# US 10,501,208 B2 · Gantry system and method for processing an aircraft > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,501,208 B2 - Document ID: US10501208B2 - Status: Granted - Kind: B2 - Application number: 15/639,470 - Filed: 2017-06-30 - Published: 2019-01-03 - Granted: 2019-12-10 - Earliest claimed: 2017-06-30 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: James Grady Whitlaw; John Eric Miller; Jairo A. Diaz; Matthew H. Mellin - Web page: https://patentgrep.com/patent/US10501208B2 ## CPC - B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor - B25J 9/0036: {with kinematics chains of the type prismatic-rotary-rotary} - B25J 9/0084: {comprising a plurality of manipulators} - B25J 11/0075: {Manipulators for painting or coating} - B64F 5/30: Cleaning aircraft - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A gantry system for processing an aircraft includes a gantry receiving a fuselage of the aircraft having a gantry frame with an arched member. The gantry system includes first and second locating arms extending between inner and outer ends movably coupled to the gantry frame. The gantry system includes a bracket assembly having a first locating arm bracket pivotably coupled to the first locating arm, a second locating arm bracket pivotably coupled to the second locating arm, and a head assembly bracket with a head assembly coupled thereto having an end effector for processing the fuselage. The head assembly is variably positionable by the first and second locating arms moving along the gantry frame for positioning the end effector relative to the fuselage. ## Claims ### Claim 1 A gantry system for processing an aircraft comprising: a gantry having an interior space configured to receive a fuselage of the aircraft, the gantry having a gantry frame having an arched member configured to pass from a first side of the interior space to a second side of the interior space along an arcuate path; a first locating arm extending between an inner end and an outer end, the outer end being movably coupled to the gantry frame; a second locating arm extending between an inner end and an outer end, the outer end being movably coupled to the gantry frame; a bracket assembly having a first locating arm bracket pivotably coupled to the inner end of the first locating arm, a second locating arm bracket pivotably coupled to the inner end of the second locating arm, and a head assembly bracket; and a head assembly coupled to the head assembly bracket, the head assembly having an end effector for processing the fuselage; wherein the head assembly is variably positionable in the interior space by the first and second locating arms moving along the gantry frame for positioning the end effector relative to the fuselage. ### Claim 2 (depends on 1) The gantry system of claim 1, wherein the first and second locating arms are movable along the gantry frame to change an angular position of the head assembly in the interior space. ### Claim 3 (depends on 1) The gantry system of claim 1, wherein the first locating arm includes a telescoping member operable to change a length of the first locating arm between the inner end and the outer end to change a radial position of the head assembly in the interior space, the second locating arm including a telescoping member operable to change a length of the second locating arm between the inner end and the outer end to change a radial position of the head assembly in the interior space. ### Claim 4 (depends on 1) The gantry system of claim 1, wherein the gantry frame includes a track, and wherein the outer ends of the first and second locating arms include slides operably coupled to the track to move along the track. ### Claim 5 (depends on 1) The gantry system of claim 1, wherein the first and second locating arms include locking elements at the outer ends to fix the locations of the first and second locating arms along the gantry frame. ### Claim 6 (depends on 1) The gantry system of claim 1, wherein the first and second locating arms are independently movable along the gantry frame to change a relative spacing of the outer ends of the first and second locating arms along the arcuate path. ### Claim 7 (depends on 1) The gantry system of claim 1, further comprising a pivot driver operably coupled to at least one of the first locating arm and the first locating arm bracket to change a pivot angle between the bracket assembly and the first locating arm to orient the head assembly in the interior space. ### Claim 8 (depends on 1) The gantry system of claim 1, wherein the head assembly includes a rail including a track, and wherein the end effector is movable along the track relative to the head assembly bracket. ### Claim 9 (depends on 8) The gantry system of claim 8, wherein the outer ends of the first and second locating arms are configured to be fixed along the gantry frame when the end effector moves along the track to process the aircraft. ### Claim 10 (depends on 1) The gantry system of claim 1, wherein the arcuate path of the arched member is configured to generally follow a shape of the fuselage of the aircraft in a spaced apart relationship. ### Claim 11 A gantry system for processing an aircraft comprising: a gantry having an interior space configured to receive a fuselage of the aircraft, the gantry having a forward gantry frame having a forward arched member configured to pass from a first side of the interior space to a second side of the interior space along an arcuate path, the gantry having an aft gantry frame having an aft arched member configured to pass from a first side of the interior space to a second side of