Operating method for a positioning system

Abstract

The invention relates to an operating method for a positioning system 1, in particular for the structural assembly of aircraft, wherein the positioning system 1 comprises a plurality of positioners 2a, 2b, 2c, each of which has at least one manipulator M. The manipulators M grasp a component B and manipulate it in a synchronized manner, while it is jointly grasped by the manipulators M.

Claims

1. A method for operating a positioning system, the positioning system comprising a plurality of positioners each including at least one manipulator, wherein a respective base coordinate system is associated with each of the manipulators, the method comprising: grasping a single component jointly with each of the manipulators of the plurality of positioners, synchronously manipulating the component with the manipulators while jointly grasping the component with the manipulators, determining a position and an orientation of the component in an initial situation, determining a position and an orientation of the component in a target situation, determining reference movement parameters, the reference movement parameters defined relative to a coordinate system associated with the component and describing a movement of the component from the position and the orientation in the initial situation to the position and the orientation in the target situation, transforming the reference movement parameters into the respective base coordinate system of each of the manipulators, and operating the manipulators based on the respective transformed reference movement parameters.

2. The method according to claim 1, further comprising bringing the component into the initial situation by one of a holding device and a transporting device.

3. The method according to claim 1, further comprising assembling the component onto an aircraft part when the component is held in the desired form and is in the target situation.

4. The method according to claim 1, wherein the reference movement parameters describe at least one of the following: a movement path of the component; a speed of the component; an acceleration of the component; a position of the component; and an orientation of the component.

5. The method according to claim 1, wherein the respective base coordinate systems of the manipulators are fixed relative to respective manipulators in order to move with the respective manipulators, and the coordinate system associated with the component is fixed relative to the component in order to move with the component.

6. The method according to claim 1, wherein the respective base coordinate systems of the manipulators make reference to the coordinate system associated with the component, while at least one of the transformation between the manipulators, the attachment points of the manipulators on the component, and the transformation between the attachment points of the manipulators on the component and the master kinematics of the component defined by the reference movement parameters is fixed.

7. The method according to claim 1, wherein the manipulators are synchronously linked via a master/slave interface.

8. The method according to claim 1, wherein the manipulators are selected from the group comprising linear, serial, Cartesian and hybrid manipulators.

9. The method according to claim 1, wherein the component is a shell segment for an aircraft outer skin and the target situation of the shell segment corresponds to an assembly situation in which the shell segment is mounted.

10. A control system for a positioning system, wherein the positioning system comprises a plurality of positioners each including at least one manipulator, wherein during operation, the control system carries out the method according to claim 1.

11. A positioning system, including a plurality of positioners each including at least one manipulator, wherein the manipulators are configured so that, during operation, the manipulators carry out the method according to claim 1.

12. The method of claim 1, wherein the initial situation and the target situation each include at least one of a position and an orientation.

13. The method of claim 1, wherein each of the manipulators include at least two driven axes.

14. The method according to claim 1, further comprising manipulating the component with the manipulators into a desired form and holding the component in the desired form.

15. The method according to claim 14, wherein the desired form corresponds to a form in which a deformation caused by at least one of an intrinsic weight of the component and internal tensions of the component is compensated for.

16. The method according to claim 14, further comprising at least partially transporting the component with the manipulators to a target situation in the desired form.

17. The method according to claim 14, further comprising coordinately manipulating the component into the desired form with the manipulators.

18. The system according to claim 14, wherein, in an initial situation, the component is deformed by an intrinsic weight of the component.

19. The method according to claim 1, wherein the manipulators are associated with one control unit, the method further comprising controlling the manipulators by the control unit.

20. The method according to claim 19, wherein the reference movement parameters of the component and the respective transformed reference movement parameters are contained in the control unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The above features and embodiments according to the present disclosure can be combined as desired. Other advantageous developments of the disclosure are included in the exemplary embodiments of the disclosure described in the claims and/or below making reference to the accompanying drawings, in which:

(2) FIG. 1 shows a perspective view of a positioning system and of a component to be manipulated,

(3) FIG. 2 shows a flow diagram of an operating method for a positioning system,

(4) FIG. 3 shows a software flow diagram for a positioning system,

(5) FIG. 4 shows the principle of a transformation between a master kinematics and a slave kinematics,

(6) FIG. 5 shows a control architecture for a positioning system,

(7) FIG. 6 shows another control architecture for a positioning system, and

(8) FIG. 7 shows a further control architecture for a positioning system.

(9) The embodiments described with reference to the drawings partially correspond to each other, so that similar or identical parts are provided with the same reference signs and for their description, reference is also made to other embodiments or figures in order to avoid repetition.

DETAILED DESCRIPTION

(10) FIG. 1 shows a perspective view of a positioning system 1 according to one embodiment, which comprises a plurality of positioners 2a, 2b, 2c. Each of the positioners 2a, 2b, 2c comprises three manipulators which, for the sake of clarity, are all identified with the reference sign M. The manipulators M can have the same or different designs and are configured to grasp a component B in the form of a shell segment and to manipulate it synchronously while it is commonly grasped by the manipulators M.

(11) The situation shown in FIG. 1 can be an initial situation of the component B in which the component B has been brought by a crane construction (not shown) before it was grasped by at least some of the manipulators M and removed.

