Two-stage riveting

This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/022,641, filed Jul. 9, 2014, and entitled “Automated Flexible Manufacturing System for Building a Fuselage.”

This application is related to the following patent applications: entitled “Autonomous Flexible Manufacturing System for Building a Fuselage,” Ser. No. 14/559,518, entitled “Mobile Platforms for Performing Operations along an Exterior of a Fuselage Assembly,” Ser. No. 14/558,933, entitled “Mobile Platforms for Performing Operations inside a Fuselage Assembly,” Ser. No. 14/559,073, entitled “Wheel Mounting System,” Ser. No. 14/559,115, entitled “Dual-Interface Coupler,” Ser. No. 14/559,153, entitled “Metrology-Based System for Operating a Flexible Manufacturing System,” Ser. No. 14/559,855, entitled “Clamping Feet for an End Effector,” Ser. No. 14/559,191, entitled “Towers for Accessing an Interior of a Fuselage Assembly,” Ser. No. 14/559,234, entitled “Assembly Fixture for Supporting a Fuselage Assembly,” Ser. No. 14/559,277, entitled “Adjustable Retaining Structure for a Cradle Fixture,” Ser. No. 14/559,303, and entitled “Utility Fixture for Creating a Distributed Utility Network,” Ser. No. 14/559,371, filed of even date herewith, each of which claims the benefit of U.S. Provisional Patent Application Ser. No. 62/022,641, filed Jul. 9, 2014 and entitled “Automated Flexible Manufacturing System for Building a Fuselage,” each assigned to the same assignee, and each incorporated herein by reference in its entirety.

1. Field

The present disclosure relates generally to aircraft and, in particular, to building the fuselage of an aircraft. Still more particularly, the present disclosure relates to a method, apparatus, and system for performing a two-stage riveting process to install rivets for building a fuselage assembly.

2. Background

Building a fuselage may include assembling skin panels and a support structure for the fuselage. The skin panels and support structure may be joined together to form a fuselage assembly. For example, without limitation, the skin panels may have support members, such as frames and stringers, attached to the surface of the skin panels that will face the interior of the fuselage assembly. These support members may be used to form the support structure for the fuselage assembly. The skin panels may be positioned relative to each other and the support members may be tied together to form this support structure.

Fastening operations may then be performed to join the skin panels and the support members together to form the fuselage assembly. These fastening operations may include, for example, riveting operations, interference-fit bolting operations, other types of attachment operations, or some combination thereof. The fuselage assembly may need to be assembled in a manner that meets outer mold line (OML) requirements and inner mold line (IML) requirements for the fuselage assembly.

With some currently available methods for building a fuselage assembly, the fastening operations performed to assemble the skin panels and the support members together may be performed manually. For example, without limitation, a first human operator positioned at an exterior of the fuselage assembly and a second human operator positioned at an interior of the fuselage assembly may use handheld tools to perform these fastening operations. In some cases, this type of manual fastening process may be more labor-intensive, time-consuming, ergonomically challenging, or expensive than desired. Further, in some cases, rivets that are manually installed to join parts together may have less than the desired uniform interference fit across the interface between the parts.

Some current assembly methods used to build fuselages that involve manual fastening processes may not allow fuselages to be built in the desired assembly facilities or factories at desired assembly rates or desired assembly costs. In some cases, the current assembly methods and systems used to build fuselages may require that these fuselages be built in facilities or factories specifically designated and permanently configured for building fuselages. These current assembly methods and systems may be unable to accommodate different types and shapes of fuselages. For example, without limitation, large and heavy equipment needed for building fuselages may be permanently affixed to a factory and configured for use solely with fuselages of a specific type. Therefore, it would be desirable to have a method and apparatus that take into account at least some of the issues discussed above, as well as other possible issues.

In one illustrative embodiment, a method for fastening two parts together may be provided. An initial interference fit may be created between a fastener and at least a portion of a hole extending through the two parts while maintaining a force equilibrium. A final interference fit may be created between the fastener and the hole, while maintaining a new force equilibrium.

In another illustrative embodiment, a method for installing a rivet may be provided. A reactive structural force may be generated in a first direction during installation of the rivet. A new reactive structural force may be generated in a second direction opposite to the first direction during the installation of the rivet.

