CABLE DRIVE FOR POSITIONING AN END EFFECTOR FOR WORKING ON A PART

Abstract

An apparatus for performing operations on a part, and in particular on the fuselage of an aircraft. The apparatus utilizes a spool with a cable wound therearound to move end effectors. The ends of the cable are fixed to an arched beam. Thus, rotation of the spool either moves the beam or moves the spool. The apparatus moves along rails that may be mounted to a fixed structure like floors or walls.

Claims

1. An apparatus for performing operations on a part, the apparatus comprising: a rail extending parallel to a first axis of the part; a platform and an arch both moveable in a direction parallel with the first axis, wherein one of the platform or the arch is mounted on the rail; a spool and a cable, the cable having a first end secured proximate a first end of the arch and a second end secured proximate a second end of the arch; and, an end effector associated with the arch; wherein rotation of the spool moves the end effector circumferentially around the first axis.

2. The apparatus of claim 1, wherein the platform is mounted to the rail.

3. The apparatus of claim 2, wherein the spool is mounted on the platform.

4. The apparatus of claim 3, wherein the arch is configured to be rotated circumferentially around the first axis.

5. The apparatus of claim 4, wherein the end effector is fixed to a first side, relative to the spool, of the arch.

6. The apparatus of claim 5, wherein the end effector is mounted so as to be movable in a radial direction.

7. The apparatus of claim 6, further comprising: a second end effector attached to a second side of the arch.

8. The apparatus of claim 7, wherein the end effector is configured to perform a first operation, and wherein the second end effector is configured to perform a second operation different from the first operation.

9. The apparatus of claim 2, further comprising: a brake configured to apply pressure to the arch to stop circumferential movement or to hold a circumferential position.

10. An apparatus for performing operations on a part, the apparatus comprising: a rail extending parallel to a first axis of the part; a platform and an arch both moveable in a direction parallel with the first axis, wherein the platform is mounted on the rail; a spool and a cable, the cable having a first end secured proximate a first end of the arch and a second end secured proximate a second end of the arch; and, an end effector associated with the first end of the arch; wherein rotation of the spool moves the end effector circumferentially around the first axis.

11. The apparatus of claim 10, wherein the end effector is mounted so as to be movable in a radial direction.

12. The apparatus of claim 10, further comprising: a second end effector associated with the second end of the arch.

13. The apparatus of claim 12, wherein the second end effector is mounted so as to be movable in a radial direction.

14. The apparatus of claim 13, wherein the end effector is configured to perform a first operation, and wherein the second end effector is configured to perform a second operation different from the first operation.

15. A process for performing an operation on a part, the process comprising: moving an arch along an axis of the part; and, moving an end effector circumferentially around the axis by rotating a spool with a cable partially wound around the spool, the end effector configured to perform the operation.

16. The process of claim 15, wherein a first end of the cable is fixed proximate the first end of the arch and a second end of the cable being fixed proximate the second end of the arch.

17. The process of claim 16, wherein the arch is moved circumferentially around the axis when the spool is rotated.

18. The process of claim 16, wherein the arch does not move circumferentially around the axis when the spool is rotated.

19. The process of claim 15 further comprising: moving the end effector in a radial direction.

20. The process of claim 15 further comprising: performing the operation with the end effector.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more exemplary embodiments of the present invention will be described below in conjunction with the following drawing figures, in which:

[0018] FIG. 1 is a schematic, partially cut away view of a first embodiment of the present invention;

[0019] FIG. 2 is another schematic view of the first embodiment shown in FIG. 1; and,

DETAILED DESCRIPTION

[0020] For performing operations on a part, an apparatus according to the present disclosure for performing operations on a part utilizes a cable wound around a spool to move end effectors. The ends of the cable are fixed to an arch beam. The arch beam may be fixed and allowing the spool to move itself circumferentially or the spool may be fixed, and the arch may be moved circumferentially. Compared with other movement systems, the cable movement system is smaller, weighs less, and easier to customize and allow for more precise movements. Additionally, it provides for an apparatus that does not require tracks mounted on the part.

