Shaft fastener and receiver fastener apparatus and system and method for joining panels

Abstract

A system and method for assembling shaft fasteners and receiver fastener devices, as well as engaging panels. The shaft fastener device (100) includes a shaft fastener housing (170), a shaft fastener rotating frame (102), an indexing pin assembly (103), a drill (104), and a shaft fastener delivery assembly (105). The shaft fastener rotating frame is supported by the shaft fastener housing and is selectively rotatable relative to the shaft fastener housing about a rotation axis (A). The indexing pin assembly is supported by the shaft fastener housing and is selectively movable relative to the shaft fastener housing between an extended position and a retracted position along an indexing pin assembly axis (B) parallel to the rotation axis (A) of the shaft fastener rotating frame. The drill is supported by the shaft fastener rotating frame and is selectively movable relative to the shaft fastener rotating frame along a drill axis (C) parallel to the rotation axis (A) of the shaft fastener rotating frame.

Description

Technical Field

[0001] The present disclosure relates to joining surfaces. Background Art

[0002] Various types of fastening systems are used in various manufacturing industries to fasten two material sheets together, including, for example, bolt-nut fastening systems, rivet fastening systems, and locking bolt fastening systems. In particular, locking bolt fastening systems are widely used in the aerospace manufacturing industry. In certain applications, the installation site may be space-constrained, in the air, or difficult for personnel to reach or access with hand tools. In a specific example, access to the interior panels (e.g., ribs) of the wing box is particularly limited. Summary of the invention

[0003] Therefore, an apparatus and method directed to addressing at least the above-mentioned problems would be of practical use.

[0004] The following is a non-exclusive list of examples of subject matter that may or may not be claimed in accordance with this invention.

[0005] An example of the subject matter according to the present invention relates to a shaft fastener device. The shaft fastener device is used to cooperatively engage a first panel and a second panel that at least partially overlap each other with a receiver fastener device. The shaft fastener device includes a shaft fastener housing, a shaft fastener turret, an indexing pin assembly, a drill, and a shaft fastener transmission assembly. The shaft fastener turret is supported by the shaft fastener housing and can selectively rotate relative to the shaft fastener housing around a shaft fastener turret rotation axis. The indexing pin assembly is supported by the shaft fastener housing and can selectively move relative to the shaft fastener housing between an indexing pin assembly extended position and an indexing pin assembly retracted position along an indexing pin assembly axis parallel to the shaft fastener turret rotation axis. The drill is supported by the shaft fastener turret and can selectively move relative to the shaft fastener turret along a drill axis parallel to the shaft fastener turret rotation axis. The shaft fastener transmission assembly is supported by the shaft fastener turret.

[0006] The indexing pin assembly enables the shaft fastener device to be temporarily secured relative to the first and second panels and relative to the receiver fastener device while the various component tools of the shaft fastener device are in operation. More specifically, when the indexing pin assembly secures the shaft fastener device relative to the first and second panels, the shaft fastener turret can then be rotated relative to the shaft fastener housing to align the drill with the point at which a borehole through the first and second panels is desired, and subsequently rotated to align the shaft fastener transfer assembly with the borehole for inserting the shaft fastener through the borehole.

[0007] The indexing pin assembly is configured to transition between an indexing pin assembly retracted position and an indexing pin assembly extended position so that it can be selectively inserted into a locating hole in one of the first panel and the second panel. Once inserted into the locating hole, the indexing pin assembly can then secure the shaft fastener device relative to the first panel and the second panel. In addition, when in the indexing pin assembly retracted position, the indexing pin assembly can be pulled into the shaft fastener turret, thereby allowing the shaft fastener device to have a compact size when it is manipulated into a position (which position will be constrained and limited in access) for operation.

[0008] The shaft fastener turret is rotatable relative to the shaft fastener housing so that once the shaft fastener apparatus is secured relative to the first and second panels via the indexing pin assembly, the tooling supported by the shaft fastener turret (i.e., the drill and the shaft fastener delivery assembly) can be selectively positioned relative to the first and second panels for operation thereof. That is, the drill can be positioned to drill a borehole at a certain point, and then the shaft fastener delivery assembly can be positioned to insert the shaft fastener through the borehole and through the receiver fastener operably disposed by the receiver fastener apparatus.

