阅读说明：本技术 用于定位飞行器发动机部件的系统和方法 (System and method for positioning aircraft engine components ) 是由 R·S·赖特 J·T·岩本 J·W·莫尔丁 A·W·麦肯纳 R·K·威尔逊 B·A·比斯库 于 2020-03-09 设计创作，主要内容包括：一种用于将发动机部件定位在飞行器上的定位系统和方法,该系统包括发动机部件的可移动支撑件、激光器组件和系统控制器。激光器组件的第一激光器和第二激光器将它们各自的光束与飞行器上的发动机目标位置对准,并提供第一激光束与参考线的第一角度的指示以及第二激光束与参考线的第二角度的指示；并且系统控制器被配置为旋转可移动支撑件以旋转地定位发动机部件,至少部分地基于第一角度和第二角度来确定发动机部件与目标位置之间的竖直距离,并控制提升机构以减小发动机部件与发动机之间的竖直距离。(A positioning system and method for positioning an engine component on an aircraft includes a movable support for the engine component, a laser assembly, and a system controller. The first and second lasers of the laser assembly align their respective beams with an engine target location on the aircraft and provide an indication of a first angle of the first laser beam from the reference line and an indication of a second angle of the second laser beam from the reference line; and the system controller is configured to rotate the movable support to rotationally position the engine component, determine a vertical distance between the engine component and the target position based at least in part on the first angle and the second angle, and control the lift mechanism to reduce the vertical distance between the engine component and the engine.)

1. A positioning system (90) for positioning an engine component (92) for attachment to an engine (94) of an aircraft (96), comprising:

a pair of spaced apart upright supports (144, 146) configured to be mounted to a base (142) on opposite sides of a component bay area (148) of the base;

a lifting frame (150) including a frame rail (152) and a pair of arcuate trusses (158) having respective apexes (160), the trusses being secured to the frame rail at spaced apart locations at their apexes and having distal ends (162) configured to be secured to the engine component at spaced apart locations;

a beam support (164) on which the frame beam (152) is supported for rotation relative thereto; wherein the cross beam support is supported and configured for relative movement along the pair of upright supports (144, 146);

a lift mechanism (166) configured to move the cross beam support (164) along at least one of the pair of upright supports (144, 146);

a rotation drive (68, 168) configured to rotate the frame rail (152) relative to the rail support (164);

a laser assembly (172) configured to support a first laser (174) and a second laser (176) at spaced known distances along a reference line (178), the laser assembly configured to be positioned relative to the engine component (92) with the reference line oriented vertically, the first and second lasers each being adjustable in a respective plane (180) including the reference line to align a respective laser beam of each of the first and second lasers with a target location (182) on the aircraft (96) associated with the aircraft engine (94), and the laser assembly providing a first indication representative of a first angle (184) of a laser beam (185) of the first laser (174) relative to the reference line and a second indication representative of a second angle (186) of a laser beam (187) of the second laser (176) relative to the reference line (178); and

a system controller (190) configured to (a) control operation of the rotary drive (68, 168) to rotate the frame cross beam (152) relative to the cross beam support (164) to rotationally position an engine component (92) secured to the lift frame (150), (b) determine a vertical distance (192) between the engine component and a target location (182) on the aircraft based at least in part on the first and second angles (184, 186) and the known distance (177), and (c) control operation of the lift mechanism (166) to move the cross beam support (164) along the at least one upright support (144, 146) in a direction that reduces the vertical distance between the engine component (92) and the engine (94).

2. The positioning system (90) of claim 1, wherein the cross beam support (164) spans between the pair of upright supports (144, 146).

3. The positioning system (90) according to any one of claims 1-2, further comprising a base drive mechanism (143) coupled to the system controller (190) and configured to move the base (142) along a work surface (24), and wherein the system controller is further configured to: (a) determine a horizontal distance (194) between the engine component (92) and the target location (182) on the aircraft (96) based at least in part on the first and second angles (184, 186) and the known distance (177), and (b) control operation of the base drive mechanism to move the base along the work surface in a direction that reduces the horizontal distance between the engine component and the engine.

4. The positioning system (90) of claim 3, wherein the engine component (92) is mounted to the aircraft (96) by a hinge (28) that includes a first hinge component (30) on the aircraft and a second hinge component (32) on the engine component, and the target location (182) on the aircraft is a location of the first hinge component, and the laser assembly (172) is configured to be positioned relative to the engine component and the first laser (174) is positioned proximate to the second hinge component (32).

5. The positioning system (90) according to claim 4, wherein the laser assembly (172) is configured to support the first and second lasers (172, 176) in a deployed configuration and the first laser (172) is positioned proximate to the second hinge member (32), and is further configured to be adjusted to support the first and second lasers in a retracted configuration, wherein the first and second lasers are spaced apart from the engine component (92).

6. The positioning system (90) of claim 5, wherein the system controller (190) is configured to control operation of the base drive mechanism (143) when the laser is in the retracted configuration.

7. A method (220) of positioning an engine component (92) for attachment to an engine (94) of an aircraft (96), the method comprising:

attaching (222) the engine component to a lifting frame (150) comprising a frame cross member (152) and a pair of arcuate trusses (158) having respective vertices (160), the trusses being secured to the frame cross member at their vertices at spaced apart locations and having distal ends (162), the distal ends (162) being secured to the engine component at spaced apart locations;

moving (224) the engine component by a lift mechanism (166) by moving a beam support (164), wherein the frame beam is supported within the beam support; the cross beam support is configured for relative movement along two upright supports (144, 146) extending upwardly from the base (142);

rotating (226), by a rotation drive (68, 168), the lifting frame and attached engine component relative to the cross-beam support to orient the engine component relative to the engine;

supporting (228) a first laser (174) and a second laser (176) vertically spaced apart a known distance (177) proximate the engine component;

directing (230) a first laser beam (185) emitted by the first laser and a second laser beam (187) emitted by the second laser to a target location (182) on the aircraft associated with the aircraft engine;

determining (232) a first angle (184) of the first laser beam relative to a reference line including the first laser and the second laser, and a second angle (186) of the second laser beam relative to the reference line;

determining (234), by an electronic system controller (190) having a processor, a vertical distance (192) between the first laser and the target location on the aircraft based at least in part on the first and second angles and the known distance; and

controlling (236) operation of the lift mechanism to move the cross beam support along the at least one upright support in a direction that reduces the vertical distance between the engine component and the engine.

8. The method (220) of claim 7, further comprising: (a) determining, by the system controller (190), a horizontal distance (194) between the engine component (92) and the target location (182) on the aircraft (96) based at least in part on the first and second angles (184, 186) and the known distance (177); and (b) controlling operation of a base drive mechanism (143) coupled to the system controller (90) and configured to move the base (142) along a work surface (24) in a manner that moves the base along the work surface in a direction that reduces the horizontal distance between the engine component and the engine.

9. The method (220) of claim 8, further comprising: removing the first laser (174) and the second laser (176) from the motor component (92) after determining the first angle (184) of the first laser beam (185) and the second angle (186) of the second laser beam (187) and before controlling operation of the base drive mechanism (143) to move the beam support (164) along the work surface (24).

10. The method (220) of claim 8, wherein supporting the first laser (174) and the second laser (176) proximate to the engine component (92) includes positioning the first laser proximate to a first hinge component of a hinge (28) used to mount the engine component to the aircraft (96), wherein the hinge includes a first hinge component on the engine component and a second hinge component on the aircraft, and the target location (182) on the aircraft is a location of the second hinge component.

11. The method (220) of claim 10, further comprising aligning and securing the first hinge member to the second hinge member.

12. The method (220) of claim 10, further comprising moving the first laser (174) and the second laser (176) away from the engine component (92) after determining the first angle (184) of the first laser beam (185) and the second angle (186) of the second laser beam (187) and before controlling operation of the lift mechanism (166) to move the cross beam support (164) along the at least one upright support in a direction that reduces the vertical distance (192) between the engine component and the engine (94).

13. The method (220) of claim 12, wherein the system controller (190) is configured to control operation of the base drive mechanism (143) after the first laser (174) and the second laser (176) have been removed from the motor component (92).

Technical Field

The present disclosure relates to aircraft manufacturing processes. More specifically, the disclosed embodiments relate to systems and methods for positioning and aligning aircraft components relative to an aircraft or aircraft structural feature.

Background

The manufacture and service of large commercial aircraft often faces particular challenges. In particular, the power plants of such aircraft are not only large and mechanically complex, but their assembly may require high precision to accommodate the tight tolerances normally required.

This is particularly true for turbofan power plants used by many commercial aircraft. The turbofan power plant of an aircraft is typically housed within a nacelle 2 that is attached to the wing 4 of the aircraft 6 via an engine strut (or pylon) 8. Some components of the nacelle are shown in FIG. 1 and may include, among other components, an air intake shroud 10, a fan shroud 12, a thrust reverser 13, an exhaust nozzle assembly 16, and, of course, a turbofan engine assembly 18 itself.

As shown in fig. 2, the installation process of many large nacelle components may require a crane and several skilled technicians to install the thrust reverser 13 onto the pylon 8 of the aircraft 6. The thrust reverser 13 can be secured to and lifted by a crane sling 20. When suspended from a crane, personnel 22 present on the work surface 24 may manually guide the thrust reverser 13 into position, and may require additional technicians 26 to perch on top of the engine strut 8 to guide the thrust reverser 13 into position for installation. This may require the technician 26 to lean outwardly over the work surface 24 of the factory floor, which may be ten or more feet below, in order to visually guide the nacelle components into position while guiding them onto the uneven and often angled surface of the engine strut 8. This not only causes a fall and consequent injury, but also in the absence of the nacelle fairing, the fall may cause the engine components to fall.

In addition, for many installations, the technician on the post 8 must also assist the installation directly. The thrust reverser 13 is typically attached to the engine strut 8 via a hinge assembly 28 as shown in fig. 3A-3D, and once the thrust reverser is guided into position so that a first hinge member 30 (typically a hinge lug) attached to the engine strut is aligned with a second hinge member 32 (typically a hinge clevis) on the thrust reverser, the technician 26 may be required to extend downwardly and insert the necessary hinge pin 34 into the hinge assembly to secure the thrust reverser to the nacelle, and then install the appropriate nut.

Thus, installing such nacelle components represents a delicate and time-consuming operation that requires gently and slowly gathering and aligning large aircraft structures as they are suspended from the air. The movement of these components may be guided by hand and eye, and may therefore require workers with excellent judgment, experience, and/or specialized training. Furthermore, since such operations may require the use of bridge cranes and the facility floor requirements may be high, the operations may create bottlenecks before the operations are completed.

There is a need for a system and method to help automate selected aspects of the installation of such large nacelle components, thereby potentially simplifying such processes and increasing worker safety.

Disclosure of Invention

The present disclosure provides a positioning system and method for positioning an engine component on an aircraft.

In some embodiments, the present disclosure provides a positioning system for positioning an engine component for attachment to an engine of an aircraft, the positioning system comprising a pair of spaced apart upright supports configured to be mounted to a base on opposite sides of a component bay area of the base; a lifting frame including a frame rail and a pair of arcuate trusses having respective apexes secured to the frame rail at spaced apart locations at their apexes and having distal ends configured to be secured to the engine component at spaced apart locations; a beam support on which the frame beam is supported for rotation relative to the beam support; wherein the cross beam supports are supported and configured for relative movement along a pair of upright supports; a lift mechanism configured to move the cross beam support along at least one of the pair of upright supports; a rotation drive configured to rotate the frame rail relative to the rail support; a laser assembly configured to support a first laser and a second laser at a known spaced distance along a reference line, the laser assembly configured to be positioned relative to the engine component by a vertically oriented reference line, the first and second lasers each being adjustable in a respective plane including the reference line to align a respective laser beam of each of the first and second lasers with a target location on the aircraft associated with the aircraft engine, and the laser assembly providing a first indication representative of a first angle of the laser beam of the first laser relative to the reference line and a second indication representative of a second angle of the laser beam of the second laser relative to the reference line; and a system controller configured to (a) control operation of the rotary drive to rotate the frame beam relative to the beam support to rotatably position an engine component secured to the lift frame, (b) determine a vertical distance between the engine component and a target location on the aircraft based at least in part on the first and second angles and the known distance, and (c) control operation of the lift mechanism to move the beam support along the at least one upright support in a direction that reduces the vertical distance between the engine component and the engine.

