# US 2013/0158697 A1 · Autonomous Carrier System for Moving Aircraft Structures > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0158697 A1 - Document ID: US20130158697A1 - Status: Published application - Kind: A1 - Application number: 13/326,996 - Filed: 2011-12-15 - Published: 2013-06-20 - Earliest claimed: 2011-12-15 - Assignees: The Boeing Company - Inventors: Paul Reed Stone; Clayton Lynn Munk; Eric M. Reid - Web page: https://patentgrep.com/patent/US20130158697A1 ## CPC - B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B64F 5/50: Handling or transporting aircraft components - G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)} - G05B 2219/31008: Cooperation mobile robots, carrying common pallet, object or pushing together - G05B 2219/45071: Aircraft, airplane, ship cleaning manipulator, paint stripping - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - Y02P 90/60: Electric or hybrid propulsion means for production processes - Y10T 29/49616: Structural member making - Y10T 29/49622: Vehicular structural member making - Y10T 29/534: Multiple station assembly or disassembly apparatus - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A method and apparatus for manufacturing a structure. A part for the structure may be supported on a plurality of mobile fixtures configured to control an orientation of the part. The part for the structure may be moved using the plurality of mobile fixtures to a number of stations for performing a number of operations for manufacturing the structure using the part. The plurality of mobile fixtures may be configured to move in a coordinated manner and substantially maintain a desired orientation for the part while moving the part to a station in the number of stations. The number of operations for manufacturing the structure may be performed at the number of stations while the plurality of mobile fixtures supports the part. ## Claims ### Claim 1 A method for manufacturing a structure, the method comprising: supporting a part for the structure on a plurality of mobile fixtures configured to control an orientation of the part; moving the part for the structure using the plurality of mobile fixtures to a number of stations for performing a number of operations for manufacturing the structure using the part in which the plurality of mobile fixtures is configured to move in a coordinated manner and substantially maintain a desired orientation for the part while moving the part to a station in the number of stations; and performing the number of operations for manufacturing the structure at the number of stations while the plurality of mobile fixtures supports the part. ### Claim 2 (depends on 1) The method of claim 1, wherein the step of moving the part for the structure using the plurality of mobile fixtures comprises: moving the part for the structure using the plurality of mobile fixtures to the station in the number of stations, wherein the station is part of an assembly line and wherein a group of tools is configured to perform at least one of the number of operations for manufacturing the structure at the station. ### Claim 3 (depends on 2) The method of claim 2, wherein the step of performing the number of operations for manufacturing the structure at the number of stations comprises: performing the at least one of the number of operations for manufacturing the structure at the station in the assembly line using the group of tools while the plurality of mobile fixtures supports the part. ### Claim 4 (depends on 1) The method of claim 1 further comprising: moving a group of tools to the station in the number of stations to perform at least one of the number of operations for manufacturing the structure while the plurality of mobile fixtures supports the part. ### Claim 5 (depends on 1) The method of claim 1 further comprising: changing the orientation of the part at the station in the number of stations using at least one of the plurality of mobile fixtures. ### Claim 6 (depends on 5) The method of claim 5, wherein the step of changing the orientation of the part at the station in the number of stations using the at least one of the plurality of mobile fixtures comprises: rotating the part about at least one of an x-axis, a y-axis, and a z-axis using the at least one of the plurality of mobile fixtures to change the orientation of the part. ### Claim 7 (depends on 1) The method of claim 1 further comprising: moving a portion of the plurality of mobile fixtures to move a portion of the part in a direction along at least one of an x-axis, a y-axis, and a z-axis. ### Claim 8 (depends on 1) The method of claim 1 further comprising: receiving information at controllers in the plurality of mobile fixtures from a carrier controller in communication with the controllers in which the carrier controller is configured to control movement of the plurality of mobile fixtures in the coordinated manner. ### Claim 9 (depends on 1) The method of claim 1, wherein the step of moving the part for the structure using the plurality of mobile fixtures to the number of stations for performing the number of operations for manufacturing the structure using the part comprises: moving the part for the structure using the plurality of mobile fixtures to a first station in the number of