[0009] Another example of the subject matter according to the present invention relates to a receiver fastener device. The receiver fastener device is used to cooperatively engage a first panel and a second panel that at least partially overlap each other with a shaft fastener device. The receiver fastener device includes a receiver fastener housing, a receiver fastener turret, an indexing collet assembly, an anvil, a receiver fastener transmission assembly, and a hammer assembly. The receiver fastener turret is supported by the receiver fastener housing and can selectively rotate relative to the receiver fastener housing about a receiver fastener turret rotation axis. The indexing collet assembly is supported by the receiver fastener housing and can selectively move relative to the receiver fastener housing between an indexing collet assembly extended position and an indexing collet assembly retracted position along an indexing collet assembly axis parallel to the receiver fastener turret rotation axis. The anvil is supported by the receiver fastener turret and can selectively move relative to the receiver fastener turret along an anvil axis parallel to the receiver fastener turret rotation axis. The receiver fastener transmission assembly is supported by the receiver fastener turret and is configured to operably position the receiver fastener so as to be operably arranged on the shaft fastener corresponding to the receiver fastener. The hammer assembly is also supported by the receiver fastener turret and is movable relative to the receiver fastener turret along a hammer axis that is parallel to the receiver fastener turret rotational axis.

[0010] The indexing collet assembly enables the receiver fastener device to be temporarily secured to the shaft fastener device, and thereby temporarily secured relative to the first and second panels, while the various component tools of the receiver fastener device are in operation. More specifically, the indexing collet assembly is configured to be coupled to the indexing pin assembly of the shaft fastener device when the indexing pin assembly is secured to a locating hole in one of the first or second panels. Additionally, when the indexing collet assembly is coupled to the indexing pin assembly, and thereby when both the shaft fastener device and the receiver fastener device are secured relative to the first and second panels, the receiver fastener turret may then be rotated relative to the receiver fastener housing to align the anvil with the drill and to arrange one of the receiver fasteners so as to insert one of the shaft fasteners through the bore, and then rotated to align the forging hammer assembly with the arranged receiver fastener so as to forge the hammer on the shaft fastener.

[0011] The indexing collet assembly is configured to transition between an indexing collet assembly extended position and an indexing collet assembly retracted position so that it can be selectively extended to couple to an indexing pin assembly of a shaft fastener device at a locating hole. In addition, when in the indexing collet assembly retracted position, the indexing collet assembly can be pulled into the receiver fastener housing, thereby making the receiver fastener device compact when it is manipulated into a position (which position would be constrained and limited in access) for operation.

[0012] The receiver fastener turret is rotatable relative to the receiver fastener housing so that once the receiver fastener apparatus is coupled to the shaft fastener apparatus and thereby secured relative to the first and second panels via the indexing collet assembly, the tools supported by the receiver fastener turret (i.e., the anvil, the receiver fastener transfer assembly, and the hammer assembly) can be selectively positioned relative to the first and second panels for operation thereof. That is, the anvil can be positioned to oppose the force of the drill and to operatively position one of the receiver fasteners, and subsequently, the receiver fastener transfer assembly can be positioned to cause the forging assembly to hammer the receiver fastener on the shaft fastener extending through the receiver fastener.