In another illustrative embodiment, a method for performing a two-stage riveting process may be provided. An initial interference fit may be created between a fastener and at least a portion of a hole extending through two parts using a hammer associated with a first robotic device and a bucking bar associated with a second robotic device, while maintaining a force equilibrium. A final interference fit may be created between the fastener and the hole using the bucking bar and the hammer, while maintaining a new force equilibrium, such that the final interference fit is substantially uniform across an interface between the two parts.

In yet another illustrative embodiment, an apparatus may comprise a first robotic device having a first tool, a second robotic device having a second tool, and a number of controllers that control the first robotic device and the second robotic device to perform a two-stage riveting process.

In still another illustrative embodiment, an apparatus may comprise a plurality of parts, a hole extending through the plurality of parts, and a partially formed rivet having an interference fit with at least a portion of the hole.

The features, functions, and advantages can be achieved independently in various embodiments of the present disclosure or may be combined in yet other embodiments in which further details can be seen with reference to the following description and drawings.

The illustrative embodiments recognize and take into account different considerations. For example, the illustrative embodiments recognize and take into account that it may be desirable to automate the process of building a fuselage assembly for an aircraft. Automating the process of building a fuselage assembly for an aircraft may improve build efficiency, improve build quality, and reduce costs associated with building the fuselage assembly. The illustrative embodiments also recognize and take into account that automating the process of building a fuselage assembly may improve the accuracy and precision with which assembly operations are performed, thereby ensuring improved compliance with outer mold line (OML) requirements and inner mold line (IML) requirements for the fuselage assembly.

Further, the illustrative embodiments recognize and take into account that automating the process used to build a fuselage assembly for an aircraft may significantly reduce the amount of time needed for the build cycle. For example, without limitation, automating fastening operations may reduce and, in some cases, eliminate, the need for human operators to perform these fastening operations as well as other types of assembly operations.

Further, this type of automation of the process for building a fuselage assembly for an aircraft may be less labor-intensive, time-consuming, ergonomically challenging, and expensive than performing this process primarily manually. Reduced manual labor may have a desired benefit for the human laborer. Additionally, automating the fuselage assembly process may allow fuselage assemblies to be built in desired assembly facilities and factories at desired assembly rates and desired assembly costs.

The illustrative embodiments also recognize and take into account that it may be desirable to use equipment that can be autonomously driven and operated to automate the process of building a fuselage assembly. In particular, it may be desirable to have an autonomous flexible manufacturing system comprised of mobile systems that may be autonomously driven across a factory floor, autonomously positioned relative to the factory floor as needed for building the fuselage assembly, autonomously operated to build the fuselage assembly, and then autonomously driven away when building of the fuselage assembly has been completed.

As used herein, performing any operation, action, or step autonomously may mean performing that operation substantially without any human input. For example, without limitation, a platform that may be autonomously driven is a platform that may be driven substantially independently of any human input. In this manner, an autonomously drivable platform may be a platform that is capable of driving or being driven substantially independently of human input.

Thus, the illustrative embodiments provide a method, apparatus, and system for building a fuselage assembly for an aircraft. In particular, the illustrative embodiments provide an autonomous flexible manufacturing system that automates most, if not all, of the process of building a fuselage assembly. For example, without limitation, the autonomous flexible manufacturing system may automate the process of installing fasteners to join fuselage skin panels and a fuselage support structure together to build the fuselage assembly.

However, the illustrative embodiments recognize and take into account that automating the process for building a fuselage assembly using an autonomous flexible manufacturing system may present unique technical challenges that require unique technical solutions. For example, the illustrative embodiments recognize and take into account that it may be desirable to provide utilities to all of the various systems within the autonomous flexible manufacturing system. In particular, it may be desirable to provide these utilities in a manner that will not disrupt or delay the process of building the fuselage assembly or restrict the movement of various mobile systems within the autonomous flexible manufacturing system over a factory floor.

For example, without limitation, it may be desirable to provide a set of utilities, such as power, communications, and air, to the autonomous flexible manufacturing system using an infrastructure that includes only a single direct connection to each of a set of utility sources providing the set of utilities. These direct connections may be above-ground, in-ground, or embedded. These direct connections may be established using, for example, without limitation, a utility fixture. Thus, the infrastructure may include a utility fixture that provides a direct connection to each of the set of utility sources and an assembly area with a floor space sufficiently large to allow the various systems of an autonomous flexible manufacturing system to be coupled to the utility fixture and each other in series. In this manner, the set of utilities may flow from the set of utility sources to the utility fixture and then downstream to the various systems of the autonomous flexible manufacturing system within the assembly area.