In some embodiments, the present disclosure provides a method of positioning an engine component for attachment to an engine of an aircraft, the method comprising: attaching an engine component to a lifting frame comprising a frame rail and a pair of arcuate trusses having respective apexes fixed at their apexes to the frame rail at spaced locations with distal ends fixed to the engine component at spaced locations; moving the engine component by the lift mechanism by moving a cross beam support in which the frame cross beam is supported, the cross beam support being configured for relative movement along two upright supports extending upwardly from the base; rotating the lifting frame and attached engine component relative to the cross-beam support by a rotary drive to orient the engine component relative to the engine; supporting a first laser and a second laser vertically spaced apart a known distance proximate to the engine component; directing a first laser beam emitted by a first laser and a second laser beam emitted by a second laser at a target location on an aircraft associated with an aircraft engine; determining a first angle of the first laser beam relative to a reference line including the first laser and the second laser, and a second angle of the second laser beam relative to the reference line; determining, by an electronic system controller having a processor, a vertical distance between the first laser and a target location on the aircraft based at least in part on the first and second angles and the known distance; and controlling operation of the lift mechanism to move the cross beam support along the at least one upright support in a direction that reduces a vertical distance between the engine component and the engine.

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

Drawings

FIG. 1 illustrates, in an exploded view, various components of a turbofan engine nacelle.

FIG. 2 semi-schematically illustrates the installation process of the components of the nacelle.

Fig. 3 depicts the coupling of a representative hinge assembly. FIG. 3A depicts the lug and clevis portions of the hinge assembly being brought together; fig. 3B depicts the lug and clevis portion in an aligned configuration. FIG. 3C depicts a hinge pin positioned within the lug and clevis portion; and fig. 3D depicts the hinge pin fully installed in the hinge and ready for securing by a suitable nut.

FIG. 4 semi-schematically depicts an illustrative system for moving vehicle components according to the present disclosure.

Fig. 5 is a front elevation view of the illustrative system of fig. 4 associated with a vehicle component, with portions of the first and second upright trusses shown partially cut away to depict the first and second lift mechanisms within the upright trusses.

FIG. 6 is a top view of the illustrative system of FIG. 4 associated with a vehicle component.

FIG. 7 depicts the beam support member, the first beam support assembly, and the second beam support assembly of the system of FIG. 4.

FIG. 8 depicts a first cross beam support assembly of the system of FIG. 4.

FIG. 9 depicts a second cross beam support assembly of the system of FIG. 4.

Fig. 10 is a schematic diagram depicting an illustrative control system for a system for moving vehicle components according to the present disclosure.

FIG. 11 semi-schematically depicts the illustrative system of FIG. 4 moving a vehicle component. FIG. 11A depicts a movement system aligned with and attached to a vehicle component via a truss assembly; FIG. 11B depicts a movement system that raises a vehicle component; FIG. 11C depicts the movement system where the vehicle components are brought to the proper height and orientation for installation; and FIG. 11D semi-schematically depicts the movement system as it aligns with the engine strut and moves the vehicle component to the installed position.

FIG. 12 semi-schematically depicts an illustrative positioning system for positioning an engine component of an aircraft according to the present disclosure.

Fig. 13 semi-schematically depicts a laser assembly of the system of fig. 12.

FIG. 14 depicts use of the laser assembly of FIG. 13 to determine the position of an engine component relative to a target position.

Fig. 15 is a flow chart depicting a method of moving a vehicle component of a vehicle relative to a structure of the vehicle when the component is mounted on the structure, in accordance with the present disclosure.

FIG. 16 is a flow chart depicting a method of positioning an engine component for attachment to an engine of an aircraft according to the present disclosure.

FIG. 17 is a schematic illustration of representative data processing, in accordance with selected aspects of the present disclosure.

FIG. 18 is a schematic diagram of a representative general-purpose network data processing system.

Detailed Description

SUMMARY

Various embodiments of a movement and positioning system for positioning a vehicle component are described below and illustrated in the associated drawings. Unless otherwise indicated, the disclosed systems and/or various components thereof may, but are not required to, comprise at least one structure, component, function, and/or variation described, illustrated, and/or incorporated herein. Further, structures, components, functions, and/or variations described, illustrated, and/or incorporated in connection with the present teachings may, but are not required to, be included in other mobile or positioning systems. The following description of various embodiments is merely exemplary in nature and is in no way intended to limit the disclosure, its application, or uses. Additionally, as described below, the advantages provided by the described embodiments are illustrative in nature, and not all embodiments provide the same advantages or the same degree of advantages.

In particular, although the movement and positioning system of the present disclosure may be illustrated in the context of aircraft manufacturing and moving and positioning engine components of an aircraft, the disclosed system may be used in connection with the manufacture and/or assembly of various vehicles or other structures. The present disclosure should not be considered limited in any way to the particular applications and examples shown herein.

Mobile system

A system 40 for moving vehicle components is shown in fig. 4-9. The system 40 may have utility for moving any of a variety of vehicle components, but may exhibit particular utility for moving vehicle components relative to the structure of the vehicle 6, such as the thrust reverser 13, among other components, and may be particularly useful for mounting components on a vehicle structure.

The system 40 may include a base 42 equipped with a plurality of wheels 41, whereby the base 42 is movable. The base 42 may further be equipped with one or more base drive mechanisms 43 to supply power to the wheels 41. As depicted in the illustrative embodiment, each wheel 41 may have a dedicated base drive mechanism 43 to supply power to the wheel. Since each base drive mechanism 43 can be driven individually, the base 42 of the system 40 can be manipulated as desired by differentially powering each base drive mechanism to move the base 42 in any direction.

The system 40 includes first and second spaced apart upright supports 44, 46 mounted to the base 42 so as to be on opposite sides of a component bay area 48 of the base 42. The first and second supports 44, 46 are mounted to the base 42 such that the first and second upright supports 44, 46 extend upwardly from the base 42.

The system 40 further includes a lifting frame 50, wherein the lifting frame includes a cross beam 52 extending between the first upright support 44 and the second upright support 46 along a beam axis 54 or cross beam cable, wherein the beam axis 54 is defined by a longitudinal axis of the cross beam 52. Lift frame 50 may also include a pair of spaced apart and arcuate truss assemblies 56 secured to cross-beam 52, wherein truss assemblies 56 are configured to attach to and support vehicle component 14 relative to cross-beam 52.

The system 40 further includes first and second cross beam support assemblies 58, 60 movably coupled to the first and second upright supports 44, 46 such that the first and second cross beam support assemblies 58, 60 are configured to support the cross beam 52 and are movable along the first and second upright supports 44, 46. First and second cross beam support assemblies 58, 60 are configured to support cross beam 52 relative to first and second upright supports 44, 46. First and second cross beam support assemblies 58, 60 may include tubular outer support beams 62 extending between first and second upright supports 44, 46, and more specifically, support beams 62 may be configured such that tubular outer support beams 62 surround cross beam 52.

As shown in fig. 6, first and second cross beam support assemblies 58, 60 are at least substantially enclosed within the first and second upright supports 44, 46, respectively, while supporting an outer support beam 62 external to the upright supports. In one aspect of the present disclosure, the first support member 72, the first beam support assembly 58, and the beam 52 are configured to allow the beam 52 to pivot about the first pivot axis 64 that is transverse to the beam axis 54. In the preferred embodiment shown, the pivot axis 64 is fixed relative to the upright support 44. In some embodiments, such as when the first and second beam support assemblies are in an inverted position, the first beam support assembly 58 and the beam 52 may be collectively configured to allow the beam 52 to move laterally relative to the first support member 72, as shown by the second beam support assembly 60 in the illustrated embodiment.

System 40 includes a first lift mechanism 66 and a rotational drive mechanism 68, first lift mechanism 66 configured to move first beam support assembly 58 along first upright support 44 in response to a first control signal, rotational drive mechanism 68 configured to rotate beam 52 about beam axis 54 relative to first and second beam support assemblies 58, 60 in response to a second control signal. First and second cross beam support assemblies 58 and 60 are configured to support cross beam 52 as cross beam 52 rotates about axis 54 and pivot about axes 64 and 86 relative to first and second upright supports 44 and 46.

The first cross beam support assembly 58 includes a first cross beam support element 70, shown as part of the outer support beam 62, the support cross beam 52, a first support member 72 supported by the first lift mechanism 66 for movement along a first lift cable 74 along the first upright support 44, and a pivot pin 76 pivotally coupling the first cross beam support element 70 to the first support member 72. As shown in fig. 5, the first lift mechanism 66 may be disposed within the upright support 44 below the first support member 72 and operatively coupled to the first support member 72.

The first cross beam support assembly 58 may further include a sleeve 78 fixedly mounted to one of the first cross beam support element 70 and the first support member 72 of the outer support beam 62, and the pivot pin 76 is pivotally supported in the sleeve 78 and supported by the other of the first cross beam support element 70 and the first support member 72. In the example shown, the pin 76 is fixedly attached to the outer support beam 62 and the sleeve 78 is fixedly attached to the support member 72, such as by welding, to prevent the pin 76, outer support beam 62 and cross beam 52 from moving laterally from the hoist cable 74 along the upright support 44.

The system 40 is controlled by an electronic system controller 80, the electronic system controller 80 being operatively coupled to the plurality of base drive mechanisms 43 and configured to generate control signals to the base drive mechanisms 43 via conductors 87 to change the position of the base 42 of the system 40 by selectively rotating the base wheels 41 to achieve a desired movement of the base 42.

The system 40 is controlled by an electronic system controller 80, the electronic system controller 80 being operatively coupled to the first lift mechanism 66 and the rotary drive mechanism 68, as shown in the schematic diagram of fig. 10. Electronic system controller 80 is configured to generate a first control signal that controls operation of first lift mechanism 66 via conductor 81 to move first beam support assembly 58 along first support member 72. The electronics system controller 80 is similarly configured to generate a second control signal that controls operation of the rotary drive mechanism 68 via a conductor 83 to rotate the beam 52 relative to the first beam support assembly 58. In this manner, the electronic system controller 80 is able to change the position of the vehicle component 14 relative to the vehicle 6.

In one aspect of the present disclosure, the electronics system controller 80 is configured to receive input information associated with a target position of the vehicle component 14, and in response to the received input information, the electronics system controller 80 generates a first control signal for controlling operation of the first lift mechanism 66 to move the first beam support assembly 58 along the first support member 72 and generates a second control signal for controlling operation of the rotary drive mechanism 68 to rotate the beam 52 relative to the first beam support assembly 58 to rotatably position the vehicle component 14 when supported by the lift frame 50.

In one aspect of the present disclosure, the second upright support 46, the second cross member support assembly 60, and the cross member 52 are collectively configured to allow the cross member 52 to pivot and move laterally relative to the second upright support 46. The second cross beam support assembly 60 may include a second cross beam support element 79 shown as part of the outer support beam 62, the support cross beam 52, a second support member 84 supported by a second lifting mechanism 82 for movement along the second lifting cable 75 along the second upright support 46, and a pivot pin 88 pivotally coupling the second cross beam support element 79 to the second support member 84. As shown in fig. 5, the second lift mechanism 82 may be disposed within the upright support 46 below the second support member 84 and operatively coupled to the second support member 84.

As shown in fig. 10, the second lift mechanism 82 is configured to move the second beam support assembly 60 along the second support member 84 in response to a third control signal via a conductor 85. In this aspect of the disclosure, the electronics system controller 80 may be operably coupled to the second lift mechanism 82 and configured to generate a third control signal that controls operation of the second lift mechanism 82 to move the second cross beam support assembly 60 along the second support member 84 to change the position of the vehicle component 14 relative to the vehicle 6. As shown in fig. 5, the second lift mechanism 82 may be disposed within the upright support 46 below the second support member 84 and operatively coupled to the second support member 84.