[0013] Another example of the subject matter according to the present invention relates to a system for joining a first panel and a second panel that at least partially overlap each other. The system includes a shaft fastener device and a receiver fastener device. The shaft fastener device includes a shaft fastener housing, a shaft fastener turret, an indexing pin assembly, a drill, and a shaft fastener transfer assembly. The shaft fastener turret is supported by the shaft fastener housing and can selectively rotate relative to the shaft fastener housing about a shaft fastener turret rotation axis. The indexing pin assembly is supported by the shaft fastener housing and can selectively move relative to the shaft fastener housing between an indexing pin assembly extended position and an indexing pin assembly retracted position along an indexing pin assembly axis parallel to the shaft fastener turret rotation axis. The drill is supported by the shaft fastener turret and can selectively move relative to the shaft fastener turret along a drill axis parallel to the shaft fastener turret rotation axis. The shaft fastener transfer assembly is also supported by the shaft fastener turret. The receiver fastener device includes a receiver fastener housing, a receiver fastener turret, an indexing collet assembly, an anvil, a receiver fastener transfer assembly, and a hammer assembly. The receiver fastener turret is supported by the receiver fastener housing and can selectively rotate relative to the receiver fastener housing about the receiver fastener turret rotation axis. The indexing collet assembly is supported by the receiver fastener housing and can selectively move relative to the receiver fastener housing between an indexing collet assembly extended position and an indexing collet assembly retracted position along an indexing collet assembly axis parallel to the receiver fastener turret rotation axis. The indexing collet assembly is also configured to cooperate with an indexing pin assembly to fix the shaft fastener device and the receiver fastener device relative to the first panel and the second panel. The anvil is supported by the receiver fastener turret and can selectively move relative to the receiver fastener turret along an anvil axis parallel to the receiver fastener turret rotation axis. The anvil is also configured to cooperate with a drill to operably drill a hole through the first panel and the second panel. The receiver fastener transmission assembly is supported by the receiver fastener turret and is configured to position the receiver fastener so that it is operably arranged on the shaft fastener corresponding to the receiver fastener by the shaft fastener transmission assembly. The hammer assembly is also supported by the receiver fastener turret and is movable relative to the receiver fastener turret along a hammer axis parallel to the receiver fastener turret rotation axis. The hammer assembly is further configured to hammer forge the receiver fastener on a corresponding one of the shaft fasteners.

[0014] Another example of the subject matter according to the present invention relates to a method of joining a first panel and a second panel that overlap at least partially with each other. The method includes positioning a shaft fastener device relative to the first panel and the second panel by engaging an indexing pin assembly of the shaft fastener device with a positioning hole in the first panel. The shaft fastener device is located on a first side of the first panel. The method also includes positioning a receiver fastener device relative to the first panel and the second panel by engaging an indexing pin assembly of the shaft fastener device with an indexing collet assembly of the receiver fastener device. The receiver fastener device is positioned opposite the shaft fastener device on a second side of the first panel opposite to the first side. The method also includes aligning a drill of the shaft fastener device with an anvil of the receiver fastener device. The method further includes drilling a hole through the first panel and the second panel with a drill. The method also includes aligning one of the receiver fasteners with the hole using a receiver fastener transfer assembly of the receiver fastener device. The method also includes inserting one of the shaft fasteners into the hole and into one of the receiver fasteners from the first side of the first panel using the shaft fastener transfer assembly of the shaft fastener device. The method additionally includes securing the one of the receiver fasteners to the one of the shaft fasteners with a hammer assembly of the receiver fastener apparatus.

[0015] By positioning the shaft fastener apparatus and the receiver fastener apparatus relative to the first and second panels, and by engaging the indexing pin assembly with the indexing collet assembly, the shaft fastener apparatus and the receiver fastener apparatus are fixed relative to the first and second panels so as to operate their respective component tools. That is, once the shaft fastener apparatus is fixed, the drill can be accurately positioned so as to drill a borehole through the first and second panels, and then the shaft fastener transfer assembly can be accurately positioned so as to insert one of the shaft fasteners through the borehole and through the receiver fastener positioned by the receiver fastener apparatus. Once the receiver fastener apparatus is fixed, the anvil can be accurately positioned relative to the drill, and one of the receiver fasteners can be positioned so that the shaft fastener is inserted through the borehole and through the positioned receiver fastener, and then the hammer assembly can be accurately positioned so as to secure the arranged receiver fastener to the inserted shaft fastener. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Having generally described one or more examples of the present invention, reference will now be made to the drawings, which are not necessarily drawn to scale and in which like reference characters designate the same or similar parts throughout the several views, and in which:

