U.S. patent application number 09/731979 was filed with the patent office on 2002-06-13 for automated method and apparatus for aircraft surface finishing.
Invention is credited to Fortin, Serge, Kennerknecht, Steven.
Application Number | 20020072297 09/731979 |
Document ID | / |
Family ID | 22616443 |
Filed Date | 2002-06-13 |
United States Patent
Application |
20020072297 |
Kind Code |
A1 |
Kennerknecht, Steven ; et
al. |
June 13, 2002 |
Automated method and apparatus for aircraft surface finishing
Abstract
An improved method and automated apparatus provides for the
automated surface finishing of aircraft panels, which includes a
central controller, a universal shuttle for transporting aircraft
panels, scanning means and a panel surface processor moveable about
a plurality of axes to present a plurality of surface finishing
tools to act upon the panel is disclosed herein.
Inventors: |
Kennerknecht, Steven;
(Laval, CA) ; Fortin, Serge; (Mirabel,
CA) |
Correspondence
Address: |
McFadden, Fincham
Suite 606
225 Metcalfe Street
Ottawa
ON
K2P 1P9
CA
|
Family ID: |
22616443 |
Appl. No.: |
09/731979 |
Filed: |
December 8, 2000 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60169619 |
Dec 8, 1999 |
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Current U.S.
Class: |
451/5 |
Current CPC
Class: |
B24B 19/26 20130101;
B24B 49/00 20130101; B24B 27/0038 20130101 |
Class at
Publication: |
451/5 |
International
Class: |
B24B 049/00 |
Claims
We claim:
1. An automated apparatus for surface finishing of aircraft panels
comprising retaining means for retaining a panel to be processed;
surface panel processing means for acting on a panel retained by
said retaining means, said surface processing means being movable
about a plurality of axes relative to said panel to present said
processing means to act on the surface contour of said panel; means
for effecting relative movement between said retaining means and
said surface processing means; and control means for controlling
said surface panel processing means in combination with said means
for effecting relative movement.
2. In a method of surface finishing of an aircraft panel comprising
providing an aircraft panel to be surface finished; mounting said
panel in a fixed position; providing finishing means for surface
finishing said panel; effecting relative movement between said
finishing means and said mounted panel, the improvement wherein
said method includes the steps of detecting surface anomalies in
said panel; generating a data-input control signal based on said
surface anomalies; and generating a data output control signal to
actuate said finishing means to act on said anomalies.
3. A method according to claim 2, wherein said improvement includes
the steps of scanning a defined area of said panel with scanning
means to generate said data input control signal relative to said
surface anomalies, and generating an output control signal to
actuate and control said finishing means whereby said finishing
means is actuated to correct said surface anomalies.
4. A method according to claim 2, wherein said improvement includes
the step of generating a first control signal relative to different
locations of anomalies on said panel, said output control signal
being adapted to control relative movement between said finishing
means and said mounted panel for positioning said finishing means
at different locations about said panel.
5. A device according to claim 1, wherein said apparatus includes
scanning means.
6. A device according to claim 5, wherein said scanning means
includes temperature measuring means.
7. A device according to claim 5, wherein said scanning means
includes acoustic measuring means.
8. A device according to claim 5, wherein said scanning means
includes optical measuring means.
9. A device according to claim 8, wherein said optical measuring
means includes a laser.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to an improved automated
method and apparatus for finishing aircraft panel surfaces and more
particularly to an improved automated method of aircraft surface
finishing for aircraft wings and fuselage.
BACKGROUND OF THE INVENTION
[0002] Conventional surface finishing of aircraft panels, such as
fuselage and wing panels is typically accomplished through manual
sanding, polishing and other related processes. Traditional
machining and forming processes include creep forming, hot forming,
break forming, stretch forming, shot peen forming and super elastic
forming which typically require surface improvement techniques in
order to remove burrs, parting lines, scratches, tool marks and the
like in order to reduce surface roughness.
SUMMARY OF INVENTION
[0003] In a first preferred embodiment according to the present
invention, there is provided an apparatus for surface finishing of
aircraft panels comprising a retaining means for retaining a panel
to be processed, a surface panel processing means for acting on a
panel retained by the retaining means, the surface processing means
being movable about a plurality of axes relative to the panel to
present the processing means to act on the surface contour of the
panel, means for effecting relative movement between the retaining
means and the surface processing means and control means for
controlling said surface panel processing means in combination with
said means for effecting relative movement.
[0004] In another embodiment according to the above, wherein the
device further includes scanning means.
[0005] In another embodiment having the above structures, the
scanning means includes panel scanning means to for scanning for
surface anomalies, wherein the scanning means is adapted to
generate an output control signal to actuate and control the
surface finishing means whereby the finishing means is actuated to
correct the surface anomalies.