In one aspect of the present disclosure, the electronics system controller 80 is configured to receive input information associated with a target position of the vehicle component 14, and in response to the received input information, the electronics system controller 80 generates a first control signal for controlling operation of the first lift mechanism 66 to move the first beam support assembly 58 along the first support member 72 and generates a second control signal for controlling operation of the rotary drive mechanism 68 to rotate the beam 52 relative to the first beam support assembly 58 to rotatably position the vehicle component 14 when supported by the lift frame 50. The second beam support assembly 60 may be configured such that, when the beam 52 is rotated relative to the first beam support assembly 58, the beam 52 may additionally be free to rotate about a second pivot axis 86 transverse to the beam axis 54 by rotating about the second pivot pin 88 while the second pivot pin 88 supports the second beam support assembly 60.

In another aspect of the present disclosure, the system 40 may include an electronics system controller 80 operatively coupled to the first and second lift mechanisms 66, 82, wherein the electronics system controller 80 may be configured to generate a first control signal that controls operation of the first lift mechanism 66 to move the first beam support assembly 58 along the first support member 72 and generate a second control signal that controls operation of the second lift mechanism 82 to move the second beam support assembly 60 along the second support member 84. During movement of the second cross beam support assembly along the second support member 84, the second cross beam support element 79 and thereby the outer support beam 62 and cross beam 52 are permitted to pivot about the axis 86 and move laterally along the second support member 84 via rotation and lateral movement of the second pivot pin 88 relative to the second support member 84, thereby changing the position of the vehicle component 14 relative to the vehicle 6. It will be appreciated that because the pivot pin 76 is fixed in a lateral position relative to the first support member 72, pivoting of the outer support beam 62 and cross beam 52 about the pin 76 causes the lateral position of the pin 88 to change, as shown in FIG. 8. This change is accommodated by the lateral movement of the pin 88 along the second support member 84.

In this aspect of the system 40, the electronic system controller 80 may be configured to receive input information associated with a target position of the vehicle component 14 and generate a first control signal for controlling operation of the first lift mechanism 66 to move the first beam support assembly 58 along the first support member 72 and to generate a second control signal for controlling operation of the second lift mechanism 82 to move the second beam support assembly 60 along the second support member 82 in response to the received input information.

By applying appropriate first, second and optionally third electronic signals, the vehicle part 14 may be raised and/or lowered along the first upright support 44 and the second upright support 46, with the vehicle part 14 pivoting relative to the upright supports about axes 64 and 86, moving laterally relative to the second upright support 46, and rotating relative to the outer support beam 62 to be accurately positioned at a desired position and orientation relative to the vehicle 6. For example and as shown in fig. 11A, the system 40 is shown in combination with the vehicle component 14, wherein the system 40 is positioned such that the vehicle component 14 is disposed within a component bay area 48 of the base 42 of the system 40. In this position, operation of first lift mechanism 66, second lift mechanism 82, rotary drive mechanism 68, first beam support assembly 58, and second beam support assembly 60 properly positions truss assembly 56 for attachment of truss assembly 56 to vehicle component 14.

As shown in fig. 11B, after the vehicle component 14 is secured to the truss assembly 56, the first lift mechanism 66 and the second lift mechanism 82 are operated to raise the vehicle component 14 sufficiently to allow free movement of the system 40. As shown in fig. 11C, a rotary drive mechanism 68 may be employed to rotate the vehicle component 14 about the beam axis 54 to a suitable orientation for attachment to the vehicle 6. Finally, as shown in fig. 11D, the movement of base 42 of system 40, plus any additional adjustment by one or more of first lift mechanism 66, second lift mechanism 82, rotational drive mechanism 68, first beam support assembly 58, and second beam support assembly 60, may be used to substantially align vehicle component 14 for coupling to vehicle 6.

Positioning system

In one aspect of the present disclosure, the system 40 for moving vehicle components may exhibit particular utility as a component of a positioning system 90, the positioning system 90 for positioning an engine component 92 for attachment to an engine 94 of an aircraft 96, an example of which is shown in fig. 12.

The positioning system 90 may include a work platform 98 that allows a technician or other maintenance personnel to access the attachment point of the engine component 92 to the aircraft 96 without requiring any workers to balance at the top of the aircraft structure or stand under a suspended load.

The positioning system 90 may include some or all of the components for moving the motor components 92, similar to the components described above for the movement system 40. Specifically, the positioning system 90 may include a base 142 equipped with a plurality of wheels 141, such that the base 142 is movable. The base 142 may further be equipped with one or more base drive mechanisms 143 to power the wheels 141, and in one embodiment of the positioning system 90, each wheel 141 may have a dedicated base drive mechanism 143 to power the wheel, so that the base 42 may be moved in any direction on the work surface 24 as desired.

The base 142 of the positioning system 90 includes spaced apart first and second upright supports 144, 146 mounted to the base 142 so as to be on opposite sides of a component bay area 148 of the base 142.

The positioning system 90 further includes a lifting frame 150 having a frame cross member 152 and a truss assembly 156, the truss assembly 156 including a pair of arcuate trusses 158 having respective apexes 160. Trusses 158 may be secured to frame rails 152 at spaced apart locations at vertices 160. Truss 158 may also include a distal end 162, and distal end 162 may be configured to be secured to engine component 92 at spaced apart locations when secured by positioning system 90.

The positioning system 90 further includes a cross beam support 164, and the frame cross beam 152 may be supported on the cross beam support 164 for rotation relative to the cross beam support 164, wherein the cross beam support 164 is supported by and configured for relative movement along a pair of upright supports 144 and 146. In one aspect of the present disclosure, the cross beam support 164 is configured to span between a pair of upright supports 144 and 146.

The positioning system 90 includes a lifting mechanism 166, the lifting mechanism 166 being configured to move the cross beam support 164 along at least one of the upright supports 144 and 146. The positioning system 90 additionally includes a rotation drive 168 configured to rotate the frame beam 152 relative to the beam support 164, as described with respect to the movement system 40.

With these components, the positioning system 90 is configured to move the engine component 92 in order to place the engine component 92 in a position where the engine component 92 may be attached to an engine 94 of an aircraft 96. In addition, the positioning system 90 includes an alignment assembly 170, the alignment assembly 170 being used to determine how the positioning system 90 should be moved to guide the engine component 92 to the appropriate position.

As shown in fig. 13, the alignment assembly 170 includes one or more laser assemblies 172. The laser assembly 172 is configured to support a first laser 174 and a second laser 176 such that they are spaced apart a known distance 177 along a reference line 178. The laser assembly 172 is configured to be positioned relative to the engine component 92 by a vertically oriented reference line 178, and the first and second lasers 174, 176 are individually adjustable in a plane 180 that includes the reference line 178 so as to align the laser beam of each of the first and second lasers 174, 176, respectively, with a target location 182 on the aircraft 96 associated with the aircraft engine 94. The laser assembly 172 is configured to provide a first indication representative of a first angle 184 of a first laser beam 185 of the first laser 174 relative to the reference line 178 and a second indication representative of a second angle 186 of a second laser beam 187 of the second laser 176 relative to the reference line 178.

As shown in fig. 12, one or more laser assemblies 172 are attached to the work platform 98, and fig. 12 depicts four laser assemblies 172 associated with the work platform 98 of the positioning system 90. The laser assembly 172 of fig. 12 is shown in a retracted configuration B to protect the laser assembly from impact and accidental damage when securing and/or lifting the vehicle component 92.

Similar to the electronic system controller 80 of the system 40 for moving vehicle components, the alignment assembly 170 for the positioning system 90 further includes a system controller 190, the system controller 190 configured to control operation of the rotation drive 168 to rotate the frame beam 152 relative to the beam support 164 to rotatably position the engine component 92 when the engine component 92 is secured to the lift frame 150. As shown in fig. 14, the system controller 190 is additionally configured to determine a vertical distance 192 between the engine component 92 and the target location 182 on the aircraft 96 based at least in part on the first and second angles and the known distance. The system controller 190 is further configured to control operation of the lifting mechanism 166 to move the cross beam support 164 along at least one of the upright supports 144 and 146 of the positioning system 90 in a direction that reduces the vertical distance between the engine component 92 and the engine 94.

Again similar to the movement system 40, the base drive mechanism 143 may be coupled to the system controller 190 such that the system controller 190 may move the base 142 along the work surface 24 using the base drive mechanism 143. The system controller 190 may also be configured to determine a horizontal distance 194 between the engine component 92 and the target location 182 on the aircraft 96 based at least in part on the first and second angles and the known distance. The system controller 190 may also be configured to control operation of the base drive mechanism 143 to move the base 142 along the work surface 24 in a direction that reduces the horizontal distance between the motor assembly 92 and the motor 94.

The target location 182 on the aircraft 96 may be an attachment location for the engine component 92. For example, where the engine component 92 is mounted to the aircraft 96 via the hinge assembly 28, the target location 182 on the aircraft 96 may be the location of the first hinge member 30, wherein the hinge assembly 28 includes the first hinge member 30 on the aircraft 96 and the second hinge member 32 on the engine component 92. In this aspect of the disclosure, the laser assembly 172 may be configured to be positioned relative to the engine component 92, with the first laser 174 positioned proximate to the second hinge component 32 by a vertically oriented reference line 178, and the first and second lasers 174, 176 arranged in a reference plane 180 (coincident with the plane of fig. 14) that includes the reference line 178, so as to align the laser beam of each of the first and second lasers 174, 176, respectively, with the hinge component 30 on the aircraft 96.

In one aspect of the present disclosure, the laser assembly 172 of the positioning system 90 is configured to support the first and second lasers 174, 176 in the deployed configuration a as shown in fig. 14 such that the first laser 174 may be positioned proximate to the second hinge member 32 of the hinge assembly 28, such proximate location contributing to the accuracy of the system controller 190 in positioning the motor component 92. However, the laser assembly 172 may also be configured to support the first and second lasers 174, 176 in the retracted configuration B, as also shown in fig. 14, such that the first and second lasers 174, 176 are spaced apart from the engine component 92 so as to protect the first and second lasers 174, 176 from impact damage when moving the positioning system 90. Accordingly, system controller 190 may additionally be configured to control operation of base drive mechanism 143 when first laser 174 and second laser 176 are in their retracted configurations, as shown, for example, in fig. 12.

Position calculation

The system controller 190 employs the first and second lasers 174, 176 of the laser assembly 172 to calculate the distance and orientation between the location on the engine component 92 (such as the second hinge component 32) and the target location 182 (such as the first hinge component 30) on the aircraft 96.

The laser assembly 172 may be disposed proximate the motor component 92 with one of the first and second lasers 174, 176 adjacent the second hinge component 32. As shown in the semi-schematic of fig. 14, fig. 14 illustrates a laser assembly 172 that includes a first laser 174 and a second laser 176 adjacent the engine component 92. As shown in fig. 13 and 14, upon proper deployment, the first and second lasers are arranged along a reference line 178 and are additionally arranged a known distance 177 from each other. As shown, to determine the relative position of the engine component 92 with respect to the target position 182, the laser beams 185 and 198 emitted by the first laser 174 and the second laser 176, respectively, are each aligned with the target position 182. In doing so, reference line 178 (side a), first laser beam 185 (side b), and second laser beam 187 (side c) form a typical scalene or equilateral triangle having three sides, the vertices of which correspond to target location 182 and first and second lasers 174 and 176.

First laser 174 and second laser 176 are configured such that when their respective laser beams 185 and 187 are aligned with target location 182, the elevation angle of each laser beam above the horizontal is determined by angle indicators 200 and 202, respectively. Using the elevation angle, the angle 184 between the first laser beam 185 and the reference line 178 and the angle 186 between the second laser beam 187 and the reference line 178 can be easily calculated. Once the angles 184 and 186 are known, the third angle 204 between the first laser beam 185 and the second laser beam 187 at the target location 182 can be easily calculated.