[0017] Figure 1A , Figure 1B , Figure 1C and Figure 1D Generally, a block diagram of a system for joining a first panel and a second panel that at least partially overlap each other according to one or more examples of the present disclosure;

[0018] Figure 2 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system of FIG. 1 , showing a first panel and a second panel together, and showing an indexing pin assembly of the shaft fastener device aligned with a locating hole in the first panel together;

[0019] Figure 3 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system;

[0020] Figure 4 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective cutaway view of a portion of a shaft fastener apparatus of a system of the invention, showing in cross section an indexing pin assembly of the shaft fastener apparatus in a retracted position of the indexing pin assembly;

[0021] Figure 5 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic sectional view of a shaft fastener device of a system, showing in cross section the shaft fastener device of the system with respect to Figure 4 an indexing pin assembly of a shaft fastener apparatus transitioning toward an indexing pin assembly extended position;

[0022] Figure 6 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic sectional view of a shaft fastener device of a system, showing in cross section the shaft fastener device of the system with respect to Figure 5 an indexing pin assembly of a shaft fastener apparatus transitioning toward an indexing pin assembly extended position;

[0023] Figure 7 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1DA schematic cross-sectional view of a shaft fastener apparatus of a system of the invention, showing in cross section an indexing pin assembly of the shaft fastener apparatus in an extended position of the indexing pin assembly;

[0024] Figure 8 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic cross-sectional view of a shaft fastener apparatus of the system, showing a drill and a shaft fastener delivery assembly of the shaft fastener apparatus in cross section;

[0025] Fig. 9 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a drill of a shaft fastener device of the system;

[0026] Fig.10 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic cross-sectional view of a shaft fastener device of a system of the invention, showing a drill of the shaft fastener device in cross section;

[0027] Fig.11 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic cross-sectional view of a shaft fastener device of a system, showing in cross section a shaft fastener delivery assembly of the shaft fastener device that delivers shaft fasteners;

[0028] Fig.12 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener delivery assembly of a shaft fastener device of a system;

[0029] Fig.13 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic partial view of a portion of a shaft fastener apparatus of a system of the invention showing a shaft fastener delivery assembly;

[0030] Fig.14 According to one or more examples of the present disclosure Figure 1A , Figure 1B, Figure 1C and Figure 1D A schematic perspective cutaway view of a shaft fastener apparatus of a system of the invention, showing in cross section a shaft fastener received in a cassette of a shaft fastener delivery assembly;

[0031] Fig.15 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D a schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel in conjunction with an indexing collet assembly of the receiver fastener device that has not yet been aligned with a locating hole in the first panel;

[0032] Fig.16 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of the system;

[0033] Fig.17 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic cross-sectional view of a receiver fastener device of the system of FIG. 1 , showing in cross section the indexing collet assembly of the receiver fastener device in a retracted position of the indexing collet assembly;

[0034] Fig.18 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic cross-sectional view of a receiver fastener device of a system, showing in cross section relative to Fig.17 an indexing collet assembly of a receiver fastener device toward an indexing collet assembly extended position;

[0035] Fig.19 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic cutaway view of a receiver fastener apparatus of a system of the invention, showing the anvil and hammer assembly in cross section;

[0036] Fig. 20 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1Da schematic perspective cutaway view of a receiver fastener apparatus of a system of the invention, showing an anvil assembly and a receiver fastener delivery assembly in cross section;

[0037] Fig.21 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic diagram of a receiver fastener apparatus of a system of the invention showing a retainer of a receiver fastener transfer assembly that retains a receiver fastener in an arrangement relative to an anvil;

[0038] Fig. 22 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic diagram of a receiver fastener apparatus of the system showing a retainer of a receiver fastener transfer assembly that positions a receiver fastener relative to an anvil;

[0039] Fig.23 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective cutaway view of a receiver fastener apparatus of a system of the invention, showing a hammer assembly in cross section;

[0040] Fig.24 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D Another schematic perspective cutaway view of a receiver fastener apparatus of the system of FIG. 1 , showing the hammer assembly in cross section;

