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US 9,395,041 B2Granted
Small frame crawler system
AssigneeThe Boeing Company
InventorsLuis A. Perla, Clayton Lynn Munk, Stephen Glade Holley
Life of this patent
Estimating the term…
Abstract
A method and apparatus for performing an operation on a structure. In one illustrative embodiment, an apparatus comprises a tool system and a movement system. The tool system is configured to perform an operation at a location on a structure. The movement system is configured to move the tool system along an elongate frame on the structure to the location.
Claims30
An apparatus, comprising:
- a robotic crawler capable of moving along an elongate frame on a structure to perform an operation, the robotic crawler comprising:
- a guide configured to be situated on a side of the elongate frame having a wheel assembly comprising a wheel and a sphere;
- wherein the sphere is situated within the wheel, the sphere being configured to contact and move along the side of the elongate frame, and the wheel being configured to contact and move along a surface of the elongate frame;
- a movement system configured to move the robotic crawler to a location along the elongate frame;
- and
- a system configured to perform the operation on the structure at the location.
3 more elements
A method comprising:
- securing a robotic crawler to an elongate frame of a structure, wherein the robotic crawler comprises:
- a guide configured to be situated on a side of the elongate frame having a wheel assembly comprising a wheel and a sphere;
- wherein the sphere is situated within the wheel, the sphere being configured to contact and move along the side of the elongate frame, and the wheel being configured to contact and move along a surface of the elongate frame;
- a movement system configured to move the robotic crawler along the elongate frame, and
- a tool system configured to perform an operation on the structure;
- and
- moving the robotic crawler along the elongate frame to a location to perform the operation.
4 more elements
A mobile tool system comprising:
- a crawler comprising:
- a tool system configured to perform an operation at a location on a structure for a fuselage of an aircraft in which the tool system is comprised of at least one of a fastener installer, a drill, a paint applicator, a sealant applicator, or a camera;
- a movement system configured to move the tool system along an elongate frame on the structure to the location, the movement system comprising a locomotion system configured to move along the elongate frame and an attachment system configured to attach the locomotion system to the elongate frame in which the locomotion system has a number of rollers configured to contact the elongate frame and a number of motors configured to turn at least one of the number of rollers such that the movement system and the tool system move along the elongate frame and in which the attachment system is a clamping system;
- and
- a support frame in which the tool system and the movement system are physically associated with the support frame;
- and
- a controller configured to control operation of the crawler;
- wherein the clamping system is configured to removably secure the support frame to the elongate frame, the clamping system comprising:
- a guide configured to be situated on a side of the elongate frame having a wheel assembly comprising a wheel and a sphere;
- wherein the sphere is situated within the wheel, the sphere being configured to contact and move along the side of the elongate frame, and the wheel being configured to contact and move along a surface of the elongate frame.
7 more elements
A method for performing an operation on a structure in a fuselage of an aircraft, the method comprising:
- attaching a movement system in a crawler to an elongate frame in which the movement system moves on the elongate frame in which the movement system is physically associated with a tool system in the crawler, in which the tool system and the movement system are physically associated with a support frame for the crawler in which the movement system comprises a locomotion system configured to move along the elongate frame and an attachment system configured to attach the locomotion system to the elongate frame in which the locomotion system has a number of rollers configured to contact the elongate frame and a number of motors configured to turn at least one of the number of rollers such that the movement system and the tool system move along the elongate frame;
- in which the attachment system is a clamping system;
- and in which the tool system is comprised of at least one of a fastener installer, a drill, a paint applicator, a sealant applicator, or a camera;
- moving the tool system physically associated with the movement system along the elongate frame on the structure to a location;
- and
- performing the operation on the structure at the location with the tool system in which the operation is selected from one of a fastener installation operation, a drilling operation, a sealing operation, a painting operation, or an inspection operation;
- wherein the clamping system is configured to removably secure the support frame to the elongate frame, the clamping system comprising:
- a guide configured to be situated on a side of the elongate frame having a wheel assembly comprising a wheel and a sphere;
- wherein the sphere is situated within the wheel, the sphere being configured to contact and move along the side of the elongate frame, and the wheel being configured to contact and move along a surface of the elongate frame.
6 more elements
Dependencies are inferred from the claim text.