Since the distance 177 between the first laser 174 and the second laser 176 along the reference line 178 (side a) is also known, the lengths of sides b and c can be calculated using the sine law:

where A is the angle 184, B is the angle 186, C is the angle 184, and a is the known distance 177 along the reference line 178.

As a hypothetical and illustrative example, assume that upper laser 174 has been aimed at target location 182, resulting in upper laser beam 185 being elevated 27 degrees above horizontal. Similarly, lower laser 176 is aimed at target location 182, resulting in lower laser beam 187 being elevated 38 degrees above horizontal. The upper laser 174 and the lower laser 176 are vertically separated by a distance of 36 inches (914 mm).

Thus, in this example, angle C is 90 degrees +27 degrees or 117 degrees. Similarly, angle B is 90-38 or 52 degrees. Therefore, the angle A must be 11 degrees- (180(117+ 52)). Since each of angles A, B and C is now known, and the length of side a is known, the length of sides b and C can be derived using the sine law:

by solving for the lengths of edge b and edge c, it can be determined that edge b is 149 inches (37.8 cm) and edge c is 168 inches (42.7 cm). Using trigonometric functions, the horizontal distance from upper laser 174 to target location 182 was calculated to be 132.8 inches (337.3 centimeters) and the distance from lower laser 176 to target location 182 was calculated to be 132.4 inches (336.3 centimeters), giving an average distance of 132.6 inches. Therefore, it is desirable to move the engine component 92 132.6 inches (336.8 cm) closer to the target location 182.

Similar calculations provide a vertical distance between the upper laser 174 adjacent the second hinge member 32 and a target location 182 of 67.6 inches (172 centimeters). As a confirmatory calculation, the vertical distance between the lower laser 176 and the target location 182 may be calculated to be 103.4 inches (263 centimeters). By subtracting the fixed distance 177 or 36 inches (91 cm), the second hinge member 32 must be raised 103.4 inches-36 inches or 67.4 inches (172 cm), substantially the same distance.

Thus, the system controller 190 can align the second hinge member 32 with the first hinge member 30 at the target position 182 by controlling operation of the base drive mechanism 143 to move the motor member 92 forward a distance of 133 inches and controlling the lift mechanism 166 to raise the motor member 92 a distance of 67 inches. The combined result of the forward movement and the upward lift is to place the second hinge member 32 on the engine component 92 to align with or be adjacent to the first hinge member 30 on the aircraft 96.

Applications of

As shown in the flowchart 208 of fig. 15, the system 40 of the present disclosure may be particularly suited for performing a method of moving a vehicle component of a vehicle relative to a structure of the vehicle during installation of the component on the structure. The method can comprise the following steps: at step 210 of flowchart 208, attaching a lifting frame to a vehicle component, wherein the lifting frame comprises a transom and a pair of spaced apart arcuate truss assemblies attached to the transom, and attaching the lifting frame to the vehicle component comprises securing the pair of truss assemblies to a component of the vehicle at a plurality of spaced apart locations; at step 212 of flowchart 208, a first end of the beam is supported with a first beam support assembly; at step 214 of flowchart 208, moving the vehicle component by the first lift mechanism in response to the first control signal by moving the first beam support assembly along a first support mounted to and extending upwardly from a base supported on the work surface; at step 216 of flowchart 208, rotating, by the rotary drive mechanism, the lift frame and the attached vehicle component about the beam axis relative to the first cross beam support assembly to change the orientation of the vehicle component relative to the vehicle in response to the second control signal; and at step 218 of flowchart 208, the orientation of the vehicle component relative to the vehicle is changed by generating, by the electronic controller, a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support and a second control signal for controlling operation of the rotary drive mechanism to rotate the lift frame and attached vehicle component relative to the first beam support assembly.

In one aspect of the disclosure, the method of flowchart 208 may further include the steps of: receiving, by an electronic controller, input information related to alignment of a first laser and a second laser positioned proximate to a vehicle component relative to a target mounting point on a vehicle structure, the input information being indicative of a target position and orientation of the vehicle component relative to the vehicle structure; generating, by the electronic controller, a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support in response to the received input information; and generating, by the electronic controller, a second control signal for controlling operation of the rotary drive mechanism to rotate the beam and the attached vehicle component relative to the first beam support assembly in response to the received input information.

In another aspect of the present disclosure, the method of flowchart 208 may further include the steps of: receiving, by an electronic controller, input information associated with a target position of a vehicle component; generating a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support in response to the received input information; and generating a second control signal for controlling operation of the rotary drive mechanism to rotate the crossbar relative to the first crossbar support assembly to rotationally position the vehicle component when supported by the lift frame.

In one aspect of the present disclosure, at step 214 of flowchart 208, moving the first beam support assembly along a first support mounted to and extending upwardly from a base supported on the work surface further includes pivoting the beam relative to the first support about a first pivot axis transverse to the beam axis. Pivoting the cross beam relative to the first support may comprise: supporting the beam by a first beam support element; supporting a first support member by a first lifting mechanism for movement along a first support along a first lifting cable; and pivoting the first cross beam support element about a pivot pin that pivotably couples the first cross beam support element to the first support member. The method may further include moving the second beam support element relative to the second support member along a transverse line transverse to the second hoist line.

The method of flowchart 208 may also include the step of moving the cross beam transverse to the second support.

The method of flowchart 208 may additionally include the steps of: supporting a second end of the beam with a second beam support assembly movable along a second support mounted on and extending upwardly from the base; moving the second beam support assembly along the second support by the second lift mechanism in response to a third control signal; and generating, by the electronic controller, a third control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

The positioning system 90 may be particularly suited for performing a method of positioning an engine component for attachment to an engine of an aircraft, as shown in the flow chart 220 of fig. 16. Such a method may include attaching an engine component to a lift frame including a frame rail and a pair of arcuate trusses having respective apexes secured at spaced apart locations to the frame rail at the apexes thereof, and securing distal ends to the engine component at spaced apart locations at step 222 of flowchart 220; at step 224 of flowchart 220, moving the engine component by the lift mechanism by moving a cross beam support in which the frame cross beam is supported, the cross beam support configured for relative movement along two upright supports extending upwardly from the base; at step 226 of flowchart 220, the lift frame and attached engine component are rotated relative to the cross beam support by the rotational drive to orient the engine component relative to the engine; at step 228 of flowchart 220, a first laser and a second laser vertically spaced apart by a known distance are supported proximate the engine component; at step 230 of flowchart 220, directing a first laser beam emitted by a first laser and a second laser beam emitted by a second laser at a target location on an aircraft associated with an aircraft engine; at step 232 of flowchart 220, a first angle of the first laser beam relative to a reference line including the first laser and the second laser, and a second angle of the second laser beam relative to the reference line are determined; at step 234 of flowchart 220, determining, by an electronic system controller having a processor, a vertical distance between a first laser and a target location on an aircraft based at least in part on the first and second angles and the known distance; and at step 236 of flowchart 220, controlling operation of the lift mechanism to move the cross beam support along the at least one upright support in a direction that reduces a vertical distance between the engine component and the engine.

In one aspect of the disclosure, the method of flowchart 220 may further include: determining, by the system controller, a horizontal distance between the engine component and a target location on the aircraft based at least in part on the first and second angles and the known distance; and controlling operation of a base drive mechanism coupled to the system controller and configured to move the base along the work surface in a manner that causes the base to move along the work surface in a direction that reduces a horizontal distance between the engine component and the engine. The method of flowchart 220 may further include: after determining the first angle of the first laser beam and the second angle of the second laser beam and before controlling operation of the base drive mechanism to move the cross beam support along the work surface, the first laser and the second laser are moved away from the engine component.

At step 228 of the method of flowchart 220, supporting the first laser and the second laser proximate the engine component may additionally include positioning the first laser proximate a first hinge member of a hinge for mounting the engine component to the aircraft, wherein the hinge includes a first hinge member on the engine component and a second hinge member on the aircraft, and the target location on the aircraft is a location of the second hinge member. The method may additionally include: aligning and securing the first hinge member to the second hinge member; and then after determining the first angle of the first laser beam and the second angle of the second laser beam and before controlling operation of the lift mechanism, moving the first laser and the second laser away from the engine component to move the cross beam support along the at least one upright support in a direction that reduces a vertical distance between the engine component and the engine. In performing the disclosed method, the system controller may be configured to control operation of the base drive mechanism after the first and second lasers have been removed from the engine component.

Examples, Components and alternatives

The following sections describe selected aspects of exemplary motion and positioning systems and related methods according to the present disclosure. The examples in these sections are intended for illustration and should not be construed as limiting the overall scope of the disclosure. Each section may include one or more different inventions, and/or context or related information, functionality, and/or structure.

Example 1: illustrative data processing system

As shown in FIG. 17, this example depicts a data processing system 240 (also referred to as a computer) in accordance with aspects of the present disclosure. In this example, the data processing system 240 is an illustrative data processing system suitable for implementing aspects of the mobile system and positioning system of the present disclosure. More specifically, and as noted above, in some examples, the mobile system and the positioning system may include a system controller (40, 80) that may be or may include one or more data processing systems. In performing the above-described functions, such as controlling movement and positioning of vehicle components and/or calculating relative positioning of engine components with respect to target points, the system controllers 40, 80 may exhibit some or all of the features of the data processing system 240 shown and described below.

In this illustrative example, data processing system 240 includes a communications framework 242. The communication framework 242 provides communication between the processor unit 244, the memory 246, the persistent storage 248, the communication unit 250, the input/output (I/O) unit 252, and the display 254. Memory 246, persistent storage 248, communication unit 250, input/output (I/O) unit 252, and display 254 are examples of resources accessible to processor unit 244 via communication framework 242.

Processor unit 244 is used to execute instructions that may be loaded into memory 246. Processor unit 244 may be multiple processors, multiple processor cores, or some other type of processor, depending on the particular implementation. Further, processor unit 244 may be implemented using a number of heterogeneous processor systems in which a main processor resides on a single chip with one or more secondary processors. As another illustrative example, processor unit 244 may be a symmetric multi-processor system containing multiple processors of the same type.

Memory 246 and persistent storage 248 are examples of storage 256. A storage device is any hardware capable of storing information such as, for example, without limitation, data, at least one of program code in functional form, or other suitable temporary, persistent information.

In these examples, storage 256 may also be referred to as computer-readable storage. In these examples, memory 246 may be, for example, a random access memory or any other suitable volatile or non-volatile storage device. Persistent storage 248 may take various forms depending on the particular implementation.

For example, persistent storage 248 may contain one or more components or devices. For example, persistent storage 248 may be a hard drive, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination of the above. The media used by persistent storage 248 may also be removable. For example, a removable hard drive may be used for persistent storage 248.

In these examples, communications unit 250 provides for communications with other data processing systems or devices. In these examples, communications unit 250 is a network interface card. The communication unit 250 may provide communications using one or both of physical and wireless communication links.

An input/output (I/O) unit 252 allows for the input and output of data with other devices that may be connected to the data processing system 240. For example, input/output (I/O) unit 252 may provide a connection for user input through at least one of a keyboard, a mouse, or some other suitable input device. Further, an input/output (I/O) unit 252 may send output to a printer. Display 254 provides a mechanism for displaying information to a user.

Instructions for the Operating System (OS), Applications (APP), and/or programs may be located in storage 256, and storage 3416 communicates with processor unit 244 through communications framework 242. In these illustrative examples, the instructions are present in functional form on persistent storage 248. These instructions may be loaded into memory 246 for execution by processor unit 244. Processor unit 244 may perform the processes of the different embodiments using computer implemented instructions, which may be located in a memory such as memory 246.

These instructions are referred to as program instructions, program code, computer usable program code, or computer readable program code that may be read and executed by a processor in processor unit 244. The program code in the different embodiments may be embodied on different physical or computer readable storage media, such as memory 246 or persistent storage 248.

