robot placed thereon are supported from an inboard side of the gantry.

Cables for the robots can be supported by the base of the individual support stand, and are routed through an aperture in the bracket of the individual support stand to the robot placed thereon.

The bracket may include one or more bearing blocks that are attached to ends of a drive belt, and a belt tensioning mechanism that connects the bearing blocks to ensure that a proper tension is maintained on the drive belt.

The gantry may comprise a plurality of drive belts for independently positioning a plurality of the robots on the gantry to specified locations.

The drive belts can move each of the robots laterally along one side of the work platform.

Each of the drive belts may include a motor and one or more pulleys, and the motor is positioned at one end of the work platform adjacent an access panel for ease of access for maintenance.

The gantry can be positioned along an edge of the work platform and at least partially underneath the work platform.

The gantry may comprise a plurality of gantries on multiple sides of the work platform.

The gantry can be anchored and cantilevered at one end of the base platform, so that a remainder of the gantry is positioned above the base platform.

According to another example a method of positioning robots using a gantry is provided comprising providing a base platform; positioning a work platform above the base platform for supporting one or more humans; supporting one or more robots on the base platform independently of the work platform; and positioning at least one gantry, above the base platform and adjacent the work platform, for supporting and positioning the robots along the work platform.

The individual support stand can include a base that extends underneath the gantry to counter-balance the individual support stand and the robot placed thereon.

The gantry may be comprised of one or more guide rails, and the individual support stand includes a bracket that mounts the base to the guide rails to provide for movement and support of the individual support stand and the robot placed thereon.

Cables for the robots can be supported by the base of the individual support stand, and may be routed through an aperture in the bracket of the individual support stand to the robot placed thereon.

A plurality of the robots can be independently positioned on the gantry to specified locations using a plurality of drive belts.

The base platform can be provided within a fuselage assembly for an aircraft and wherein the work platform is preferably positioned above the base platform in the fuselage assembly.

The method can be used in assembling an aircraft fuselage.

According to a further example, there is provided a system comprising the apparatus and an aircraft fuselage.

According to a further example there is provided the apparatus or the system for assembly of an aircraft fuselage.

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

<FIG> illustrates a typical work cell <NUM> layout that includes one or more cradle fixtures <NUM> to hold and position a fuselage assembly <NUM> of an aircraft. Currently, robots are used outside the fuselage assembly <NUM>, and some work inside the fuselage assembly <NUM> is performed by robots as well. However, it is desired to provide an apparatus for stabilized positioning of collaborative robotics inside the fuselage assembly <NUM>.

In this disclosure, the fuselage assembly <NUM> is positioned adjacent a workstand <NUM> that includes a base platform <NUM> positioned inside the fuselage assembly <NUM>. (Some of the support structures for the workstand <NUM> are omitted from this view in the interests of clarity. ) The base platform <NUM> is independently supported within the fuselage assembly <NUM> by the workstand <NUM>.

A work platform <NUM>, which is an isolated motion platform, is positioned relative to the base platform <NUM>. The work platform <NUM> may be positioned above the base platform <NUM>.

One or more robots <NUM> are positioned inside the fuselage assembly <NUM> and supported on the base platform <NUM> independently of the work platform <NUM>, so that any movement of the work platform <NUM>, for example, flexing or shaking due to movement on the work platform <NUM> does not affect the position of the robots <NUM> or the base platform <NUM>.

The robots <NUM> are supported independently of the work platform <NUM> on gantries <NUM> positioned on both sides of the work platform <NUM>. The gantries <NUM> are mounted on and supported by the base platform <NUM> independently of the work platform <NUM>. The gantries <NUM>, positioned above the base platform <NUM> and underneath the work platform <NUM>, are used for positioning the robots <NUM> along a length of the work platform <NUM>. The robots <NUM> are placed on individual support stands <NUM>, which are mounted on the gantries <NUM>.

The robots <NUM> are provided with power, control and communication, as well as parts supply and return, via a cable carrier system <NUM>. The cable carrier system <NUM> is positioned on or above the base platform <NUM> and underneath the work platform <NUM> to provide a compact solution for supplying the robots <NUM>.