[0041] Fig.25 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D a schematic perspective view of a shaft fastener device of a system of FIG. 1 , showing the first panel and the second panel together, and showing the indexing pin assembly of the shaft fastener device toward an extended position of the indexing pin assembly;

[0042] Fig.26 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel, and showing a shaft fastener device of a system, ... Fig.25an indexing pin assembly of the shaft fastener device toward an indexing pin assembly extended position;

[0043] Fig. 27 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D a schematic perspective view of a shaft fastener device of a system of FIG. 1 , showing the first panel and the second panel together, and showing the indexing pin assembly of the shaft fastener device in an extended position of the indexing pin assembly;

[0044] Fig.28 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D An indexing pin assembly of a shaft fastener device of a system of the invention and an indexing collet assembly of a receiver fastener device engaged with the indexing pin assembly and oriented toward an extended position of the indexing collet assembly;

[0045] Fig.29 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D An indexing pin assembly of a shaft fastener device of a system of the invention and an indexing collet assembly of a receiver fastener device engaged with the indexing pin assembly and in an extended position of the indexing collet assembly is shown;

[0046] Fig.30 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D An indexing collet assembly of a receiver fastener device of a system of the invention and an indexing pin assembly of a shaft fastener device engaged with the indexing collet assembly and in an extended position of the indexing pin assembly are shown;

[0047] Fig.31 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D The indexing pin assembly of the shaft fastener device of the system is shown, and the indexing collet assembly of the receiver fastener device engaged with the indexing pin assembly and in the extended position of the indexing collet assembly is shown, and relative to Fig.29 a receiver fastener turret of a receiver fastener device that rotates to align an anvil of the receiver fastener device with a drill of the shaft fastener device;

[0048] Fig.32 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing collet assembly and anvil of a receiver fastener device of a system of the invention, showing the indexing pin assembly of the shaft fastener device engaged with the indexing collet assembly and in an extended position of the indexing pin assembly, and showing the receiver fastener turret of the receiver fastener device rotating to align the drill of the shaft fastener device with the anvil of the receiver fastener device;

[0049] Fig.33 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing pin assembly of a shaft fastener device of a system of the invention, and showing an indexing collet assembly of a receiver fastener device engaged with the indexing pin assembly and in an extended position of the indexing collet assembly, and showing an anvil of the receiver fastener device extended;

[0050] Fig.34 According to one or more examples of the present disclosure Figure 1A, Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing collet assembly and anvil of a receiver fastener device of a system of the invention, showing the indexing pin assembly of the shaft fastener device engaged with the indexing collet assembly and in an extended position of the indexing pin assembly, showing the receiver fastener turret of the receiver fastener device rotating to align a drill of the shaft fastener device with an anvil of the receiver fastener device, and showing the drill bit deployed to drill a hole through the first panel and the second panel;

[0051] Fig.35 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel, showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing collet assembly of a receiver fastener device of a system of the invention, a receiver fastener arranged through the receiver fastener device, an indexing pin assembly of a shaft fastener device engaged with the indexing collet assembly and in an extended position of the indexing pin assembly, and a Fig.34 a shaft fastener turret that rotates to insert the shaft fastener through the holes in the first and second panels and through the shaft fastener device of the receiver fastener disposed by the receiver fastener device;

[0052] Fig.36 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing pin assembly of a shaft fastener apparatus of a system of the invention, an indexing collet assembly of a receiver fastener apparatus shown engaged with the indexing pin assembly and in an extended position of the indexing collet assembly, and a retainer of a receiver fastener transfer assembly showing the receiver fastener relative to an anvil for insertion of the shaft fastener through the shaft fastener apparatus;

[0053] Fig.37According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel, showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing collet assembly of a receiver fastener device of a system of the invention, showing a receiver fastener disposed through the receiver fastener device, showing an indexing pin assembly of a shaft fastener device engaged with the indexing collet assembly and in an indexing pin assembly extended position, and showing a shaft fastener transfer assembly inserting the shaft fastener through holes in the first and second panels and through the receiver fastener;