Program code 258 is located in a functional form on computer readable media 260 that is selectively removable and can be loaded onto or transferred to data processing system 240 for execution by processor unit 244. Program code 258 and computer readable medium 260 form computer program product 262 in these examples. In one example, computer readable medium 260 may be computer readable storage medium 264 or computer readable signal medium 266.

Computer-readable storage media 264 may include, for example, an optical or magnetic disk that is inserted or placed into a drive or other device that is part of persistent storage 248 for transfer onto a storage device that is part of persistent storage 248, such as a hard disk drive. The computer readable storage medium 264 may also take the form of a persistent storage device such as a hard disk drive, thumb drive, or flash memory connected to the data processing system 240. In some cases, computer-readable storage medium 264 may not be removable from data processing system 240.

In these examples, the computer-readable storage medium 264 is a physical or tangible storage device for storing the program code 258 rather than a medium that propagates or transmits the program code 258. The computer-readable storage medium 264 is also referred to as a computer-readable tangible storage device or a computer-readable physical storage device. In other words, the computer-readable storage medium 264 is a medium that can be touched by a person.

Alternatively, the program code 258 may be transmitted to the data processing system 240 using a computer readable signal medium 266. Computer readable signal medium 266 may be, for example, a propagated data signal containing program code 258. For example, computer-readable signal medium 266 may be an electromagnetic signal, an optical signal, and/or any other suitable type of signal. These signals may be transmitted over communication links, such as wireless communication links, fiber optic cables, coaxial cables, wires, or any other suitable type of communication link. In other words, the communication links and/or connections may be physical or wireless in the illustrative examples.

In some demonstrative embodiments, program code 258 may be downloaded over a network from another device or data processing system to persistent storage 248, via computer-readable signal medium 266, for use within data processing system 240. For example, program code stored in a computer readable storage medium in a server data processing system may be downloaded over a network from a server to data processing system 240. The data processing system providing the program code 258 can be a server computer, a client computer, or some other device capable of storing and transmitting the program code 258.

The different components illustrated for data processing system 240 are not meant to provide architectural limitations to the manner in which different embodiments may be implemented. The different illustrative embodiments may be implemented in a data processing system that includes components in addition to and/or in place of those shown for data processing system 240. Other components shown in fig. 17 may differ from the illustrative example shown. The different embodiments may be implemented using any hardware device or system capable of executing program code. As one example, data processing system 240 may include organic components integrated with inorganic components and/or may be entirely composed of organic components, except for humans. For example, the memory device may be composed of an organic semiconductor.

In another illustrative example, processor unit 244 may take the form of a hardware unit having circuitry fabricated or configured for a particular use. This type of hardware may perform the operations without loading program code from storage into memory to be configured to perform the operations.

For example, when processor unit 244 takes the form of a hardware unit, processor unit 244 may be circuitry, an Application Specific Integrated Circuit (ASIC), a programmable logic device, or some other suitable type of hardware configured to perform a number of operations. In the case of a programmable logic device, the device is configured to perform a number of operations. The device may be reconfigured at a later time or may be permanently configured to perform multiple operations. Examples of programmable logic devices include, for example, programmable logic arrays, field programmable gate arrays, and other suitable hardware devices. With this type of implementation, the program code 258 may be omitted because the processes for the different embodiments are implemented in hardware units.

In yet another illustrative example, processor unit 244 may be implemented using a combination of processors found in computers and hardware units. The processor unit 244 may have a plurality of hardware units and a plurality of processors configured to execute the program code 258. For the depicted example, some processes may be implemented in multiple hardware units, while other processes may be implemented in multiple processors.

In another example, a bus system may be used to implement the communication framework 242 and may be comprised of one or more buses, such as a system bus or an input/output bus. Of course, the bus system may be implemented using any suitable type of architecture that provides for a transfer of data between different components or devices attached to the bus system.

In addition, the communication unit 250 may include a plurality of devices that transmit data, receive data, or both transmit and receive data. Communications unit 250 may be, for example, a modem or a network adapter, two network adapters, or some combination thereof. Further, a memory may be, for example, the memory 246 or a cache such as those found in an interface and memory controller hub that may be present in the communications framework 242.

The flowchart and block diagrams described herein illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various illustrative embodiments. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logic or function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, the functions of two blocks shown in succession may be executed substantially concurrently or the functions of the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

Example 2: illustrative distributed data processing system

This example depicts a general-purpose network data processing system 270 as shown in FIG. 18. Network data processing system 270 may be interchangeably referred to as a network, a computer network, a network system, a distributed data processing system, or a distributed network, aspects of which may be included in one or more illustrative embodiments of the mobile system and positioning system of the present disclosure. For example, in other applications, the system controllers 40, 80 of the disclosed system may communicate over a network to coordinate with other devices used in a manufacturing facility or to access a processing center that is remote from the system controllers themselves.

It should be appreciated that FIG. 18 is provided as an illustration of one implementation and is not intended to suggest any limitation as to the environments in which different embodiments may be implemented. Many modifications to the depicted environments may be made.

Network data processing system 270 is a network of computers, each of which is an example of data processing system 240 and other components. Network data processing system 270 may include a network 272, network 272 being a network configured to provide communication links between various devices and computers connected together within network data processing system 270. The network 272 may include connections, such as wire or wireless communication links, fiber optic cables, and/or any other suitable medium for sending and/or transmitting data between network devices, or any combination thereof.

In the depicted example, a first network device 274 and a second network device 276 are connected to the network 272, as are electronic storage devices 278. Network devices 274 and 276 are examples of data processing system 240, respectively, as described above. In the depicted example, devices 274 and 276 are shown as server computers. However, network devices may include, but are not limited to, one or more personal computers, mobile computing devices such as Personal Digital Assistants (PDAs), tablets and smartphones, handheld gaming devices, wearable devices, tablets, routers, switches, voice gates, servers, electronic storage devices, imaging devices, and/or other networking tools that may perform mechanical or other functions. These network devices may be interconnected by wired, wireless, optical, and other suitable communication links.

Additionally, client electronic devices such as a client computer 280, a client laptop or tablet 282, and/or a client smart device 284 may be connected to the network 272. Each of these devices is an example of a data processing system 240, which has been described above with respect to FIG. 17. Client electronic devices 280, 282, and 284 may include, for example, one or more personal computers, network computers, and/or mobile computing devices, such as Personal Digital Assistants (PDAs), smart phones, handheld gaming devices, wearable devices, and/or tablet computers, among others. In the depicted example, server 274 provides information, such as boot files, operating system images, and applications to one or more of client electronic devices 280, 282, and 284. Client electronic devices 280, 282, and 284 may be referred to as "clients" with respect to servers, such as server computer 274. Network data processing system 270 may include more or fewer servers and clients or no servers or clients and other devices not shown.

Client smart device 284 may include any suitable portable electronic device capable of wireless communication and software execution, such as a smartphone or tablet computer. In general, the term "smartphone" may describe any suitable portable electronic device that has higher computing power and network connectivity than a typical mobile phone. In addition to placing a call (e.g., over a cellular network), smart phones are also capable of sending and receiving e-mail, text, and multimedia messages, accessing the internet, and/or functioning as a web browser. The smart device (e.g., smart phone) may also include features of other known electronic devices, such as a media player, a personal digital assistant, a digital camera, a video camera, and/or a global positioning system. A smart device (e.g., a smart phone) may be capable of connecting with other smart devices, computers, or electronic devices wirelessly, such as through Near Field Communication (NFC), bluetooth, WiFi, or a mobile broadband network. Wireless connections may be established between smart devices, smart phones, computers, and other devices to form a mobile network that may exchange information.

Program code located in system 270 may be stored in or on a computer recordable storage medium, such as persistent storage 248 described above, and may be downloaded into a data processing system or other device for use. For example, program code may be stored on a computer recordable storage medium on server computer 274 and downloaded over network 272 for use by client 280, for use on client 280.

Network data processing system 270 may be implemented as one or more of many different types of networks. For example, the system 270 may include an intranet, a Local Area Network (LAN), a Wide Area Network (WAN) or a Personal Area Network (PAN). In some examples, network data processing system 270 includes the internet, where network 272 represents a worldwide collection of networks and gateways that use the transmission control protocol/internet protocol (TCP/IP) suite of protocols to communicate with one another. At the heart of the internet is a backbone of high-speed data communication lines between major nodes or hosts. Thousands of commercial, government, educational and other computer systems can be used to route data and messages. In some examples, the network 270 may be referred to as a "cloud. In those examples, each server 274 may be referred to as a cloud computing node, and the client electronic devices may be referred to as cloud consumers or the like. FIG. 18 is intended as an example, and not as an architectural limitation for any of the illustrative embodiments.

Example 3: representative aspects and features

This section describes other aspects and features of the mobile and positioning systems of the present disclosure, including their use, which are presented as a series of paragraphs without limitation, some or all of which may be alphanumeric for clarity and efficiency. Each of these paragraphs may be combined in any suitable manner with one or more other paragraphs and/or with the disclosure elsewhere in this application, including the material incorporated by reference in the cross-reference. Some of the paragraphs below explicitly mention and further limit other paragraphs, thereby providing some examples of suitable combinations, but not limited to the examples described.

A1. A positioning system for positioning an engine component for attachment to an engine of an aircraft, comprising:

a pair of spaced apart upright supports configured to be mounted to the base on opposite sides of a component compartment area of the base;

a lift frame including a frame rail and a pair of arcuate trusses having respective apexes, the trusses being secured to the frame rail at spaced apart locations at their apexes and having distal ends configured to be secured to the engine component at spaced apart locations;

a beam support on which the frame beam is supported for rotation relative to the beam support; wherein the cross beam support is supported and configured for relative movement along the pair of upright supports;

a lift mechanism configured to move the cross beam support along at least one of the pair of upright supports;

a rotation drive configured to rotate the frame rail relative to the rail support;

a laser assembly configured to support first and second lasers at spaced known distances along a reference line, the laser assembly configured to be positioned relative to the engine component by a vertically oriented reference line, the first and second lasers each adjustable in a respective plane including the reference line to align a respective laser beam of each of the first and second lasers with a target location on the aircraft associated with the aircraft engine, and the laser assembly providing a first indication representative of a first angle of the laser beam of the first laser relative to the reference line and a second indication representative of a second angle of the laser beam of the second laser relative to the reference line; and

a system controller configured to (a) control operation of the rotary drive to rotate the frame beam relative to the beam support to rotationally position an engine component fixed on the lift frame, (b) determine a vertical distance between the engine component and a target location on the aircraft based at least in part on the first and second angles and the known distance, and (c) control operation of the lift mechanism to move the beam support along the at least one upright support in a direction that reduces the vertical distance between the engine component and the engine.

A2. The positioning system of paragraph a1, wherein the cross beam support spans between the pair of upright supports.

A3. The positioning system of paragraph a1, further comprising a base drive mechanism coupled to the system controller and configured to move the base along a work surface, and wherein the system controller is further configured to: (a) determine a horizontal distance between the engine component and a target location on the aircraft based at least in part on the first and second angles and the known distance, and (b) control operation of the base drive mechanism to move the base along the work surface in a direction that reduces the horizontal distance between the engine component and the engine.

A4. The positioning system of paragraph a3, wherein the engine component is mounted to the aircraft by a hinge, the hinge includes a first hinge component on the aircraft and a second hinge component on the engine component, and the target location on the aircraft is a location of the first hinge component, and the laser assembly is configured to be positioned relative to the engine component by the first laser being positioned proximate the second hinge component.

A5. The positioning system of paragraph a4, wherein the laser assembly is configured to support the first and second lasers in an expanded configuration, wherein the first laser is positioned proximate to the second hinge component and is further configured to be adjusted to support the first and second lasers in a retracted configuration, wherein the first and second lasers are spaced apart from the motor component.

A6. The positioning system of paragraph a5, wherein the system controller is configured to control operation of the base drive mechanism when the laser is in a retracted configuration.