stations while the plurality of mobile fixtures substantially maintains a first desired orientation for the part, wherein a group of tools is configured to perform at least one of the number of operations for manufacturing the structure at the first station. ### Claim 10 (depends on 9) The method of claim 9, wherein the part is a first part and the step of performing the number of operations for manufacturing the structure at the number of stations while the plurality of mobile fixtures supports the part comprises: attaching a second part to the first part at the first station to form a partially assembled structure using the group of tools. ### Claim 11 (depends on 10) The method of claim 10, wherein the step of moving the part for the structure using the plurality of mobile fixtures to the number of stations for performing the number of operations for manufacturing the structure using the part further comprises: changing the first desired orientation of the first part with the partially assembled structure to a second desired orientation using the plurality of mobile fixtures; and moving the first part with the partially assembled structure using the plurality of mobile fixtures to a second station in the number of stations while the plurality of mobile fixtures substantially maintains the second desired orientation for the first part with the partially assembled structure. ### Claim 12 (depends on 1) The method of claim 1, wherein the step of performing the number of operations for manufacturing the structure at the number of stations while the plurality of mobile fixtures supports the part comprises: performing at least one of the number of operations for manufacturing the structure using a number of operators at the station in the number of stations while the plurality of mobile fixtures supports the part, wherein the number of operators includes at least one of a human operator and a robotic operator. ### Claim 13 (depends on 1) The method of claim 1, wherein the part is a wing box, the structure is a wing, and at least one of the number of operations includes attaching a skin panel to the wing box. ### Claim 14 (depends on 1) The method of claim 1, wherein the part is selected from one of a frame for the structure, a housing for the structure, a number of components previously assembled for the structure, a wing box, and the structure. ### Claim 15 An apparatus comprising: a number of stations for performing a number of operations for manufacturing a structure; and a plurality of mobile fixtures configured to support a part for the structure, control an orientation of the part, and move the part to a station in the number of stations while substantially maintaining a desired orientation for the part in which the plurality of mobile fixtures is configured to move in a coordinated manner. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the number of stations is part of an assembly line for manufacturing the structure. ### Claim 17 (depends on 15) The apparatus of claim 15 further comprising: a group of tools configured to perform at least one of the number of operations for manufacturing the structure at the station in the number of stations while the plurality of mobile fixtures supports the part. ### Claim 18 (depends on 15) The apparatus of claim 15 further comprising: a surface, wherein the plurality of mobile fixtures is configured to move on the surface to move the part to the station in the number of stations. ### Claim 19 (depends on 15) The apparatus of claim 15 further comprising: a number of operators configured to perform at least one of the number of operations for manufacturing the structure using the part, wherein the number of operators includes at least one of a human operator and a robotic operator. ### Claim 20 (depends on 17) The apparatus of claim 17, wherein the group of tools is moved to the station in the number of stations to perform the at least one of the number of operations for manufacturing the structure while the plurality of mobile fixtures supports the part. ### Claim 21 (depends on 15) The apparatus of claim 15, wherein the plurality of mobile fixtures is configured to move in the coordinated manner to change the orientation of the part at the station in the number of stations. ### Claim 22 (depends on 21) The apparatus of claim 21, wherein the plurality of mobile fixtures is configured to rotate the part about at least one of an x-axis, a y-axis, and a z-axis to change the orientation of the part. ### Claim 23 (depends on 15) The apparatus of claim 15, wherein a portion of the plurality of mobile fixtures is configured to move a portion of the part in a direction along at least one of an x-axis, a y-axis, and a z-axis. ### Claim 24 (depends on 15) The apparatus of claim 15 further comprising: a carrier controller configured to communicate with controllers in the plurality of mobile fixtures and control movement of the plurality of mobile fixtures. ### Claim 25 (depends on 24) The apparatus of claim 24, wherein the carrier controller is configured to control support systems in the plurality of mobile fixtures to substantially maintain the desired orientation for the part. ### Claim 26 (depends on 15) The apparatus of claim 15, wherein a mobile fixture in the plurality