Thus, the illustrative embodiments provide a distributed utility network that may be used to provide utilities to the various systems of the autonomous flexible manufacturing system. The distributed utility network may provide these utilities in a manner that does not restrict or impede movement of the various mobile systems of the autonomous flexible manufacturing system. The different mobile systems of the autonomous flexible manufacturing system may be autonomously coupled to each other to create this distributed utility network.

Referring now to the figures and, in particular, with reference to, illustrations of a manufacturing environment are depicted in the form of block diagrams in accordance with an illustrative embodiment. In particular, in, a fuselage assembly, a flexible manufacturing system, the various systems within the flexible manufacturing system that may be used to build the fuselage assembly, and a distributed utility network are described.

Turning now to, an illustration of a manufacturing environment is depicted in the form of a block diagram in accordance with an illustrative embodiment. In this illustrative example, manufacturing environmentmay be an example of one environment in which at least a portion of fuselagemay be manufactured for aircraft.

Manufacturing environmentmay take a number of different forms. For example, without limitation, manufacturing environmentmay take the form of a factory, a manufacturing facility, an outdoor factory area, an enclosed manufacturing area, an offshore platform, or some other type of manufacturing environmentsuitable for building at least a portion of fuselage.

Fuselagemay be built using manufacturing process. Flexible manufacturing systemmay be used to implement at least a portion of manufacturing process. In one illustrative example, manufacturing processmay be substantially automated using flexible manufacturing system. In other illustrative examples, only one or more stages of manufacturing processmay be substantially automated.

Flexible manufacturing systemmay be configured to perform at least a portion of manufacturing processautonomously. In this manner, flexible manufacturing systemmay be referred to as autonomous flexible manufacturing system. In other illustrative examples, flexible manufacturing systemmay be referred to as an automated flexible manufacturing system.

As depicted, manufacturing processmay include assembly processfor building fuselage assembly. Flexible manufacturing systemmay be configured to perform at least a portion of assembly processautonomously.

Fuselage assemblymay be fuselageat any stage during manufacturing processprior to the completion of manufacturing process. In some cases, fuselage assemblymay be used to refer to a partially assembled fuselage. Depending on the implementation, one or more other components may need to be attached to fuselage assemblyto fully complete the assembly of fuselage. In other cases, fuselage assemblymay be used to refer to the fully assembled fuselage. Flexible manufacturing systemmay build fuselage assemblyup to the point needed to move fuselage assemblyto a next stage in the manufacturing process for building aircraft. In some cases, at least a portion of flexible manufacturing systemmay be used at one or more later stages in the manufacturing process for building aircraft.

In one illustrative example, fuselage assemblymay be an assembly for forming a particular section of fuselage. As one example, fuselage assemblymay take the form of aft fuselage assemblyfor forming an aft section of fuselage. In another example, fuselage assemblymay take the form of forward fuselage assemblyfor forming a forward section of fuselage. In yet another example, fuselage assemblymay take the form of middle fuselage assemblyfor forming a center section of fuselageor some other middle section of fuselagebetween the aft and forward sections of fuselage.

As depicted, fuselage assemblymay include plurality of panelsand support structure. Support structuremay be comprised of plurality of members. Plurality of membersmay be used to both support plurality of panelsand connect plurality of panelsto each other. Support structuremay help provide strength, stiffness, and load support for fuselage assembly.

Plurality of membersmay be associated with plurality of panels. As used herein, when one component or structure is “associated” with another component or structure, the association is a physical association in the depicted examples.

For example, a first component, such as one of plurality of members, may be considered to be associated with a second component, such as one of plurality of panels, by being at least one of secured to the second component, bonded to the second component, mounted to the second component, attached to the component, coupled to the component, welded to the second component, fastened to the second component, adhered to the second component, glued to the second component, or connected to the second component in some other suitable manner. The first component also may be connected to the second component using one or more other components. For example, the first component may be connected to the second component using a third component. Further, the first component may be considered to be associated with the second component by being formed as part of the second component, an extension of the second component, or both. In another example, the first component may be considered part of the second component by being co-cured with the second component.

As used herein, the phrase “at least one of,” when used with a list of items, means different combinations of one or more of the listed items may be used and only one of the items in the list may be needed. The item may be a particular object, thing, action, process, or category. In other words, “at least one of” means any combination of items or number of items may be used from the list, but not all of the items in the list may be required.