The work platform <NUM> has a profile height above the base platform <NUM> inside of the fuselage assembly <NUM>. This profile height allows humans <NUM> to access the inside of the fuselage assembly <NUM> while standing on the work platform <NUM>. The profile height can be <NUM> inches or less, although other embodiments may have a profile height that is more than <NUM> inches.

At the same time, the work platform <NUM> sets the humans <NUM> at the correct height to easily reach areas of work in the fuselage assembly <NUM>. Moreover, the fuselage assembly <NUM> may be rotated, so that the humans <NUM> can reach upper or lower areas of work in the fuselage assembly <NUM>. In one example, there is no need for ladders when the humans <NUM> work in the fuselage assembly <NUM>.

The robots <NUM> and individual support stands <NUM> are positioned on the gantries <NUM> slightly above the base platform <NUM>, and extend above the work platform <NUM> to a height necessary to position the robots <NUM> for an optimum reach within a work area. The robots <NUM> and individual support stands <NUM> can have a combined height of about <NUM> inches, which is about <NUM> inches above the <NUM> inch height of the work platform <NUM>, although other embodiments may have a combined height that is less or more than <NUM> inches.

The base platform <NUM> and work platform <NUM> together provide a collaborative workspace for the robots <NUM> and humans <NUM> within the fuselage assembly <NUM>. The work platform <NUM> is isolated from the robots <NUM> for stabilized positioning of the robots <NUM>. Specifically, the work platform <NUM> provides isolated support for movement thereon without imparting any motion to the robots <NUM>, thereby eliminating positioning errors caused by flexing, vibrations or fluctuations in the work platform's <NUM> height due to movement of the work platform <NUM>.

<FIG> and <FIG> are perspective side and top views of the work cell <NUM> layout, respectively, with the cradle fixture <NUM> and fuselage assembly <NUM> omitted, wherein the shape and position of the fuselage assembly <NUM> are indicated by dashed lines. These figures show the workstand <NUM> positioned at one end of the fuselage assembly <NUM> to independently support the base platform <NUM>, as well as the work platform <NUM>, both of which are suspended within the fuselage assembly <NUM>.

These views illustrate an apparatus for supporting four collaborative robots <NUM> and humans <NUM> in a narrowing work envelope, for example, an aft/tail section and a nose section of the fuselage assembly <NUM>. Specifically, the work platform <NUM> may be narrower than the base platform <NUM>. The work platform <NUM> is positioned relative to the base platform <NUM> to provide areas <NUM> for moving or positioning the robots <NUM> and individual support stands <NUM>, as well as humans <NUM>, on one or more sides of the work platform <NUM>.

The work platform <NUM> is tapered along its length, to fit the narrowing fuselage assembly <NUM>, with a front end 20a that is wider than a back end 20b. The front end 20a of the work platform <NUM> is positioned at a forward end of the fuselage assembly <NUM> and the back end 20b of the work platform <NUM> is positioned at an aft end of the fuselage assembly <NUM>.

The tapered configuration of the work platform <NUM> is used to expose areas <NUM> of the base platform <NUM> sufficient for the robots <NUM> and humans <NUM> to traverse the base platform <NUM> and maneuver around the work platform <NUM> for times when the robots <NUM> need to be serviced or inspected in position. This tapered configuration also allows the use of the same robots <NUM> for tapered as well as cylindrical sections of the fuselage assembly <NUM>.

The work platform <NUM> can have a straight configuration, rather than a tapered configuration. This straight configuration could be used for cylindrical sections of the fuselage assembly <NUM>.

Once the fuselage assembly <NUM> is in position, an end-of-platform support <NUM> is positioned and interlocked to the back end 20b of the work platform <NUM> to secure the position of the work platform <NUM>. The end-of-platform support <NUM> can comprise a structure that is itself supported independently of the workstand <NUM> and base platform <NUM>.

The work platform <NUM> also includes a ramp portion 20c, adjacent the front end 20a, that is secured through the base platform <NUM> and the workstand <NUM>, wherein the ramp portion 20c promotes human <NUM> and tool cart access to the work platform <NUM>. In addition, a ledge 20d is provided along one (or both) sides of the work platform <NUM> for humans <NUM> to stand on.