[0054] Fig.38 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, showing Figure 1A , Figure 1B , Figure 1C and Figure 1D The indexing pin assembly of the shaft fastener device of the system is shown, and the indexing collet assembly of the receiver fastener device engaged with the indexing pin assembly and in the extended position of the indexing collet assembly is shown, and relative to Fig.36 a receiver fastener turret that rotates to align the hammer assembly with the receiver fastener and the shaft fastener;

[0055] Fig.39 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a receiver fastener device of a system of FIG. 1 , showing a first panel and a second panel, and showing Figure 1A , Figure 1B , Figure 1C and Figure 1D an indexing pin assembly of a shaft fastener apparatus of a system of the invention, an indexing collet assembly of a receiver fastener apparatus shown engaged with the indexing pin assembly and in an extended position of the indexing collet assembly, and a hammer assembly shown extended to forge the receiver fastener onto the shaft fastener;

[0056] Fig.40 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D a schematic perspective view of a shaft fastener apparatus of a system of the invention, showing first and second panels together, and showing a receiver fastener of a forging hammer on the shaft fastener extending through holes in the first and second panels;

[0057] Fig.41 According to one or more examples of the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A schematic perspective view of a shaft fastener device of a system, showing a first panel and a second panel;

[0058] Fig.42 is the use of one or more examples according to the present disclosure Figure 1A , Figure 1B , Figure 1C and Figure 1D A block diagram of a method of bonding a first panel and a second panel that at least partially overlap each other in a system;

[0059] Fig.43 is a block diagram of the aircraft manufacturing and maintenance methods; and

[0060] Fig.44 is a schematic illustration of an aircraft. DETAILED DESCRIPTION

[0061] In the above mentioned Figure 1A , Figure 1B , Figure 1C and Figure 1D In the block diagram, the solid lines (if any) connecting various elements and / or components may represent mechanical, electrical, fluid, optical, electromagnetic and other connections and / or combinations thereof. As used herein, "connected" means directly as well as indirectly associated. For example, component A may be directly associated with component B, or may be indirectly associated with it, for example, by means of other components C. It should be understood that not all relationships between the various elements disclosed must be represented. Therefore, there may also be connections other than those depicted in the block diagram. The dotted lines (if any) connecting the boxes specifying various elements and / or components represent connections with functions and purposes similar to those represented by the solid lines; however, the connections represented by the dotted lines may be provided selectively or may be related to alternative examples of the present disclosure. Similarly, the elements and / or components (if any) represented by dotted lines indicate alternative examples of the present disclosure. Without departing from the scope of the present disclosure, one or more elements shown by solid and / or dotted lines may be omitted in a particular example. Environmental elements (if any) are represented by dotted lines. For clarity, virtual (imaginary) elements may also be shown. Those skilled in the art will understand that, Figure 1A , Figure 1B , Figure 1C and Figure 1D Some of the features illustrated in may be combined in various ways, without necessarily including Figure 1A , Figure 1B , Figure 1C and Figure 1D , other features described in other drawings and / or the accompanying disclosure, even if this combination or these combinations are not explicitly illustrated herein. Similarly, additional features not limited to the examples presented may be combined with some or all of the features shown and described herein.

[0062] In the above reference Fig.42 and Fig.43 In the disclosure, blocks may represent operations and / or portions thereof, and the lines connecting the various blocks do not imply any particular order or dependency of the operations or portions thereof. Boxes represented by dashed lines indicate alternative operations and / or portions thereof. Dashed lines connecting the various boxes, if any, represent alternative dependencies of the operations or portions thereof. It will be understood that all dependencies between the various operations disclosed are not necessarily represented. Fig.42 and Fig.43 The attached disclosure describing the operation of the method set forth herein should not be construed as necessarily determining the sequence in which the operation will be performed. Specifically, although an exemplary sequence is indicated, it is understood that the sequence of the operation can be modified when appropriate. Therefore, some operations can be performed in different orders or simultaneously. In addition, those skilled in the art will appreciate that it is not necessary to perform all operations described.