For example, “at least one of item A, item B, and item C” or “at least one of item A, item B, or item C” may mean item A; item A and item B; item B; item A, item B, and item C; or item B and item C. In some cases, “at least one of item A, item B, and item C” may mean, for example, without limitation, two of item A, one of item B, and ten of item C; four of item B and seven of item C; or some other suitable combination.

In these illustrative examples, a member of plurality of membersmay be associated with at least one of plurality of panelsin a number of different ways. For example, without limitation, a member of plurality of membersmay be attached directly to a single panel, attached to two or more panels, attached to another member that is directly attached to at least one panel, attached to at least one member that is directly or indirectly attached to at least one panel, or associated with at least one of plurality of panelsin some other way.

In one illustrative example, substantially all or all of plurality of membersmay be associated with plurality of panelsprior to the beginning of assembly processfor building fuselage assembly. For example, a corresponding portion of plurality of membersmay be associated with each panel of plurality of panelsprior to plurality of panelsbeing joined to each other through assembly process.

In another illustrative example, only a first portion of plurality of membersmay be associated with plurality of panelsprior to the beginning of assembly process. Assembly processmay include attaching a remaining portion of plurality of membersto plurality of panelsfor at least one of providing support to plurality of panelsor connecting plurality of panelstogether. The first portion of plurality of membersattached to plurality of panelsprior to assembly processand the remaining portion of plurality of membersattached to plurality of panelsduring assembly processmay together form support structure.

In yet another illustrative example, all of plurality of membersmay be associated with plurality of panelsduring assembly process. For example, each of plurality of panelsmay be “naked” without any members attached to or otherwise associated with the panel prior to assembly process. During assembly process, plurality of membersmay then be associated with plurality of panels.

In this manner, support structurefor fuselage assemblymay be built up in a number of different ways. Fuselage assemblycomprising plurality of panelsand support structureis described in greater detail inbelow.

Building fuselage assemblymay include joining plurality of panelstogether. Joining plurality of panelsmay be performed in a number of different ways. Depending on the implementation, joining plurality of panelstogether may include joining one or more of plurality of membersto one or more of plurality of panelsor to other members of plurality of members.

In particular, joining plurality of panelsmay include joining at least one panel to at least one other panel, joining at least one member to at least one other member, or joining at least one member to at least one panel, or some combination thereof. As one illustrative example, joining a first panel and a second panel together may include at least one of the following: fastening the first panel directly to the second panel, joining a first member associated with the first panel to a second member associated with the second panel, joining a member associated with the first panel directly to the second panel, joining one member associated with both the first panel and the second panel to another member, joining a selected member to both the first panel and the second panel, or some other type of joining operation.

Assembly processmay include operationsthat may be performed to join plurality of panelstogether to build fuselage assembly. In this illustrative example, flexible manufacturing systemmay be used to perform at least a portion of operationsautonomously.

Operationsmay include, for example, but are not limited to, temporary connection operations, drilling operations, fastener insertion operations, fastener installation operations, inspection operations, other types of assembly operations, or some combination thereof. Temporary connection operationsmay be performed to temporarily connect plurality of panelstogether. For example, without limitation, temporary connection operationsmay include temporarily tacking plurality of panelstogether using tack fasteners.

Drilling operationsmay include drilling holes through one or more of plurality of panelsand, in some cases, through one or more of plurality of members. Fastener insertion operationsmay include inserting fasteners into the holes drilled by drilling operations.

Fastener installation operationsmay include fully installing each of the fasteners that have been inserted into the holes. Fastener installation operationsmay include, for example, without limitation, riveting operations, interference-fit bolting operations, other types of fastener installation operations, or some combination thereof. Inspection operationsmay include inspecting the fully installed fasteners. Depending on the implementation, flexible manufacturing systemmay be used to perform any number of these different types of operationssubstantially autonomously.

As depicted, flexible manufacturing systemmay include plurality of mobile systems, control system, and utility system. Each of plurality of mobile systemsmay be a drivable mobile system. In some cases, each of plurality of mobile systemsmay be an autonomously drivable mobile system. For example, without limitation, each of plurality of mobile systemsmay include one or more components that may be autonomously driven within manufacturing environmentfrom one location to another location. Plurality of mobile systemsare described in greater detail inbelow.

In this illustrative example, control systemmay be used to control the operation of flexible manufacturing system. For example, without limitation, control systemmay be used to control plurality of mobile systems. In particular, control systemmay be used to direct the movement of each of plurality of mobile systemswithin manufacturing environment. Control systemmay be at least partially associated with plurality of mobile systems.