<FIG> and <FIG> further illustrate the configuration of the work platform <NUM>. <FIG> is a side perspective view of the work platform <NUM>, taken on the line 3A-3A of <FIG> looking in the direction of the arrows; and <FIG> is a bottom view of the work platform <NUM> showing its underside, taken on the line 3B-3B of <FIG> looking in the direction of the arrows.

The work platform <NUM> can have a tapered configuration, with the wider portion 20a (the front end 20a) at a forward end of the work platform <NUM> and the narrower portion 20b (the back end 20b) at an aft end of the work platform <NUM>. The work platform <NUM> also includes the ramp portion 20c adjacent to the front end 20a, which angles downward from the work platform <NUM> to reside on or above the base platform <NUM> (not shown).

In addition, the work platform <NUM> has a planar top surface 20a, 20b, 20c as shown in <FIG> and a ribbed bottom surface 20e with longitudinal struts 20f as shown in <FIG> also shows the underside of the ledge 20d of the work platform <NUM>.

<FIG>, <FIG> and <FIG> further illustrate the configuration of the work platform <NUM>, robots <NUM>, gantries <NUM>, individual support stands <NUM> and cable carrier system <NUM>. <FIG> is a side perspective view of the work platform <NUM> (including the front end 20a, back end 20b and ramp 20c), robots <NUM>, gantries <NUM> and individual support stands <NUM>, taken on the line 4A-4A of <FIG> looking in the direction of the arrows; <FIG> is a top view of the work platform <NUM> (including the front end 20a, back end 20b, ramp 20c and ledge 20d), robots <NUM>, gantries <NUM> and individual support stands <NUM>, taken on the line 4B-4B of <FIG> looking in the direction of the arrows; and <FIG> is a bottom view of the work platform <NUM> (including the front end 20a, back end 20b, ramp 20c, ledge 20d and struts 20f), robots <NUM>, gantries <NUM>, individual support stands <NUM> and cable carrier system <NUM>, taken on the line 4C-4C of <FIG> looking in the direction of the arrows.

There may be separate gantries <NUM> on each side of the work platform <NUM>. Each of the robots <NUM> are placed upon an individual support stand <NUM> that is attached to their respective gantries <NUM>. The robots <NUM> and the individual support stands <NUM> are fully supported by the gantries <NUM>, which in turn are supported by the base platform <NUM> (not shown), and are not affected by motion of the work platform <NUM>.

In designing the gantries <NUM>, the need was identified to independently position two robots <NUM> on each side of the work platform <NUM> using only a single gantry <NUM>. Current systems only allow for one robot to be positioned along a gantry <NUM>. The single gantry <NUM> can allow for independent control to drive two robots <NUM> on one side of the work platform <NUM> to their respective specified locations using high precision.

Each of the two robots <NUM> on one side of the work platform <NUM> are moved laterally along the side of the work platform <NUM> via the single gantry <NUM>. Specifically, the gantry <NUM> allows each of the robots <NUM> to travel a substantial portion of the length of the work platform <NUM> on one side of the work platform <NUM>, except for the space occupied by the other robot <NUM>, as well as the space on the opposite side of the other robot <NUM>.

The cable carrier system <NUM> can be positioned at least partially underneath the work platform <NUM> and conforms to a tapered configuration of the work platform <NUM>. The cable carrier system <NUM> provides a set of cables <NUM> for each of the robots <NUM>. Although shown as individual elements, each of the cables <NUM> may comprise a bundle of power, control and communication cables, as well as parts supply and return tubes.

The cable carrier system <NUM> is designed to be integrated with the work platform <NUM>, but can be used independently of it. In designing the cable carrier system <NUM>, there were no available concepts for stacking and nesting two pairs of cables <NUM> that would provide service to four robots <NUM> in a narrowing tapered configuration, within a compact space between the base platform <NUM> and the work platform <NUM>. The cable carrier system <NUM> provides a unique method for stacking and nesting pairs of the cables <NUM> to the robots <NUM> on each side of the work platform <NUM>, while keeping the cables <NUM> from interfering with each other and still allowing for a full range of motion.