B1. A method of positioning an engine component for attachment to an engine of an aircraft, the method comprising:

attaching the engine component to a lifting frame comprising a frame cross member and a pair of arcuate trusses having respective apexes, the trusses being secured at their apexes to the frame cross member at spaced locations and distal ends being secured to the engine component at spaced locations;

moving the engine component by a lift mechanism by moving a beam support within which the frame beam is supported; the cross beam support is configured for relative movement along two upright supports extending upwardly from the base;

rotating the lifting frame and the attached engine component relative to the cross-beam support by a rotary drive to orient the engine component relative to the engine;

supporting a first laser and a second laser vertically spaced a known distance proximate to the engine component;

directing a first laser beam emitted by the first laser and a second laser beam emitted by the second laser to a target location on the aircraft associated with the aircraft engine;

determining a first angle of the first laser beam relative to a reference line including the first laser and a second laser, and a second angle of the second laser beam relative to the reference line;

determining, by an electronic system controller having a processor, a vertical distance between the first laser and a target location on the aircraft based at least in part on the first and second angles and the known distance; and

controlling operation of the lift mechanism to move the cross beam support along the at least one upright support in a direction that reduces a vertical distance between the engine component and the engine.

B2. The method of paragraph B1, further comprising: (a) determining, by the system controller, a horizontal distance between the engine component and a target location on the aircraft based at least in part on the first and second angles and the known distance; and (b) controlling operation of a base drive mechanism coupled to the system controller and configured to move the base along a work surface in a manner that causes the base to move along the work surface in a direction that reduces a horizontal distance between the engine component and the engine.

B3. The method of B2, further comprising: after determining the first angle of the first laser beam and the second angle of the second laser beam and before controlling operation of the base drive mechanism to move the beam support along the work surface, moving the first laser and the second laser away from the motor component.

B4. The method of paragraph B2, wherein supporting the first and second lasers proximate the engine component includes positioning the first laser proximate a first hinge component of the hinge for mounting the engine component to the aircraft, wherein the hinge includes a first hinge component on the engine component and a second hinge component on the aircraft, and wherein the target location on the aircraft is a location of the second hinge component.

B5. The method of paragraph B4, further comprising aligning the first hinge member with the second hinge member and securing the first hinge member to the second hinge member.

B6. The method of paragraph B4, further comprising moving the first and second lasers away from the engine component after determining the first angle of the first laser beam and the second angle of the second laser beam and before controlling operation of the lift mechanism to move the cross beam support along the at least one upright support in a direction that reduces a vertical distance between the engine component and the engine.

B7. The method of paragraph B6, wherein the system controller is configured to control operation of the base drive mechanism after the first and second lasers have been removed from the motor component.

C1. A method of mounting a component of a vehicle to a structure of the vehicle, wherein a mounting location on the component is located at a mounting location on the structure of the vehicle, the method comprising:

supporting the component by a carrier (carrier);

moving a component supported on the carriage to a position proximate to a structural mounting location of the vehicle;

supporting first and second visual elements of a vision system in respective first and second element positions relative to a mounting location on the component, the first and second element positions being a known visual element distance from the component and defining a visual element line having a known orientation relative to the component;

directing, by the vision system, a first beam of radiant energy between the first vision element and a target on a target location on the structure, the target having a known relationship to a mounting location on the structure, and directing a second beam of the radiant energy between the second vision element and the target;

determining, by the vision system, a first determined angle of the first light beam relative to the line of sight and a second determined angle of the second light beam relative to the line of sight;

determining, by a controller coupled to the vision system, a length of at least the first light beam based at least in part on the first and second angles and the vision element distance; and

controlling, by the controller, movement of the carriage to move the component relative to the structure in a manner that reduces a distance between a mounting location on the component and a mounting location on the structure based at least in part on a length of the first beam of light.

C2. The method of paragraph C1, further comprising determining a distance between the first visual element and the third visual element along a first line perpendicular to the visual element line according to the length of the first light beam.

C3. The method of paragraph C2, wherein the first line is parallel to a surface supporting the carriage.

C4. The method of paragraph C3, wherein the line of sight elements is perpendicular to a surface supporting the carriage.

C5. The method of paragraph C1, further comprising determining a distance between the first visual element and the third visual element along a first line parallel to the visual element line according to the length of the first light beam.

C6. The method of paragraph C5, wherein the first line is perpendicular to a surface supporting the carriage.

C7. The method of paragraph C1, further comprising determining a distance between a mounting location on the component and a mounting location on the structure based on the length of the first beam of light.

C8. The method of paragraph C7, further comprising determining a determined direction of a mounting location on the structure from a mounting location on the component based on the length of the first light beam.

C9. The method of paragraph C8, wherein controlling the movement of the carriage to move the component includes controlling the movement of the carriage to move the component from a mounting position on the component in a determined direction of a mounting position on the structure.

D1. A system for mounting a component of a vehicle to a structure of the vehicle, wherein a mounting location on the component is located at a mounting location on the structure of the vehicle, the system comprising:

a carriage assembly configured to support the component and move the supported component to a position proximate to a mounting location on a structure of the vehicle;

a vision assembly including a vision processor, first and second vision elements, and a frame, wherein the frame supports the first and second vision elements at a known vision element distance apart, the first and second vision elements having respective vision element positions to define a vision element line having a known orientation and position relative to a mounting location on a supported component when the vision assembly is mounted at a known position and orientation relative to the component, the vision processor configured to direct a first beam of radiant energy between the first vision element and a target located on the structure at a target location having a known relationship to the mounting location on the structure; and directing a second beam of radiant energy between the second vision element and the target and detecting a first angle of the first beam relative to the vision element line and a second angle of the second beam relative to the vision element line; and

a controller operably coupled to the vision system and the carriage, the controller configured to determine a length of at least the first light beam based at least in part on the first and second angles and the vision element distance, and to control movement of the carriage based at least in part on the length of the first light beam to move the component relative to the structure in a manner that reduces a distance between a mounting location on the component and a mounting location on the structure.

E1. A system for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the system comprising:

first and second spaced apart supports mounted to the base on opposite sides of a component compartment area of the base, the first and second supports extending upwardly from the base;

a lift frame including a transom extending along a beam axis between the first and second supports, and a pair of spaced apart arcuate truss assemblies secured to the transom and configured to attach to and support the vehicle component relative to the transom;

first and second beam support assemblies on first and second supports configured to support the beam for rotation relative to the first and second supports, the first and second beam support assemblies being movable along the first and second supports;

a first lift mechanism configured to move the first beam support assembly along the first support in response to a first control signal;

a rotary drive mechanism configured to rotate the beam about the beam axis relative to the first and second beam support assemblies in response to a second control signal;

an electronic controller operatively coupled to the first lift mechanism and the rotary drive mechanism, the electronic controller configured to generate a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support and to generate a second control signal that controls operation of the rotary drive mechanism to rotate the beam relative to the first beam support assembly to change the position of the vehicle component relative to the vehicle.

E2. The system of paragraph E1, wherein the electronic controller is configured to receive input information associated with a target position of the vehicle component and, in response to the received input information, generate a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support and generate the second control signal for controlling operation of the rotational drive mechanism to rotate the beam relative to the first beam support assembly to rotationally position the vehicle component when supported by the lift frame.

E3. The system of paragraph E1, wherein the first and second beam support assemblies include tubular outer support beams extending between the first and second supports, wherein the support beams surround the beam.

E4. The system of paragraph E1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to pivot about a first pivot axis that is transverse to the beam axis.

E5. The system of paragraph E4, wherein the first beam support assembly includes a first beam support element supporting the beam, a first support member supported by the first lifting mechanism for movement along the first support along a first lifting cable, and a pivot pin pivotally coupling the first beam support element to the first support member.

E6. The system of paragraph E5, wherein the first cross beam support assembly further includes a sleeve fixedly mounted to one of the first cross beam support element and the first support member, and a pivot pin pivotally supported in the sleeve and supported by the other of the first cross beam support element and the first support member.

E7. The system of paragraph E1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to move transverse to the first support. It should be understood that "first support" and "first beam support assembly" in this example refer to "second support" and "second beam support assembly" respectively, as only one support and beam support assembly is referenced in this combination.

E8. The system of paragraph E1, further comprising a second lift mechanism configured to move the second cross beam support assembly along the second support in response to a third control signal; and wherein the electronic controller is operably coupled to the second lift mechanism and configured to generate a third control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

F1. A method for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the method comprising the steps of:

attaching a lifting frame to the vehicle component, wherein the lifting frame comprises a cross beam and a pair of spaced apart arcuate truss assemblies attached to the cross beam, and attaching the lifting frame to the vehicle component comprises securing the pair of truss assemblies to the vehicle component at a plurality of spaced apart locations;

supporting a first end of the beam with a first beam support assembly;

moving the vehicle component by moving the first beam support assembly along a first support mounted to and extending upwardly from a base supported on a work surface in response to a first control signal by a first lift mechanism;

rotating, by a rotary drive mechanism, the lift frame and the attached vehicle component relative to the first cross-beam support assembly about a beam axis in response to a second control signal to change an orientation of the vehicle component relative to the vehicle; and

changing an orientation of the vehicle component relative to the vehicle by generating, by an electronic controller, a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support, and a second control signal for controlling operation of the rotary drive mechanism to rotate the lift frame and the attached vehicle component relative to the first beam support assembly.

F2. The method of paragraph F1, further comprising the steps of:

receiving, by the electronic controller, input information related to alignment of the first laser and the second laser positioned proximate the vehicle component relative to a target mounting point on the vehicle structure, the input information being indicative of a target position and orientation of the vehicle component relative to the vehicle structure;

generating, by the electronic controller in response to the received input information, a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support; and

generating, by the electronic controller, a second control signal in response to the received input information, the second control signal for controlling operation of the rotary drive mechanism to rotate the crossbar and the attached vehicle component relative to the first crossbar support assembly.

F3. The method of paragraph F1, further comprising the steps of:

receiving, by the electronic controller, input information related to a target position of the vehicle component;

generating a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support in response to the received input information; and

generating the second control signal for controlling operation of the rotary drive mechanism to rotate the crossbar relative to the first crossbar support assembly to rotationally position the vehicle component when supported by the lift frame.

F4. The method of paragraph F1, wherein moving the first beam support assembly along the first support includes pivoting the beam relative to the first support about a first pivot axis that is transverse to the beam axis.

F5. The method of paragraph F4, wherein pivoting the cross beam relative to the first support includes: supporting the beam by a first beam support element; supporting a first support member by the first lifting mechanism for movement along a first support along a first lifting cable; and pivoting the first cross beam support element about a pivot pin that pivotably couples the first cross beam support element to the first support member.

F6. The method of paragraph F5, further comprising the steps of: moving the first beam support element relative to the first support member along a transverse cable transverse to the first lift cable.

F7. The method of paragraph F1, further comprising the step of moving the cross beam transverse to the first support. It should be understood that "first support", "first support member", and "first beam support element" in this combination and the next preceding combination refer to "second support", "second support member", and "second beam support element", respectively, as described above, since only one support, support member, and beam support element are referenced in this combination.

F8. The method of paragraph F1, further comprising the steps of: supporting a second end of the beam with a second beam support assembly movable along a second support mounted on and extending upwardly from the base; moving the second beam support assembly along the second support by a second lift mechanism in response to a third control signal; and generating, by the electronic controller, the third control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

G1. A system for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the system comprising:

first and second spaced apart supports mounted to the base on opposite sides of a component compartment area of the base, the first and second supports extending upwardly from the base;

a lift frame including a transom extending along a transom cable between the first and second supports, and a pair of spaced apart arcuate truss assemblies secured to the transom and configured to attach to and support the vehicle component relative to the transom;

first and second beam support assemblies on the first and second supports configured to support the beam relative to the first and second supports, the first and second beam support assemblies being movable along the first and second supports;

a first lift mechanism configured to move the first beam support assembly along the first support in response to a first control signal;

a second lift mechanism configured to move the second beam support assembly along the second support in response to a second control signal; and

an electronic controller operatively coupled to the first and second lift mechanisms, configured to generate a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support and to generate a second control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

G2. The system of paragraph G1, wherein the electronic controller is configured to receive input information associated with a target position of the vehicle component and to generate the first control signal in response to the received input information, the first control signal to control operation of the first lift mechanism to move the first beam support assembly along the first support and to generate the second control signal to control operation of the second lift mechanism to move the second beam support assembly along the second support.