the interior space along an arcuate path; a forward carrier assembly coupled to the forward gantry frame, the forward carrier assembly comprising a first locating arm extending between an inner end and an outer end being movably coupled to the forward gantry frame, a second locating arm extending between an inner end and an outer end being movably coupled to the forward gantry frame, and a forward bracket assembly pivotably coupled to the inner ends of the first and second locating arms, the forward bracket assembly having a forward head assembly bracket; an aft carrier assembly coupled to the aft gantry frame, the aft carrier assembly comprising a first locating arm extending between an inner end and an outer end being movably coupled to the aft gantry frame, a second locating arm extending between an inner end and an outer end being movably coupled to the aft gantry frame, and an aft bracket assembly pivotably coupled to the inner ends of the first and second locating arms, the aft bracket assembly having an aft head assembly bracket; and a head assembly coupled to the forward head assembly bracket and the aft head assembly bracket, the head assembly having a rail including a track, the head assembly having an end effector movable along the track between the forward and aft head assembly brackets for processing the fuselage; wherein the head assembly is variably positionable in the interior space by the forward carrier assembly and the aft carrier assembly for positioning the end effector relative to the fuselage. ### Claim 12 (depends on 11) The gantry system of claim 11, wherein the first and second locating arms of the forward carrier assembly are movable along the forward gantry frame to change an angular position of the head assembly in the interior space. ### Claim 13 (depends on 11) The gantry system of claim 11, wherein the first and second locating arms of the forward carrier assembly include telescoping members operable to change lengths of the corresponding first and second locating arms. ### Claim 14 (depends on 11) The gantry system of claim 11, wherein the forward gantry frame is movable relative to the aft gantry frame to change a gantry frame spacing therebetween to change a spacing between the forward and aft bracket assemblies corresponding to a change in angle of the rail in the interior space relative to the fuselage. ### Claim 15 (depends on 11) The gantry system of claim 11, wherein the forward carrier assembly is movable along the forward gantry frame independent of movement of the aft carrier assembly along the aft gantry frame to change an angle of the rail in the interior space relative to the fuselage. ### Claim 16 (depends on 11) The gantry system of claim 11, wherein the forward carrier assembly is configured to be fixed along the forward gantry frame and the aft carrier assembly is configured to be fixed along the aft gantry frame to fix the position of the rail of the head assembly relative to the fuselage, and wherein the end effector is configured to move in a linear path along the track to process the fuselage while the forward and aft carrier assemblies remain fixed. ### Claim 17 (depends on 11) The gantry system of claim 11, further comprising a forward pivot driver operably coupled to at least one of the forward bracket assembly and the first locating arm of the forward carrier assembly to change a pivot angle between the forward bracket assembly and the first locating arm of the forward carrier assembly to orient the head assembly in the interior space and further comprising an aft pivot driver operably coupled to at least one of the aft bracket assembly and the first locating arm of the aft carrier assembly to change a pivot angle between the aft bracket assembly and the first locating arm of the aft carrier assembly to orient the head assembly in the interior space. ### Claim 18 A method of processing a fuselage of an aircraft using a gantry system having a gantry including gantry frames having arched members configured to pass from a first side to a second side of an interior space along arcuate paths, locating arms movably coupled to the gantry frames, bracket assemblies pivotably coupled to corresponding locating arms, and a head assembly coupled to the bracket assemblies, the method comprising: axially positioning the gantry relative to the fuselage at a first axial position; moving the locating arms along the arched members to locate the head assembly at a first angular location relative to the fuselage while the gantry is at the first axial position; actuating the head assembly to move an end effector of the head assembly along the fuselage to process the aircraft while the gantry is at the first axial position and while the head assembly is at the first angular location; moving the locating arms along the arched members to locate the head assembly at a second angular location relative to the fuselage while the gantry is at the first axial position; and actuating the head assembly to move the end effector of the head assembly along the fuselage to process the aircraft while the gantry is at the first axial position and while the head assembly is at the second angular location. ### Claim 19 (depends on 18) The method of claim 18, further comprising moving the gantry to axially position the gantry relative to the fuselage at a second axial position. ### Claim 20 (depends on 18) The method of claim 18, wherein said moving the locating arms comprises moving the locating arms such that the first angular location is on a first side of the fuselage and such that the second angular location is on a second side of the fuselage.