[0006] In another embodiment according to any of the above
structures, there is provided means to generate a first control
signal relative to different locations of anomalies on the panel,
the output control signal being adapted to control relative
movement between the finishing means and the mounted panel for
positioning the finishing means at different locations about the
panel.
[0007] In a second embodiment according to the present invention,
there is provided an improvement in a method of surface finishing
of an aircraft panel comprising providing an aircraft panel to be
surface finished, mounting the panel in a fixed position, providing
finishing means for surface finishing the panel, effecting relative
movement between the finishing means and the mounted panel, in
which the improvement includes the steps of detecting surface
anomalies in the panel, generating a data-input control signal
based on the surface anomalies; and generating a data output
control signal to actuate the finishing means to act on the
anomalies.
[0008] In another embodiment, there is provided a method according
to the above wherein the improvement includes the steps of scanning
a defined area of the panel with scanning means to generate the
data input control signal relative to the surface anomalies, and
generating an output control signal to actuate and control the
finishing means whereby the finishing means is actuated to correct
the surface anomalies.
[0009] In another embodiment there is provided a method according
to any of the above methods wherein the improvement includes the
step of generating a first control signal relative to different
locations of anomalies on the panel, the output control signal
being adapted to control relative movement between the finishing
means and the mounted panel for positioning the finishing means at
different locations about the panel.
[0010] In any ofthe above embodiments, suitable scanning means and
control means are utilized as are known in the field.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a side perspective view of an automated surface
finishing device according to one embodiment of the present
invention.
[0012] FIG. 2 is a perspective view from one end of an alternative
arrangement of a preferred embodiment showing the device in use,
and
[0013] FIG. 3 is a flowchart illustrating the central controller
processes.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0014] With reference to the drawing figures, there is illustrated
a preferred form of a device for the automated surface finishing of
aircraft panels depicted generally by reference numeral 10. The
device includes a controller 20, a universal shuttle 30, a scanning
device 40 and a robotic surface processor 50.
[0015] In a preferred embodiment, the device includes a controller
or programmable control means 20 housed in a conventional housing.
Desirably, the controller utilizes programmable logic controllers
which are adapted to control all machine components such as motor
speed, part position surface finish pre and post sanding, trolley
speed or shuttle speed and the like.
[0016] In a preferred embodiment, the device 10 includes a
universal shuttle tool 30 adapted to position and retain in
position an aircraft panel or parts 100 to present a surface of the
panel 100 to be finished by the surface processor or robot 50.
Universal shuttle tool 30 preferably includes a trolley or the like
including retaining means such as conventional grips 32 or locking
members adapted to support an aircraft panel 100. The retaining
means such as a grip device 32 are adapted to hold various sized
and shaped panels or parts 100 providing mechanical support and
presenting the component to the surface processing robot or
manipulator. The universal shuttle 30 typically moves laterally in
front of the robot although the aircraft panel may be held by the
shuttle 30 in a stationary position thus requiring the robot to
move laterally.
[0017] The scanning device or sensor means 40 as illustrated in
FIG. 1, that may be a moveable or stationary sensor or scanner is
adapted to allow for the passage of the part or panel 100 through
the sensor or scanner 40 to verify the panel geometry. Such a
sensor or scanner would typically include a laser or other suitable
scanning device to scan the surface to detect surface anomalies and
generate a data-input signal to the controller 20, which can then
generate a data output signal in order to guide the robot 50 and
associated end effector tools to act on the anomalies.
[0018] Surface finish sensors or scanning means 40 would, in a
preferred embodiment, desirably include sensors or the like that
are able to pole or measure panel or part 100 skin surfaces in a
real time fashion over the cord width ofthe panels 100. Desirably,
such measurement is accomplished pre and post sanding as the part
or panel 100 enters and or leaves the device 10. Most desirably,
the sensors or scanner mean 40 would generate output data via which
the controller 20 would adjust the tools 80 associated with end
effector 60 accordingly to the set recipe and limits for each part
or panel 100. Additionally, graphical reporting may be effected for
pre and post panel surface roughness.
[0019] The robot or surface processor 50 according to the present
invention may be, in one embodiment, a computer controlled robot
able to sense, grip and move objects. The robot or surface
processor 50 is controlled via the controller 20 which allows the
surface processor to accomplish numerous functions. According to a
preferred embodiment, the surface processor or robot 50 includes a
first arm member 52, pivot means 53, a second arm 54 having at one
end an end effector 60, and tool means or end effector tool 80.
[0020] Tools 80 can include, but are not limited to, surface
finishing tools, such as sanding heads and associated drives for
sanding and buffing heads, i.e. electrical motors or the like.
Control of the head or tool 80 pressure on the part or panel 100
will be dictated by sensor means 40 adapted to provide sufficient
pressure.
