# US 8,539,658 B2 · Autonomous carrier for continuously moving wing assembly line > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,539,658 B2 - Document ID: US8539658B2 - Status: Granted - Kind: B2 - Application number: 12/550,666 - Filed: 2009-08-31 - Published: 2011-03-03 - Granted: 2013-09-24 - Earliest claimed: 2009-08-31 - Assignees: The Boeing Company - Applicants: Clayton L. Munk - Inventors: Clayton L. Munk - Web page: https://patentgrep.com/patent/US8539658B2 ## CPC - B25B 11/02: Assembly jigs - B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor - B23P 2700/01: Aircraft parts - Y10T 29/53961: with work-holder for assembly - Y10T 29/53978: including means to relatively position plural work parts - B25B: TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING - 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 - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A method and apparatus for moving a structure. The structure is supported on a carrier. The carrier comprises a platform having a first side and a second side, a movement system associated with the first side and configured to move the platform on a surface, a support system associated with the second side of the platform and configured to support the structure on the platform, and a leveling system configured to substantially maintain the structure in a desired orientation during movement of the platform on the surface. The carrier is moved with the structure over the surface. At least one of the movement system and the support system is adjusted to substantially maintain the structure in the desired orientation. ## Claims ### Claim 1 An apparatus comprising: a platform having a first side and a second side; a movement system associated with the first side and configured to move the platform on a surface, the movement system comprising a plurality of wheels and a motor to turn at least a portion of the plurality of wheels; a support system associated with the second side of the platform and configured to support a structure on the platform, the support system comprising a plurality of support members, each of the plurality of support members comprising a base and a number of moveable members; and a leveling system configured to substantially maintain the structure in a desired orientation during movement of the platform on the surface, the leveling system comprising a laser alignment system and an actuator system, the actuator system associated with the plurality of wheels. ### Claim 2 (depends on 1) The apparatus of claim 1 further comprising: a power system. ### Claim 3 (depends on 1) The apparatus of claim 1 further comprising: a utility system. ### Claim 4 (depends on 1) The apparatus of claim 1 further comprising: a lighting system associated with the platform. ### Claim 5 (depends on 1) The apparatus of claim 1 further comprising: a number of lifts on the second side of the platform. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the leveling system is configured to adjust at least one of the movement system and the support system to substantially maintain the structure in the desired orientation during the movement of the platform on the surface. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the actuator system is configured to adjust a distance between each wheel in the plurality of wheels and the first side of the platform; and wherein the leveling system further comprises a controller coupled to the laser alignment system and the actuator system, wherein the controller is configured to control the actuator system to substantially maintain the structure in the desired orientation. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the platform comprises: a plurality of segments configured to be decoupled from each other. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the plurality of support members are configured to hold the structure. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the base is associated with the second side of the platform and the number of moveable members is configured to hold the structure. ### Claim 11 (depends on 2) The apparatus of claim 2, wherein the power system comprises a wireless power system. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the wireless power system comprises a system selected from one of an inductive power system and a laser power system. ### Claim 13 (depends on 1) The apparatus of claim 1, wherein the structure is selected from one of a wing, a horizontal stabilizer, a vertical stabilizer, an engine, and a fuselage. ### Claim 14 A carrier for aircraft structures comprising: a platform having a first side and a second side; a movement system having a plurality of wheels associated with the first side and configured to move the platform on a surface; a plurality of support members associated with the second side and configured to hold the aircraft structure on the platform; a laser alignment system; an actuator system associated with the plurality of wheels and configured to adjust a distance between each wheel in the plurality of wheels and the first side of the platform; and a controller coupled to the laser alignment system and the actuator system, wherein the controller is configured to control the actuator system to substantially maintain the structure in a desired orientation. ### Claim 15 (depends on 14) The carrier of claim 14 further comprising: a wireless power system. ### Claim 16 (depends on 14) The carrier of claim 14, wherein the aircraft structure is selected from one of a wing, a horizontal stabilizer, a vertical stabilizer, an engine, and a fuselage. ### Claim 17 A method for moving a structure, the method comprising: supporting the structure on a carrier comprising a platform having a first side and a second side; a movement system associated with the first side and configured to move the platform on a surface; a support system associated with the second side of the platform and configured to support the structure on the platform; and a leveling system configured to substantially maintain the structure in a desired orientation during movement of the platform on the surface; moving the carrier with the structure over the surface; and adjusting at least one of the movement system and the support system to substantially maintain the structure in the desired orientation while moving the carrier. ### Claim 18 (depends on 17) The method of claim 17, wherein the movement system comprises a plurality of wheels and a motor configured to turn at least a portion of the plurality of wheels, and wherein the step of adjusting at least one of the movement system and the support system to substantially maintain the structure in the desired orientation comprises: changing a distance between a number of the plurality of wheels and the first side to substantially maintain the structure in the desired orientation. ### Claim 19 (depends on 17) The method of claim 17, wherein the support system comprises a plurality of support members, wherein the plurality of support members has a base and a number of moveable members, and wherein the step of adjusting at least one of the movement system and the support system to substantially maintain the structure in the desired orientation comprises: changing a configuration of the number of moveable members for a number of support members in the plurality of support members. ### Claim 20 (depends on 17) The method of claim 17, wherein the platform comprises a plurality of segments configured to be decoupled from each other.