In addition, the longitudinal struts 20f of the work platform <NUM> support at least portions of the cables <NUM> above the base platform <NUM>, for stacking the pairs of cables <NUM>, so that they do not interfere with each other. Specifically, an upper cable <NUM> in a pair is supported by the longitudinal struts 20f above a lower cable <NUM> in the pair, which allows the upper cable <NUM> to glide over the lower cable and the lower cable <NUM> to glide under the upper cable <NUM>, without the cables <NUM> making contact.

<FIG> is a cutaway view of the work platform <NUM> positioned above the base platform <NUM>, wherein the cutaway view shows only the left half of the work platform <NUM>, with the right half of the work platform <NUM> removed, taken on the line <NUM>-<NUM> of <FIG> looking in the direction of the arrows.

The front end 20a of the work platform <NUM> is mounted on one or more risers <NUM>, <NUM> mounted on the base platform <NUM>, while the back end 20b of the work platform <NUM> is cantilevered above the base platform <NUM>. Once the fuselage assembly <NUM> is in position, the end-of-platform support <NUM> is positioned and interlocked to the back end 20b of the work platform <NUM> to secure the position of the work platform <NUM>.

The riser <NUM> is also a support structure, and is comprised of a bottom flange 38a, a triangular-shaped vertical web element 38b, and a top flange 38c, wherein the triangular-shaped vertical web element 38b connects the bottom flange 38a to the top flange 38c. The bottom flange 38a is mounted on the base platform <NUM>, and the work platform <NUM> is mounted on the top flange 38c.

Similarly, the riser <NUM> is a support structure, and is comprised of a bottom flange 40a, a triangular-shaped vertical web element 40b, and a top flange 40c, wherein the triangular-shaped vertical web element 40b connects the bottom flange 40a to the top flange 40c. The bottom flange 40a is mounted on the base platform <NUM>, and the work platform <NUM> is mounted on the top flange 40c.

Note that only a portion of the riser <NUM> is shown with the right half of the work platform <NUM> removed, e.g., about half of the riser <NUM>, with the remaining portion of the riser <NUM> hidden underneath the left half of the work platform <NUM>. Note also that there is another riser <NUM> hidden underneath the left half of the work platform <NUM>, wherein the hidden riser <NUM> is positioned on the opposite side of the riser <NUM> shown in <FIG>.

The ramp portion 20c of the work platform <NUM> is also mounted on the risers <NUM>, <NUM> to provide easy access from the base platform <NUM>. The ramp portion 20c of the work platform <NUM> is supported on or above the triangular-shaped vertical web element 38b. The ramp portion 20c of the work platform <NUM> also is supported on or above the triangular-shaped vertical web element 40b.

The risers <NUM>, <NUM> for the work platform <NUM> are positioned on the base platform <NUM> in such a way that they do not interfere with the gantries <NUM> or the cable carrier system <NUM>. The risers <NUM>, <NUM> allow the gantries <NUM> and the cable carrier system <NUM> to be positioned between the work platform <NUM> and the base platform <NUM>.

The riser <NUM> may also include a support section 40d for at least portions of the cables <NUM> positioned midway up the vertical web element 40b, for stacking the pairs of cables <NUM>, so that they do not interfere with each other. Specifically, an upper cable <NUM> in a pair is supported by the support section 40d above a lower cable <NUM> in the pair, which allows the upper cable <NUM> to glide over the lower cable and the lower cable <NUM> to glide under the upper cable <NUM>, without the cables <NUM> making contact.

As noted above, there may be one gantry <NUM> positioned adjacent to each inside edge of the work platform <NUM> for moving the robots <NUM> along a length of the work platform <NUM>. The gantry <NUM> is constructed of a steel main square support tube <NUM> that is anchored near the riser <NUM> at one end, i.e., a forward end 18a, of the base platform <NUM>, so that the weight of the gantry <NUM> is supported from the forward end 18a of the base platform <NUM>. A remainder of the steel main square support tube <NUM> is cantilevered and positioned above the base platform <NUM> towards another end, i.e., an aft end 18b, of the base platform <NUM>, so that the gantry <NUM> is isolated from motion of the work platform <NUM>. The steel main square support tube <NUM> is then coupled to the end-of-platform support <NUM> at the aft end 18b of the base platform <NUM>. Another gantry <NUM> is present on the left side of the work platform <NUM>, in a mirror image of the gantry <NUM> shown, but is obscured by the work platform <NUM> in this view.