G3. The system of paragraph G1, wherein the first support, the first cross beam support assembly, and the cross beam are collectively configured to allow the cross beam to pivot about a first pivot axis that is transverse to the cross beam cable.

G4. The system of paragraph G1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to move transverse to the first support. It should be understood that "first support" and "first beam support assembly" in this example refer to "second support" and "second beam support assembly" respectively, as only one support and beam support assembly is referenced in this combination.

H1. A system for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the system comprising:

first and second spaced apart supports mounted to the base on opposite sides of a component compartment area of the base, the first and second supports extending upwardly from the base;

a lift frame including a transom extending along a beam axis between the first and second supports, and a pair of spaced apart arcuate truss assemblies secured to the transom and configured to attach to and support the vehicle component relative to the transom;

first and second beam support assemblies on the first and second supports configured to support the beam for rotation relative to the first and second supports, the first and second beam support assemblies being movable along the first and second supports;

a first lift mechanism configured to move the first beam support assembly along the first support in response to a first control signal;

a rotary drive mechanism configured to rotate the beam about the beam axis relative to the first and second beam support assemblies in response to a second control signal;

an electronic controller operatively coupled to the first lift mechanism and the rotary drive mechanism, the electronic controller configured to generate a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support and to generate a second control signal that controls operation of the rotary drive mechanism to rotate the beam relative to the first beam support assembly to change the position of the vehicle component relative to the vehicle.

H2. The system of paragraph H1, wherein the electronic controller is configured to receive input information associated with a target position of the vehicle component and, in response to the received input information, to generate a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support and to generate the second control signal for controlling operation of the rotary drive mechanism to rotate the beam relative to the first beam support assembly to rotationally position the vehicle component when supported by the lift frame.

H3. The system of paragraph H1, wherein the first and second beam support assemblies include tubular outer support beams extending between the first and second supports, wherein the support beams surround the beam.

H4. The system of paragraph H3, wherein each truss assembly of the pair of truss assemblies extends from the cross beam through an opening in the support beam.

H5. The system of paragraph H1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to pivot about a first pivot axis that is transverse to the beam axis.

H6. The system of paragraph H5, wherein the first beam support assembly includes a first beam support element supporting the beam, a first support member supported by the first lifting mechanism for movement along the first support along a first lifting cable, and a pivot pin pivotally coupling the first beam support element to the first support member.

H7. The system of paragraph H6, wherein the first cross beam support assembly further includes a sleeve fixedly mounted to one of the first cross beam support element and the first support member, and a pivot pin pivotally supported in the sleeve and supported by the other of the first cross beam support element and the first support member.

H8. The system of paragraph H7, wherein the second beam support assembly includes: a second beam support element supporting the beam; and a second support member configured to move along a second lifting cable along the second support; and the second beam support element and the second support member are configured to allow the second beam support element to move relative to the second support member along a transverse line transverse to the second lifting line.

H9. The system of paragraph H8, wherein the second beam support element and the second support member are further configured to allow the second beam support element to pivot relative to the second support member about a second pivot axis that is transverse to the beam axis.

H10. The system of paragraph H6, wherein the first beam support element and the first support member are configured to allow the first beam support element to move relative to the first support member along a transverse line transverse to the first lifting line.

H11. The system of paragraph H1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to move transverse to the first support. It should be understood that "first support," "first support member," "first beam support element," and "first beam support member" in this combination and the next preceding combination refer to "second support," "second support member," "second beam support element," and "second beam support member," respectively, as described above, since only one support, support member, beam support element, and beam support member are referenced in this combination.

H12. The system of paragraph H1, further comprising a second lift mechanism configured to move the second cross beam support assembly along the second support in response to a third control signal; and wherein the electronic controller is operably coupled to the second lift mechanism and configured to generate a third control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

I1. A method for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the method comprising the steps of:

attaching a lifting frame to the vehicle component, wherein the lifting frame comprises a cross beam and a pair of spaced apart arcuate truss assemblies attached to the cross beam, and attaching the lifting frame to the vehicle component comprises securing the pair of truss assemblies to the vehicle component at a plurality of spaced apart locations;

supporting a first end of the beam with a first beam support assembly;

moving the vehicle component by moving the first beam support assembly along a first support mounted to and extending upwardly from a base supported on a work surface in response to a first control signal by a first lift mechanism;

rotating, by a rotary drive mechanism, the lift frame and the attached vehicle component relative to the first cross-beam support assembly about a beam axis in response to a second control signal to change an orientation of the vehicle component relative to the vehicle; and

changing an orientation of the vehicle component relative to the vehicle by generating, by an electronic controller, a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support, and a second control signal for controlling operation of the rotary drive mechanism to rotate the lift frame and the attached vehicle component relative to the first beam support assembly.

I2. The method of paragraph I1, further comprising the steps of:

receiving, by the electronic controller, input information related to alignment of the first laser and the second laser positioned proximate the vehicle component relative to a target mounting point on the vehicle structure, the input information being indicative of a target position and orientation of the vehicle component relative to the vehicle structure;

generating, by the electronic controller in response to the received input information, a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support; and

generating, by the electronic controller, a second control signal in response to the received input information, the second control signal for controlling operation of the rotary drive mechanism to rotate the crossbar and the attached vehicle component relative to the first crossbar support assembly.

I3. The method of paragraph I1, further comprising the steps of:

receiving, by the electronic controller, input information related to a target position of the vehicle component;

generating a first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support in response to the received input information; and

generating the second control signal for controlling operation of the rotary drive mechanism to rotate the crossbar relative to the first crossbar support assembly to rotationally position the vehicle component when supported by the lift frame.

I4. The method of paragraph I1, wherein supporting the first end of the beam with the first beam support assembly further comprises enclosing the beam in a tubular outer support beam.

I5. The method of paragraph I4, wherein rotating the boom of the lift frame and the attached vehicle component relative to the first boom support assembly includes: extending each truss assembly of the pair of truss assemblies from the cross beam through an opening in the support beam.

I6. The method of paragraph I1, wherein moving the first beam support assembly along the first support includes pivoting the beam relative to the first support about a first pivot axis that is transverse to the beam axis.

I7. The method of paragraph I6, wherein pivoting the cross beam relative to the first support includes: supporting the beam by a first beam support element; supporting a first support member by the first lifting mechanism for movement along a first support along a first lifting cable; and pivoting the first cross beam support element about a pivot pin that pivotably couples the first cross beam support element to the first support member.

I8. The method of paragraph I7, wherein pivoting the cross beam support element about the pivot pin includes: pivoting the pivot pin in a sleeve fixedly mounted to one of the first cross beam support element and the first support member.

I9. The method of paragraph I8, further comprising the steps of:

supporting a second end of the beam with a second beam support assembly movable along a second support mounted to and extending upwardly from the base, wherein the second beam support assembly includes a second beam support element supporting the second end of the beam and a second fulcrum supported for movement along the second support along a second hoist cable; and

moving the second beam support element relative to the second support member along a transverse line transverse to the second lifting line.

I10. The method of paragraph I9, further comprising the steps of: pivoting the second beam support element relative to the second support member about a second pivot axis transverse to the beam axis.

I11. The method of paragraph I7, further comprising the steps of: moving the first beam support element relative to the first support member along a transverse cable transverse to the first lift cable.

I12. The method of paragraph I1, further comprising the step of moving the cross beam transverse to the first support. It should be understood that "first support", "first support member", and "first beam support element" in this combination and the next preceding combination refer to "second support", "second support member", and "second beam support element", respectively, as described above, since only one support, support member, and beam support element are referenced in this combination.

I13. The method of paragraph I1, further comprising the steps of: supporting a second end of the beam with a second beam support assembly movable along a second support mounted on and extending upwardly from the base; moving the second beam support assembly along the second support by a second lift mechanism in response to a third control signal; and generating, by the electronic controller, the third control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

J1. A system for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the system comprising:

first and second spaced apart supports mounted to the base on opposite sides of a component compartment area of the base, the first and second supports extending upwardly from the base;

a lift frame including a transom extending along a transom cable between the first and second supports, and a pair of spaced apart arcuate truss assemblies secured to the transom and configured to attach to and support the vehicle component relative to the transom;

first and second beam support assemblies on the first and second supports configured to support the beam relative to the first and second supports, the first and second beam support assemblies being movable along the first and second supports;

a first lift mechanism configured to move the first beam support assembly along the first support in response to a first control signal;

a second lift mechanism configured to move the second beam support assembly along the second support in response to a second control signal; and

an electronic controller operatively coupled to the first and second lift mechanisms, configured to generate a first control signal that controls operation of the first lift mechanism to move the first beam support assembly along the first support and to generate a second control signal that controls operation of the second lift mechanism to move the second beam support assembly along the second support to change the position of the vehicle component relative to the vehicle.

J2. The system of paragraph J1, wherein the electronic controller is configured to receive input information associated with a target position of the vehicle component and to generate the first control signal in response to the received input information, the first control signal to control operation of the first lift mechanism to move the first beam support assembly along the first support and to generate the second control signal to control operation of the second lift mechanism to move the second beam support assembly along the second support.

J3. The system of paragraph J1, wherein the first and second beam support assemblies include tubular outer support beams extending between the first and second supports, wherein the support beams surround the beam.

J4. The system of paragraph J3, wherein each truss assembly of the pair of truss assemblies extends from the cross beam through an opening in the support beam.

J5. The system of paragraph J1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to pivot about a first pivot axis that is transverse to the beam cable.

J6. The system of paragraph J5, wherein the first beam support assembly includes a first beam support element supporting the beam, a first support member supported by the first lifting mechanism for movement along the first support along the first lifting cable, and a pivot pin pivotally coupling the first beam support element to the first support member.

J7. The system of paragraph J6, wherein the first cross beam support assembly further includes a sleeve fixedly mounted to one of the first cross beam support element and the first support member, and a pivot pin pivotally supported in the sleeve and supported by the other of the first cross beam support element and the first support member.

J8. The system of paragraph J7, wherein the second beam support assembly includes: a second beam support element supporting the beam; and a second support member supported by the second lifting mechanism for movement along the second support along a second lifting cable; and the second beam support element and the second support member are configured to allow the second beam support element to move relative to the second support member along a transverse line transverse to the second lifting line.

J9. The system of paragraph J8, wherein the second beam support element and the second support member are further configured to allow the second beam support element to pivot relative to the second support member about a second pivot axis that is transverse to the beam cable.

J10. The system of paragraph J6, wherein the first beam support element and the first support member are configured to allow the first beam support element to move relative to the first support member along a transverse line transverse to the first lift line.

J11. The system of paragraph J1, wherein the first support, the first beam support assembly, and the beam are collectively configured to allow the beam to move transverse to the first support. It should be understood that "first support," "first support member," "first beam support element," and "first beam support member" in this combination and the next preceding combination refer to "second support," "second support member," "second beam support element," and "second beam support member," respectively, as described above, since only one support, support member, beam support element, and beam support member are referenced in this combination.

K1. A method for moving a vehicle component of a vehicle relative to a structure of the vehicle during mounting of the component on the structure, the method comprising the steps of:

attaching the vehicle component to a lifting frame, the lifting frame including a transom and a pair of arcuate truss assemblies secured to the transom and attached to the vehicle component at a plurality of spaced apart locations;

supporting said beam with said first and second beam support assemblies relative to first and second supports mounted on and extending upwardly from a base supported on a work surface;

moving the vehicle component by moving the first beam support assembly along the first support in response to a first control signal by a first lift mechanism; and

moving the vehicle component by moving the second cross beam support assembly along the second support in response to a first control signal by a second lift mechanism.

K2. The method of paragraph K1, further comprising the steps of: generating, by an electronic controller, the first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support and the second control signal for controlling operation of the second lift mechanism to move the second beam support assembly along the second support.

