US 10,053,165 B2 · Automated maintenance of surface skins using transporter system

Abstract

Systems and methods for automated maintenance of the top and bottom surfaces or skins of an integrally stiffened hollow structure (e.g., a horizontal stabilizer) using surface crawling vehicles. Each system uses dynamically controlled magnetic coupling to couple an external drive tractor to a pair of passive trailers disposed in the interior of the hollow structure on opposite sides of a vertical structural element. The external drive tractor is also coupled to an external maintenance tool, which the tractor pushes or pulls across the surface skin to perform a maintenance function. The systems allow maintenance operations to be performed on both surface skins without turning the hollow structure over. Each system is modular and can be transported to and easily set up in a building or factory.

Claims20

Dependent claims

A method for moving a maintenance tool over a surface of a hollow structure having a skin connected to at least one vertical structural element, the method comprising:

(a) placing a first tractor vehicle in a position external to the hollow structure and in contact with the skin;
(b) placing first and second trailer vehicles in respective interior spaces of the hollow structure with a first vertical structural element of the hollow structure therebetween;
(c) magnetically coupling the first and second trailer vehicles to the first tractor vehicle with the skin therebetween and to each other with the first vertical structural element therebetween;
(d) coupling a payload platform to the first tractor vehicle in a position external to the hollow structure, the payload platform comprising a frame and a maintenance tool that is movable relative to the frame;
(e) moving the first tractor vehicle along a path that follows the first vertical structural element;
(f) stopping the first tractor vehicle;
and
(g) moving the maintenance tool of the payload platform in a first direction relative to the frame of the payload platform while the first tractor vehicle is stopped in step (f).

5 more elements

A mobile platform for performing a maintenance function on a skin of a hollow structure comprising first and second skins connected by first and second vertical structural elements, the mobile platform comprising a chassis, first and second trailer vehicles, and a maintenance tool supported by and movable relative to the chassis, wherein the first and second trailer vehicles are magnetically coupled to the chassis through the first skin of the hollow structure and to each other through the first vertical structural element, wherein the chassis comprises:

first and second chassis parts coupled to each other, the first chassis part overlying a first portion of the first skin disposed along the first vertical structural element, the first maintenance tool being slidably coupled to the second chassis part, and each of the first and second chassis parts comprising a respective plurality of wheels in contact with the external surface of the first skin;
a drive wheel rotatably coupled to the first chassis part and in contact with the external surface of the first skin;
a first actuator mounted to the first chassis part for causing the first drive wheel to rotate;
and
a second actuator mounted to the second chassis part for causing the maintenance tool to slide along the second chassis part,
wherein the magnetically coupled chassis and first and second trailer vehicles move in unison when the drive wheel is rotated.

3 more elements

Dependencies are inferred from the claim text.

Automated maintenance of surface skins using transporter system

Life of this patent

Automated maintenance of surface skins using transporter system

Life of this patent

Abstract

Claims20