The work platform <NUM> also includes one or more removable access panels <NUM>. In the example of <FIG>, there is one access panel <NUM> in the left half of the work platform <NUM> shown, but there would be similarly placed access panel in the right half of the work platform <NUM> that is omitted. The removable access panels <NUM> are designed to provide access to components of the gantry <NUM> and cable carrier system <NUM> underneath the work platform <NUM>, e.g., for repair, installation and/or removal.

<FIG> provides a view where the work platform <NUM> has been removed, but with its outline indicated in dashed lines, leaving only the robots <NUM>, gantries <NUM>, individual support stands <NUM> and cable carrier system <NUM>.

The cable carrier system <NUM> maintains the cables 36a, 36b, 36c, 36d in a crossover configuration in the space between the base platform <NUM> and the work platform <NUM>. Specifically, the cable carrier system <NUM> positions the four cables 36a, 36b, 36c, 36d to independently supply the four robots 22a, 22b, 22c, 22d without interfering with each other and still allowing for a full range of motion for the cables 36a, 36b, 36c, 36d.

The shape of the work platform <NUM> helps to guide the cable carrier system <NUM>. In addition, sections of the cables 36a and 36c are pinned at 28a and sections of the cables 36b and 36d are pinned at 28b, where they crossover, in order to pivot, which allows the cables 36a, 36b, 36c, 36d to go from a minimum to maximum radius without sliding from the pinned locations at 28a, 28b, which keeps the correct amount of cable 36a, 36b, 36c, 36d in place at all times. The pinning of the cables 36a, 36b, 36c, 36d at 28a, 28b prevents the cables 36a, 36b, 36c, 36d from slipping backward through the crossover area and interfering with any opposing set of cables 36a, 36b, 36c, 36d.

The cables 36a, 36b or 36c, 36d for the robots 22a, 22b or 22c, 22d on a first side of the work platform <NUM> are fed in from a second side of the work platform <NUM> opposite the first side of the work platform <NUM> at a first end of the work platform <NUM>, and the cables 36a, 36b or 36c, 36d for the robots 22a, 22b or 22c, 22d on the second side of the work platform <NUM> are fed in from the first side of the work platform <NUM> opposite the second side of the work platform <NUM> at the first end of the work platform <NUM>. For example, the cables 36a, 36b for the two robots 22a, 22b on a right-side of the work platform <NUM> lay on the base platform <NUM> and are fed in from a left-side of the base platform <NUM> at the front end 20a of the work platform <NUM>. The cables 36c, 36d for the two robots 22c, 22d on the left-side of the work platform <NUM> are fed in from the right-side of the work platform <NUM> at the front end 20a of the work platform <NUM>.

In the cable carrier system <NUM>, the cables 36a, 36b, 36c, 36d are crisscrossed to communicate with the robots 22a, 22b, 22c, 22d, so that the cables 36a, 36b, 36c, 36d flow from adjacent the front end 20a on one side of the work platform <NUM> to adjacent the back end 20b and the front end 20a on an opposite side of the work platform <NUM>. For example, cable 36a connects to robot 22a; cable 36b connects to robot 22b; cable 36c connects to robot 22c; and cable 36d connects to robot 22d. Cables 36a and 36b flow from adjacent the front end 20a of the work platform <NUM> on the left-side of the work platform <NUM> to adjacent the back end 20b and the front end 20a of the work platform <NUM> on the right-side of the work platform <NUM>. Cables 36c and 36d flow from adjacent the front end 20a of the work platform <NUM> on the right-side of the work platform <NUM> to adjacent the back end 20b and the front end 20a of the work platform <NUM> on the left-side of the work platform <NUM>.