(12) The component B is flexionally flaccid and, in the absence of suitable countermeasures, has a deformation caused by the intrinsic weight thereof. The manipulators M are configured so as to grasp the component B in the initial situation in a desired form or, possibly, initially to manipulate the component B into a desired form in which the deformation and internal tensions caused by the intrinsic weight thereof are at least partially compensated for. The manipulators M are also configured to transport the component B in the desired form, e.g., from the initial situation into a target situation in which the component can be mounted, for example, onto another aircraft part.

(13) The manipulators M are connected to one and the same control/computation unit and are thus controlled by one and the same control/computation unit, e.g, simultaneously.

(14) FIG. 2 shows a flow diagram of an operating method, for example, for a positioning system 1 as described by reference to FIG. 1. In particular, the flow diagram relates to an operating method for the manipulators M.

(15) In a first step S1, a component is brought, for example, by a crane construction, into an initial situation. The component B is flexionally flaccid and, in the absence of suitable countermeasures, has deformations caused by the intrinsic weight thereof.

(16) In a step S2, the component B is grasped by manipulators M and removed from the crane construction.

(17) In a step S3, the component B is manipulated by the manipulators M into a desired form or is held in a desired form in which the deformations caused by the intrinsic weight of the component are compensated for.

(18) In a step S4, the component B is synchronously manipulated by means of the manipulators M from an initial situation into a target situation, whilst being jointly grasped by a plurality of manipulators M and may be constantly held in the desired form.

(19) In a step S5, the component B is mounted, in the target situation, onto another aircraft part.

(20) FIG. 3 shows a software flow diagram for a positioning system 1 according to one embodiment. The flow diagram relates in particular to a manipulator M and particularly to the kinematics thereof. The sequence described can also be used accordingly with the remaining manipulators M. The flow diagram is self-explanatory, so that no further description is needed at this point.

(21) FIG. 4 shows the principle of a transformation between a master kinematics and a slave kinematics related to a manipulator M according to one embodiment. The principle described can also be used accordingly with the remaining manipulators M.

(22) A master kinematics and a master coordinate system are associated with the component B, whilst a slave kinematics and a base coordinate system (slave coordinate system) are associated with the manipulator M. The master coordinate system and the slave coordinate system relate to respective reference points, in particular so-called tool centre points (TCPtool centre point or tool reference point) and can therefore also be designated as TCP coordinate systems.

(23) Determined reference movement parameters, which relate to the master coordinate system and which describe the movement (e.g. travel curve, position, orientation, speed, acceleration, etc.) of the component B, are already transformed into the slave coordinate system of the manipulator M or are transformed into the slave coordinate system of the manipulator M. By this means, the manipulator M can manipulate the component B depending on the transformed reference movement parameters which now relate to the slave coordinate system of the manipulator M. It is evident that the reference movement parameters describe a master kinematics, whereas the manipulator M carries out a slave kinematics.

(24) The slave coordinate system of the manipulator M is fixed in relation to the manipulator M, so that it moves with the manipulator M. Alternatively or in addition, the master coordinate system of the component B can be fixed in relation to the component B, so that it moves with the component B.

(25) As FIG. 4 shows, the slave coordinate system of the manipulator M always follows the master coordinate system of the component B. In particular, the slave coordinate system of the manipulator M makes reference to and follows the master coordinate system associated with the component B, while the transformation between the manipulator M and the attachment point of the manipulator M on the component B is fixed and/or the transformation between the attachment point of the manipulator M on the component B and the master kinematics of the component B is fixed.

(26) FIG. 5 shows a control architecture for a positioning system 1, in particular the manipulators M thereof, according to one embodiment. The control system is configured for manipulators M which have the same structures. FIG. 5 shows the control architecture of a positioning system 1, which is used, for example, for the assembly of fuselage sections from individual shell segments and floor grid. The positioning system 1 can comprise, for example, twelve Cartesian manipulators M, each having three driven axes. The control system (motion controller) therefore contains, for example, twelve identical transformations. The control/computation unit for controlling the manipulators M is identified as RPC (robot and process control). RCMP (robot control modular panel) denotes a modular control cabinet, whilst HMI denotes a human-machine interface.

(27) FIG. 6 shows another control architecture for a positioning system 1, in particular the manipulators M thereof, according to another embodiment. A particular feature of this embodiment is that the individual manipulators M have different structures. The control architecture is configured for a positioning system 1 which consists, for example, of 6 manipulators M with 18 axes. 5 of the manipulators M have, for example, a Cartesian structure, whilst the remaining manipulator M has, for example, a parallel structure.

(28) FIG. 7 shows a control architecture for a positioning system 1 with a plurality of manipulators M and motion controllers according to one embodiment.

(29) A control system is responsible for the control of systems of a plurality of manipulators M with separate motion controllers.

(30) Each manipulator M has its own control system. Alternatively or additionally, a manipulator unit consisting of two or more manipulators M can have its own control system.

(31) A master CPU (central processing unit) ensures the planning of the movements and/or the spatial trajectories of the individual manipulators M (in particular the manipulator TCPs thereof).

(32) Furthermore, the master CPU is responsible, e. g, for the cycle times within which the calculated data packets are transmitted and/or for the synchronisation of the start of the movements of the manipulators M (which are communicated, for example, via I/O (input/output)).

(33) The following claims are not restricted to the exemplary embodiments described above. Rather a plurality of variants and derivations is possible which also make use of the concept and therefore fall within the scope of the claimed invention.