[0021] The robot or surface processor 50 is adapted to move about
in a plurality of axes with respect to the panel 100 thereby
allowing the end effector 60 and the tool means 80 to act upon the
entire surface contour of the panel 100. The robot or surface
processor 50 is adapted to use and automatically exchange a
plurality of tools 80 mounted to the end effector 60, such as
sanding and polishing tools, and apply the abrasive materials of
the tools 80 to the panel surface for material removal as
appropriate.
[0022] In use, the robot end effector 60 follows the contour of the
panel through programming derived from the controller 20 and
initially from the scanner 40. Desirably, this information is
derived from a CAD panel or parts geometry data, on-line scanning
data and or an operator teach mode of a specific panel geometry.
Control of the end effector 60 may involve feedback and control of
data and relevant information, including displacement, speed, force
and other associated variables. These variables are derived from
the scanner or sensor means 40 passed to the controller 20 through
any suitable conventional means.
[0023] In use, the panel or part 100 is connected to and supported
by the universal shuttle 30 and associated gripping or locking
means 32. The operator or automated controller co-ordinates all
surface processor or robot 50 movements and part or panel 100
movements ,and establishes feedback with scanning devices 40 for
pre and post processing panel geometry, surface finish, temperature
and the like information. The information is processed and the
appropriate tool, for example a sanding head, is selected and
placed onto the end effector 60 for use on the surface contour of
the panel 100. The robot or processor means then presents the end
effector 60 and tool head 80 to the panel surface 100 for material
removal. The robot 50 may select a pre-determined tool 80 to act on
the surface contour of the part or panel 100. Sensor or scanner
means 40 measure surface roughness, temperature and the like of the
panel or part 100 during material removal and establishes feedback
of data which thus permits the robot 50 to present select tools 80
to improve surface finish.
[0024] In an alternative embodiment as illustrated in FIG. 2, there
is provided a device 200 according to this invention which includes
a controller 220, panel support members 230 and 232, a scanning
device 240, and a surface processor or robot 250 including an end
effector 260.
[0025] As illustrated in FIG. 2, the panel or part 200 is
positioned on supports 230. Supports 230 are adapted to maintain
the panel 200 in a position suitable for the surface processor 250
to effectively present the end effector 260 and tools 280 onto the
surface of the panel 200 for material removal. A controller 220 is
adapted to control the movement of all panel or parts 200, robot
250 and end effector tools 280 by establishing or conforming the
programmed panel geometry and guiding robot 250.
[0026] The robot 250 may be mounted onto tracks 300 or the like in
order to allow the robot to travel along the length of the part
200. Supports 320 or the like are provided and controlled by the
controller 220. The robot or surface processor 250 includes an end
effector 260 having an end effector tool 280 adapted for surface
finishing of the panel surface.
[0027] In an alternative embodiment, sensor means 240 may include
the use of temperature sensors or scanners to monitor part or panel
200 temperature during material removal, and optical acoustic and
laser sensors to measure surface roughness of the panel or part 200
before and or after processing. As shown in FIG. 2, the sensors 240
may be mounted on the robot arm 254. A central controller 220 and
operator interface is used to coordinate all part 100 and robot
250, and end effector tool 280 movements.
[0028] In a further alternative embodiment, the controller 220
allows for operator input for part identification and processing
requirements, and establish feedback with scanning devices for
geometry, temperature, surface finish and the like whereby the
panel geometry is verified suitable scanning devices to establish
or conform the programmed panel geometry and guide the robot 250
and effector tools 280.
[0029] In various alternatives embodiments, sensor means 40 may be
adapted to include a range of scanners and sensors, such as for
measuring temperature. In use, temperature sensing means would be
able to interpret, report graphically and adjust itself in real
time fashion so that temperatures of the part or panel 1000 where a
contact with a sanding head 80 occurs does not surpass the critical
temperature of the material and set points entered within a
specific part recipe, such as set forth in CAAI-FAA requirements,
having ranges are between 50 to 250 degrees Fahrenheit.
[0030] In another alternative embodiment, additional robots or
surface processors may be positioned within the device 10 to
surface finish both sides of the panel 100 or 200 with specialized
tools, and in tandem to speed part or panel 100 or 200
throughput.
[0031] In a further alternative embodiment, head pressure may be
controlled through air pressure or other like drive means.
[0032] In various versions according to the present invention, the
device 10 may include dust containment and removal means for
integral dust generated through panel surface finishing operations
in a manner as would be readily understood by a person skilled in
the art.
[0033] In various embodiments, the aircraft panel 100 or 200 to be
finished includes conventional aircraft panels, wings, fuselage and
the like.
[0034] Although embodiments of the invention have been described
above, it is not limited thereto and it will be apparent to those
skilled in the art that numerous modifications form part of the
present invention insofar as they do not depart from the spirit,
nature and scope of the claimed and described invention.
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