The cables 36a, 36b, 36c, 36d are stacked and nested so that a first one of the cables 36a, 36b or 36c, 36d can reach any location aft (towards the back end 20b) of a second one of the cables 36b, 36a or 36d, 36c, and the second one of the cables 36a, 36b or 36c, 36d can reach any location forward (towards the front end 20a) of the first one of the cables 36b, 36a or 36d, 36c. For example, the cables 36a, 36b are stacked and nested so that the cable 36a can reach any location aft (towards the back end 20b) of the cable 36b and the cable 36b can reach any location forward (towards the front end 20a) of the cable 36a. Similarly, the cables 36c, 36d are stacked and nested so that the cable 36c can reach any location aft (towards the back end 20b) of the cable 36d and the cable 36d can reach any location forward (towards the front end 20a) of the cable 36c.

In addition, the cables 36a, 36b, 36c, 36d are stacked and nested, so that on each side of the work platform <NUM>, a first one of the robots 22a, 22b, 22c, 22d can travel towards a first end (20a or 20b) of the work platform <NUM>, while a second one of the robots 22a, 22b, 22c, 22d travels towards a second end (20b or 20a) of the work platform <NUM>, without the cables 36a, 36b, 36c, 36d interfering with each other. For example, one robot 22a can travel towards the front end 20a of the work platform <NUM>, while another robot 22b travels towards the back end 20b of the work platform <NUM>, without the cables 36a, 36b interfering with each other; and one robot 22c can travel towards the front end 20a of the work platform <NUM>, while another robot 22d travels towards the back end 20b of the work platform <NUM>, without the cables 36c, 36d interfering with each other.

Otherwise, there would be the problem of potential restriction of movement of the four robots 22a, 22b, 22c, 22d. Current cable track systems do not nest and stack in a crossing pattern to provide the full reach that is required in this configuration. The cable carrier system <NUM> allows for the cables <NUM>, 38b, 38c, 38d to be connected to the robots 22a, 22b, 22c, 22d in a very small workspace while not interfering with each other.

<FIG> is another view of the gantry <NUM> on one side of the work platform <NUM> (not shown), as well as the individual support stands 26a, 26b attached to the gantry <NUM>, with the robots <NUM> omitted. In designing the gantry <NUM>, the need was identified to independently position two robots <NUM> by using only a single gantry <NUM>. Current systems only allow for one robot to be positioned along a gantry. This system allows for independent control to drive both robots <NUM> to specified locations on a single gantry <NUM> using high precision.

The gantry <NUM> includes a plurality of drive belts 46a, 46b for independently positioning the individual support stands 26a, 26b (and the robots <NUM> placed thereon). There can be two belts 46a, 46b running along the length of the gantry <NUM>, wherein the two belts 46a, 46b are positioned vertically with respect to each other. The top belt 46a can drive the aft individual support stand 26a, and the bottom belt 46b can drive the forward individual support stand 26b, although this may be reversed in other embodiments.

Each of the individual support stands 26a, 26b on one side of the work platform <NUM> are moved laterally along the side of the work platform <NUM> via the drive belts 46a, 46b. Specifically, the drive belts 46a, 46b allow each of the individual support stands 26a, 26b to travel the length of the work platform <NUM>, except for the space occupied by the other individual support stand 26a, 26b, on one side of the work platform <NUM>.

Each of the individual support stand 26a, 26b includes a base <NUM> that extends underneath the main square support tube <NUM> of the gantry <NUM> to counter-balance the individual support stand 26a, 26b (and the robot <NUM> placed thereon).

The main square support tube <NUM> is comprised of two guide rails 50a, 50b, comprising an upper guide rail 50a and a lower guide rail 50b. Each of the individual support stands 26a, 26b includes a bracket <NUM> that mounts the base <NUM> to the guide rails 50a, 50b of the gantry <NUM> to provide for movement and support of the individual support stand 26a, 26b (and the robot <NUM> placed thereon).

Each of the individual support stands 26a, 26b are cantilevered from the rails 50a, 50b, so that the individual support stand 26a, 26b (and the robot <NUM> placed thereon) are supported from an inboard side of the gantry <NUM>, and the weight of the individual support stand 26a, 26b and the robots <NUM> does not affect either the base platform <NUM> during positioning of the fuselage assembly <NUM> or the work platform <NUM>.