[0021] With these general principles in mind, one or more embodiments of the present invention will be described with the understanding that the following description is not intended to be limiting.

[0022] In FIGS. 1 and 2, an apparatus 10 for performing operations on a part, such as an aircraft fuselage, includes at least one rail 12 extending parallel to a first axis A1 of the part. As depicted in FIGS. 1 and 2, two rails 12 are provided. These rails 12 may be mounted to a wall or floor or other fixed structuresin contrast to being fixed to the part as is known in the art.

[0023] A platform 14 and arched beam, or simply arch, 16 are provided and configured to move on the rails 12 in a direction generally (i.e., within +/?30 degrees) along the first axis A1. One of the platform 14 or the arched beam 16 are mounted on the rails 12. A spool 18 is provided on the platform 14, and a cable 20 is wound around the spool 18.

[0024] A first end 20a of the cable 20 is fixed to a first side 16a of the arch 16 and a second end 20b of the cable 20 is fixed to a second side 16b of the arch 16. In FIG. 1, only ends 22a, 22b of the arch 16 are shown. The spool 18 is located between the two sides 16a, 16b of the arch 16.

[0025] Rotation of the spool 18 (by a motor for example) will cause the arch 16 to move, or rotate, circumferentially (indicated by arrow 26 in FIG. 2) around the first axis A1. Preferably, the ends 20a, 20b of the cable 20 are fixed at or near the ends 22a, 22b of the arch 16 so as to provide the maximum amount of movement. This circumferential movement will allow one or more end effectors 24 associated with the arch 16 to obtain a desired circumferential positioning.

[0026] In the embodiments of FIGS. 1 and 2, the platform 14 is mounted to the rails 12 and the arch 16 is mounted to the platform 14. The spool 18 is also mounted on the platform 14 and therefore does not move circumferentially around the first axis A1 as a result of rotation.

[0027] One or more end effectors 24 may be fixed to one of the ends 22a, 22b of the arch 16, and, preferably, both ends 22a, 22b of the arch 16 are associated with an end effector 24. A first end effector 24 may be configured to perform a first operation, like drilling, and the second end effector 24 may be configured to perform a second operation different from the first operation, like riveting. Alternatively, both end effectors 24 could both perform the same operation. In addition to drilling and riveting, the end effectors 24 could be sprayers, for painting or coating, or distance sensors for measuring.

[0028] The end effectors 24 may be moved in a radial direction (indicated by arrows 28 in FIG. 2). For example, the end effectors 24 could be attached to an arm that moves in an out of the radial direction by a motor. Further, additional rails 30 could be provided which are orientated generally perpendicular to the first A1, allowing the platform 14 to move in the radial direction.

[0029] A brake 32 may be utilized to apply pressure to the arch to stop circumferential movement or to hold a circumferential position.

[0030] Accordingly, movement of the end effectors 24 along the first axis A1 is accomplished with the platform 14 moving on the rails 12 and movement of the end effectors 24 in a circumferential direction 26 is accomplished with rotating the spool 18 and thus the arched beam 16. Further movement in the radial direction 28 may be accomplished by the end effectors 24 or by mounting the end effectors 24 on a movable arm or providing additional rails 30.

[0031] The present apparatus provides for precise, repeatable positioning for end effectors configured to perform operations on a part by using a cable drive system. This allows a lightweight, low cost, and easy to customize configuration. Additionally, the device does not need to be mounted to the part, increasing the production rate.

[0032] While at least one exemplary embodiment of the present invention(s) is disclosed herein, it should be understood that modifications, substitutions and alternatives may be apparent to one of ordinary skill in the art and can be made without departing from the scope of this disclosure. This disclosure is intended to cover any adaptations or variations of the exemplary embodiment(s). In addition, in this disclosure, the terms comprise or comprising do not exclude other elements or steps, the terms a or one do not exclude a plural number, and the term or means either or both. Furthermore, characteristics or steps which have been described may also be used in combination with other characteristics or steps and in any order unless the disclosure or context suggests otherwise.