K3. The method of paragraph K1, further comprising the steps of:

receiving, by an electronic controller, input information related to alignment of a first laser and a second laser positioned proximate to the vehicle component relative to a target mounting point on the vehicle structure, the input information representing a target position of the vehicle component;

generating, by the electronic controller in response to the received input information, the first control signal for controlling operation of the first lift mechanism to move the first beam support assembly along the first support; and

generating, by the electronic controller, the second control signal for controlling operation of the second lift mechanism to move the second beam support assembly along the second support in response to the received input information.

K4. The method of paragraph K1, wherein moving the first beam support assembly along the first support includes pivoting the beam relative to the first support about a first pivot axis that is transverse to a beam cable extending along the beam between the first beam support assembly and the second beam support assembly.

K5. The method of paragraph K4, wherein pivoting the cross beam relative to the first support includes: supporting the beam by a first beam support element; supporting a first support member by the first lifting mechanism for movement along a first lifting cable along the first support; and pivoting the first beam support element supporting the beam about a pivot pin that pivotably couples the first beam support element to the first support member.

K6. The method of paragraph K5, wherein supporting the cross beam to pivot about the pivot pin comprises: pivotally supporting the pivot pin in a sleeve fixedly mounted to one of the first cross beam support element and the first support member.

K7. The method of paragraph K6, wherein supporting the beam with the second beam support assembly includes: supporting the beam with a second beam support element and supporting a second support member for movement along a second hoist cable along the second support, and the method further comprises the steps of: moving the second beam support element relative to the second support member along a transverse line transverse to the second lifting line.

K8. The method of paragraph K7, further comprising the steps of: pivoting the second beam support element relative to the second support member about a second pivot axis transverse to the beam cable.

K9. The method of paragraph K5, further comprising the steps of: moving the first beam support element relative to the first support member along a transverse cable transverse to the first lift cable.

K10. The method of paragraph K1, further comprising the step of moving the cross beam transverse to the first support. It should be understood that "first support", "first support member", and "first beam support element" in this combination and the next preceding combination refer to "second support", "second support member", and "second beam support element", respectively, as described above, since only one support, support member, and beam support element are referenced in this combination.

K11. The method of paragraph K1, wherein supporting the first end of the beam with the first beam support assembly further comprises enclosing the beam in a tubular outer support beam.

K12. The method of paragraph K11, wherein supporting the first end of the beam with the first beam support assembly further comprises extending each truss assembly of the pair of truss assemblies from the beam through an opening in the support beam.

Advantages, features, and benefits

The different embodiments of the movement and positioning system described herein have several advantages over known solutions for assembling or servicing large vehicles, such as commercial aircraft, and in particular aircraft power plant components.

For example, the illustrative embodiments of the movement system described herein allow large aircraft structures to be lifted, transported, and placed adjacent to an aircraft at installation without the need for overhead cranes or hoists, and without the need for maintenance personnel to manually guide the often heavy structures. The disclosed locomotion system eliminates the need for auxiliary motion assistance devices, such as cranes, hoists, and even muscle power.

Additionally, the configuration of the base of the illustrative mobile system allows the mobile system to straddle a vehicle component as it remains on a pallet or other transport platform and secure it for lifting, among other benefits. Once secured, the vehicle components can be independently raised, translated, and rotated while secured, so that the vehicle components can be oriented as desired to match the orientation of the aircraft.

The addition of a work platform to the mobile system allows technicians and service personnel to approach the junction between the engine components and the aircraft without the need for personnel to balance or be stationed under suspended loads on the aircraft itself.

Further, the illustrative positioning systems disclosed herein employ optical guidance to automatically or semi-automatically position the engine component, including making fine adjustments, without requiring any personnel to enter the gap between the engine component and the aircraft or its vicinity. Further, the necessary positional adjustments required to mount the engine components to achieve component alignment can be made without relying on the naked eye or expert knowledge.

No known system or device can perform these functions, particularly in connection with commercial aircraft. Thus, the illustrative embodiments described herein are particularly useful for the construction or maintenance of commercial aircraft. However, not all embodiments described herein provide the same advantages or the same degree of advantages.

Further, the present disclosure includes embodiments according to the following clauses:

clause 1: a positioning system (90) for positioning an engine component (92) for attachment to an engine (94) of an aircraft (96), comprising:

a pair of spaced apart upright supports (144, 146) configured to be mounted to the base (142) on opposite sides of a component bay area (148) of the base;

a lifting frame (150) including a frame cross member (152) and a pair of arcuate trusses (158) having respective apexes (160), the trusses being secured at their apexes to the frame cross member at spaced apart locations, and their distal ends (162) being configured to be secured at spaced apart locations to the engine component;

a beam support (164) on which the frame beam (152) is supported for rotation relative thereto; wherein the cross beam support is supported and configured for relative movement along the pair of upright supports (144, 146);

a lift mechanism (166) configured to move the cross beam support (164) along at least one of the pair of upright supports (144, 146);

a rotation drive (68, 168) configured to rotate the frame rail (152) relative to the rail support (164);

a laser assembly (172) configured to support a first laser (174) and a second laser (176) at a known distance apart along a reference line (178), the laser assembly is configured to be positioned relative to the motor component (92) by a vertically oriented reference line, the first and second lasers are each adjustable in respective planes (180) including a reference line, to align the respective laser beam of each of the first and second lasers with a target location (182) on the aircraft (96) associated with the aircraft engine (94), and the laser assembly providing a first indication representative of a first angle (184) of a laser beam (185) of the first laser (174) relative to a reference line and a second indication representative of a second angle (186) of a laser beam (187) of the second laser (176) relative to the reference line (178); and

a system controller (190) configured to (a) control operation of the rotary drive (68, 168) to rotate the frame cross beam (152) relative to the cross beam support (164) to rotationally position an engine component (92) secured to the lifting frame (150), (b) determine a vertical distance (192) between the engine component and a target location (182) on the aircraft based at least in part on the first and second angles (184, 186) and the known distance (177), and (c) control operation of the lifting mechanism (166) to move the cross beam support (164) along the at least one upright support (144, 146) in a direction that reduces the vertical distance between the engine component (92) and the engine (94).

Clause 2: the positioning system (90) of clause 1, wherein the cross beam support (164) spans between the pair of upright supports (144, 146).

Clause 3: the positioning system (90) according to clause 1, further comprising a base drive mechanism (143) coupled to the system controller (190) and configured to move the base (142) along a work surface (24), and wherein the system controller is further configured to: (a) determine a horizontal distance (194) between the engine component (92) and a target location (182) on the aircraft (96) based at least in part on the first and second angles (184, 186) and the known distance (177), and (b) control operation of the base drive mechanism to move the base along the work surface in a direction that reduces the horizontal distance between the engine component and the engine.

Clause 4: the positioning system (90) of clause 3, wherein the engine component (92) is mounted to the aircraft (96) by a hinge (28) that includes a first hinge member (30) on the aircraft and a second hinge member (32) on the engine component, and a target location (182) on the aircraft is a location of the first hinge member, and the laser assembly (172) is configured to be positioned relative to the engine component by the first laser (174) positioned proximate to the second hinge member (32).

Clause 5: the positioning system (90) according to clause 4, wherein the laser assembly (172) is configured to support the first laser (172) and the second laser (176) in an expanded configuration, wherein the first laser (172) is positioned proximate to the second hinge member (32), and is further configured to be adjusted to support the first and second lasers in a retracted configuration, wherein the first and second lasers are spaced apart from the engine component (92).

Clause 6: the positioning system (90) according to clause 5, wherein the system controller (190) is configured to control operation of the base drive mechanism (143) when the laser is in a retracted configuration.

Clause 7: a method (220) of positioning an engine component (92) for attachment to an engine (94) of an aircraft (96), the method comprising:

attaching (222) the engine component to a lifting frame (150) comprising a frame cross member (152) and a pair of arcuate trusses (158) having respective vertices (160) secured at their vertices to the frame cross member at spaced apart locations and securing distal ends (162) to the engine component at spaced apart locations;

moving (224) the engine component by a lift mechanism (166) by moving a beam support (164), wherein the frame beam is supported within the beam support; the cross beam support is configured for relative movement along two upright supports (144, 146) extending upwardly from the base (142);

rotating (226), by a rotation drive (68, 168), the lifting frame and the attached engine component relative to the cross beam support to orient the engine component relative to the engine;

supporting (228) a first laser (174) and a second laser (176) vertically spaced a known distance (177) proximate the engine component;

directing (230) a first laser beam (185) emitted by the first laser and a second laser beam (187) emitted by the second laser to a target location (182) on the aircraft associated with the aircraft engine;

determining (232) a first angle (184) of the first laser beam relative to a reference line containing the first and second lasers, and a second angle (186) of the second laser beam relative to the reference line;

determining (234), by an electronic system controller (190) having a processor, a vertical distance (192) between the first laser and a target location on the aircraft based at least in part on the first and second angles and the known distance; and

controlling (236) operation of the lift mechanism to move the cross beam support along the at least one upright support in a direction that reduces a vertical distance between the engine component and the engine.

Clause 8: the method (220) of clause 7, further comprising: (a) determining, by the system controller (190), a horizontal distance (194) between the engine component (92) and a target location (182) on the aircraft (96) based at least in part on the first and second angles (184, 186) and the known distance (177); and (b) controlling operation of a base drive mechanism (143) coupled to the system controller (90) and configured to move the base (142) along a work surface (24) in a manner that moves the base along the work surface in a direction that reduces a horizontal distance between the engine component and the engine.

Clause 9: the method (220) of clause 8, further comprising: removing the first and second lasers (174, 176) from the motor component (92) after determining a first angle (184) of the first laser beam (185) and a second angle (186) of the second laser beam (187) and before controlling operation of the base drive mechanism (143) to move the beam support (164) along the work surface (24).

Clause 10: the method (220) of clause 8, wherein supporting the first and second lasers (174, 176) proximate to the engine component (92) includes positioning the first laser proximate to a first hinge component of a hinge (28) for mounting the engine component to the aircraft (96), wherein the hinge includes a first hinge component on the engine component and a second hinge component on the aircraft, and a target location (182) on the aircraft is a location of the second hinge component.

Clause 11: the method (220) of clause 10, further comprising aligning and securing the first hinge member to the second hinge member.

Clause 12: the method (220) of clause 10, further comprising moving the first and second lasers (174, 176) away from the engine component (92) after determining the first angle (184) of the first laser beam (185) and the second angle (186) of the second laser beam (187) and before controlling operation of the lift mechanism (166) to move the cross beam support (164) along the at least one upright support in a direction that reduces a vertical distance (192) between the engine component and the engine (94).

Clause 13: the method (220) of clause 12, wherein the system controller (190) is configured to control operation of the base drive mechanism (143) after the first and second lasers (174, 176) have been removed from the engine component (92).

Conclusion

Unless specifically stated otherwise, sequence indicators (such as first, second, or third) that identify elements are used to distinguish between the elements and do not indicate a required number or limitation of the number of such elements nor a particular position or sequence of such elements. The order indicator may apply to the associated elements in the order in which they are introduced in a given context, and the order indicator for such elements may be different in different contexts.

The disclosure set forth above may encompass a variety of different inventions with independent utility. While each of these inventions has been disclosed in its preferred form, the specific embodiments thereof as disclosed and illustrated herein are not to be considered in a limiting sense as numerous variations are possible. To the extent that section headings are used in this disclosure, such headings are for organizational purposes only and do not constitute a feature of any claimed invention. The subject matter of the inventions includes all novel and non-obvious combinations and subcombinations of the various elements, features, functions and/or properties disclosed herein. The following claims particularly point out certain combinations and subcombinations regarded as novel and nonobvious. The invention may be claimed in any combination and subcombination of features, functions, elements and/or properties that may be claimed in a priority application or a related application. Such claims, whether directed to a different invention or directed to the same invention, as well as broader, narrower, equal, or different in scope to the original claims, are also regarded as included within the subject matter of the inventions of the present disclosure.