The bracket <NUM> of the individual support stands 26a, 26b also includes one or more bearing blocks 54a, 54b that are attached to both ends of one of the drive belts 46a, 46b. A belt tensioning mechanism <NUM> connects the bearing blocks 54a, 54b and ensures that a proper tension is maintained on the drive belt 46a, 46b.

Cables <NUM> for the robots <NUM> are supported by the base <NUM> of the individual support stand 26a, 26b, and are routed through an aperture <NUM> in the bracket <NUM> of the individual support stand 26a, 26b to the robot <NUM> placed thereon.

<FIG> is another view of the gantry <NUM> on one side of the work platform <NUM>, as well as the individual support stands <NUM> attached to the gantry <NUM>, showing details of the dual drive belt 46a, 46b.

Each of the belts 46a, 46b includes a motor 60a, 60b, and one or more pulleys 62a, 62b. Specifically, the top belt 46a is driven by pulley motor 60a, wherein the belt 46a is wrapped around pulleys 62a, and the bottom belt 46b is driven by pulley motor 60b, wherein the belt 46b is wrapped around pulleys 62b. Pulleys 62a, 62b are used so that the drive motors 60a, 60b are positioned near a forward end of the work platform <NUM> for ease of access for maintenance via access panels <NUM>. A similar configuration of pulleys 62a, 62b are positioned at the other end of the gantry <NUM>, but without the motors 60a, 60b.

The forward sides of the belts 46a, 46b are exposed on the main square support tube <NUM> between the upper rail guide 50a and lower rail guide 50b. The return sides of the belts 46a, 46b are internal to the main square support tube <NUM>.

Finally, cabling <NUM> for the robot <NUM> lays in the base <NUM>, threads through the aperture <NUM> in the bracket <NUM>, and extends underneath the lower guide rail 50b as well as the belts 46a, 46b.

The disclosure may be described in the context of an aircraft manufacturing and service method <NUM> comprised of steps <NUM>-<NUM> as shown in <FIG> and an aircraft <NUM> comprised of components <NUM>-<NUM> as shown in <FIG>.

As shown in <FIG>, during pre-production, exemplary method <NUM> may include specification and design <NUM> of the aircraft <NUM> and material procurement <NUM>. During production, component and subassembly manufacturing <NUM> and system integration <NUM> of the aircraft <NUM> takes place. Thereafter, the aircraft <NUM> may go through certification and delivery <NUM> in order to be placed in service <NUM>. While in service <NUM> by a customer, the aircraft <NUM> is scheduled for routine maintenance and service <NUM> (which includes modification, reconfiguration, refurbishment, and so on). The base platform <NUM>, work platform <NUM>, robots <NUM> and other elements as described herein can be used at least in steps <NUM> and <NUM> of method <NUM>.

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 venders, subcontractors, and suppliers; and an operator may be an airline, leasing company, military entity, service organization, and so on.

As shown in <FIG>, the aircraft <NUM> produced by exemplary method <NUM> may include an airframe <NUM> with a plurality of systems <NUM> and an interior <NUM>. Examples of high-level systems <NUM> include one or more of a propulsion system <NUM>, an electrical system <NUM>, a hydraulic system <NUM>, and an environmental system <NUM>. Any number of other systems may be included. Although an aerospace example is shown, the principles of the disclosure may be applied to other industries, such as the automotive industry.

Claim 1:
An apparatus for positioning one or more robots using a gantry, comprising:
a base platform (<NUM>);
a work platform (<NUM>) positioned above the base platform (<NUM>) for supporting one or more humans;
one or more robots (<NUM>) supported on the base platform (<NUM>) independently of the work platform (<NUM>);
at least one gantry (<NUM>), positioned above the base platform (<NUM>) and adjacent the work platform (<NUM>) , for supporting and positioning the one or more robots (<NUM>) along the work platform (<NUM>),
wherein each of the one or more robots (<NUM>) is placed upon an individual support stand (<NUM>) that is attached to the gantry (<NUM>), and
wherein the individual support stand (<NUM>) includes a base (<NUM>) that extends underneath the gantry (<NUM>) to counter-balance the individual support stand (<NUM>) and the robot (<NUM>) placed thereon.