Automated engagement and handling of a structure
AssigneeThe Boeing Company
InventorsKyle Lee Oberst, Mark Eduard Pflum, Henry Thomas Youngblood
Life of this patent
Estimating the term…
Abstract
A method and apparatus for automated handling a structure. A handler system comprises a plurality of towers and a plurality of end effectors coupled to the plurality of towers. Each of the plurality of end effectors is movably coupled to a tower of the plurality of towers. Each of the plurality of end effectors comprises an arm coupled to the tower and a coupling device for use in automated engagement of a corresponding fitting coupled to the structure.
Claims20
A method for automated engagement and handling of a structure, the method comprising:
- moving a handler system into a position relative to a support that is holding the structure, the handler system including a plurality of end effectors;
- positioning the plurality of end effectors relative to a plurality of fittings coupled to the structure such that a coupling device of each end effector of the plurality of end effectors is positioned relative to a corresponding fitting of the plurality of fittings;
- wherein a first engagement device of the coupling device of each end effector and a second engagement device of the coupling device are positioned on opposite sides of a hole in the corresponding fitting;
- and
- engaging the plurality of fittings with the plurality of end effectors to secure the structure to the handler system
- moving the handler system with the structure secured to the handler system away from the support.
A method for automated handling of a structure, the method comprising:
- moving a handler system with the structure secured to the handler system for positioning alongside an assembly, the handler system having a plurality of end effectors engaged with a corresponding plurality of fittings coupled to the structure;
- positioning, by the handler system, the structure in a selected position relative to the assembly using a laser guidance system;
- joining the structure to the assembly;
- disengaging the plurality of end effectors from the corresponding plurality of fittings after the structure has been joined with the assembly;
- and
- moving the handler system away from the assembly.
A handler system for handling a structure, the handler system comprising:
- a plurality of towers;
- and
- a plurality of end effectors coupled to the plurality of towers, wherein each of the plurality of end effectors is movably coupled to a corresponding tower of the plurality of towers and comprises:
- an arm coupled to the tower;
- and
- a coupling device for use in automated engagement of a corresponding fitting coupled to the structure, wherein the coupling device comprises:
- a base;
- a first engagement device movably coupled to the base;
- and
- a second engagement device fixedly coupled to the base.
Dependencies are inferred from the claim text.