of mobile fixtures comprises: a motorized base configured to move on a surface; a support system associated with the motorized base in which the support system is configured to be positioned to support a portion of the part; and a controller associated with the motorized base in which the controller is configured to control movement of the motorized base. ### Claim 27 (depends on 15) The apparatus of claim 15, wherein the part is selected from one of a frame for the structure, a housing for the structure, a number of components previously assembled for the structure, a wing box, and the structure and wherein the structure is selected from one of an aerospace structure, a wing, a fuselage, a horizontal stabilizer, a vertical stabilizer, a flight control surface, and an engine. ### Claim 28 A mobile fixture comprising: a motorized base configured to move on a surface; a support system associated with the motorized base in which the support system is configured to be positioned to support a portion of a structure; and a controller associated with the motorized base in which the controller is configured to control movement of the motorized base. ### Claim 29 (depends on 28) The mobile fixture of claim 28, wherein the support system comprises: a post extending from the motorized base; a connector system configured to be connected to the structure; and a member moveably connected to the post and connected to the connector system, wherein movement of the member moves the connector system relative to the motorized base and changes a height of the connector system relative to the motorized base. ### Claim 30 (depends on 29) The mobile fixture of claim 29, wherein the mobile fixture further comprises: a movement system configured to move the member relative to the connector system. ### Claim 31 (depends on 29) The mobile fixture of claim 29, wherein the connector system in the support system comprises: a connector configured to be connected to the portion of the structure; and a positioning system configured to position the connector about a number of axes. ### Claim 32 (depends on 28) The mobile fixture of claim 28, wherein the motorized base comprises: a housing; and a movement system. ### Claim 33 (depends on 32) The mobile fixture of claim 32, wherein the movement system comprises: magnetic tracks; and a motor configured to move the magnetic tracks. ### Claim 34 A method for manufacturing a structure for an aerospace vehicle, the method comprising: supporting a part for the structure on a plurality of mobile fixtures configured to control an orientation of the part with respect to an x-axis, a y-axis, and a z-axis; receiving information at controllers in the plurality of mobile fixtures from a carrier controller in communication with the controllers in which the carrier controller is configured to control movement of the plurality of mobile fixtures in a coordinated manner; moving the part for the structure using the plurality of mobile fixtures to a number of stations for performing a number of operations for manufacturing the structure using the part in which the plurality of mobile fixtures is configured to move and substantially maintain a desired orientation for the part while moving the part to a station in the number of stations and in which the number of stations is part of an assembly line for manufacturing the structure; and performing at least one of the number of operations for manufacturing the structure at the station in the number of stations using a group of tools while the plurality of mobile fixtures supports the part. ### Claim 35 A carrier system for an aircraft structure, the carrier system comprising: a plurality of mobile fixtures configured to hold and move the aircraft structure, in which a mobile fixture in the plurality of mobile fixtures comprises: (a) a motorized base configured to move on a surface; (b) a support system associated with the motorized base and configured to be positioned to support a portion of a structure in which the support system comprises a post extending from the motorized base; a connector system configured to be connected to the structure; a member movably connected to the post and connected to the connector system and configured to move the connector system relative to the motorized base and change a height of the connector system relative to the motorized base; (c) a controller associated with the motorized base and configured to control movement of the motorized base and the plurality of mobile fixtures on the surface; and (d) a movement system configured to move the member relative to the connector system in which the connector system comprises a connector configured to be connected to the portion of the structure and a positioning system configured to position the connector about a number of axes, in which the motorized base has a housing and the movement system in which the movement system comprises magnetic tracks and a motor configured to move the magnetic tracks; and a carrier controller configured to communicate with controllers in the plurality of mobile fixtures and control movement of the plurality of mobile fixtures in which the carrier controller is configured to control the plurality of mobile fixtures to maintain the structure in a desired orientation.