[0063] In the following description, numerous specific details are set forth to provide a thorough understanding of the disclosed concepts, which concepts may be practiced without some or all of these details. In other cases, details of known devices and / or processes have been omitted to avoid unnecessarily obscuring the present disclosure. Although some concepts will be described in conjunction with specific examples, it should be understood that these examples are not intended to be limiting.

[0064] Unless otherwise indicated, the terms "first," "second," and the like are used herein merely as labels and are not intended to impose order, position, or hierarchy requirements on the items to which these terms refer. In addition, reference to an item, such as "second," does not require or preclude the presence of an item, such as "first," or lower-numbered, and / or an item, such as "third," or higher-numbered.

[0065] Reference to "an example" herein means that one or more features, structures, or characteristics described in conjunction with the example are included in at least one implementation. The phrase "an example" in various places in the specification may or may not refer to the same example.

[0066] As used herein, a system, device, structure, article, element, component, or hardware that is "configured to" perform a specified function is indeed capable of performing the specified function without any changes, rather than just having the possibility of performing the specified function after further modification. In other words, for the purpose of performing a specified function, a system, device, structure, article, element, component, or hardware that is "configured to" perform a specified function is specifically selected, created, implemented, utilized, programmed, and / or designed. As used herein, "configured to" represents existing characteristics of a system, device, structure, article, element, component, or hardware that enable the system, device, structure, article, element, component, or hardware to perform the specified function without further modification. For the purposes of this disclosure, additionally or alternatively, a system, device, structure, article, element, component, or hardware that is described as "configured to" perform a specific function may be described as "suitable for" and / or "operable to" perform the function.

[0067] The following provides illustrative, non-exclusive examples of subject matter that may or may not be claimed in accordance with the present disclosure.

[0068] Overall reference Figure 1A , Figure 1B , Figure 1C and Figure 1D (collectively referred to as FIG. 1 ) and with specific reference to e.g. Figures 2 to 14 , discloses a shaft fastener device 100. The shaft fastener device 100 is used to cooperatively engage a first panel 500 and a second panel 502 that at least partially overlap each other with a receiver fastener device 200. The shaft fastener device 100 includes a shaft fastener housing 170, a shaft fastener turret 102, an indexing pin assembly 103, a drill 104, and a shaft fastener transmission assembly 105. The shaft fastener turret 102 is supported by the shaft fastener housing 170 and can selectively rotate relative to the shaft fastener housing 170 about a shaft fastener turret rotation axis A. The indexing pin assembly 103 is supported by the shaft fastener housing 170 and can selectively move relative to the shaft fastener housing 170 along an indexing pin assembly axis B parallel to the shaft fastener turret rotation axis A between an indexing pin assembly extended position and an indexing pin assembly retracted position. Drill 104 is supported by shaft fastener turret 102 and is selectively movable relative to shaft fastener turret 102 along drill axis C parallel to shaft fastener turret rotation axis A. Shaft fastener transfer assembly 105 is supported by shaft fastener turret 102. The previous subject matter of this paragraph characterizes Example 1 of the present disclosure.

[0069] The indexing pin assembly 103 enables the shaft fastener apparatus 100 to be temporarily secured relative to the first and second panels 500, 502 and relative to the receiver fastener apparatus 200 while the various component tools of the shaft fastener apparatus 100 are in action. More specifically, when the indexing pin assembly 103 secures the shaft fastener apparatus 100 relative to the first and second panels 500, 502, the shaft fastener turret 102 may then be rotated relative to the shaft fastener housing 170 to align the drill 104 with a point P at which a borehole 508 through the first and second panels 501, 502 is desired, and subsequently rotated to align the shaft fastener transfer assembly 105 with the borehole 508 to facilitate insertion of the shaft fastener through the borehole 508.

[0070] The indexing pin assembly 103 is configured to transition between an indexing pin assembly retracted position and an indexing pin assembly extended position so that it can be selectively inserted into a locating hole 510 in one of the first panel 500 and the second panel 502. Once inserted into the locating hole 510, the indexing pin assembly 103 secures the shaft fastener device 100 relative to the first panel 500 and the second panel 502, as discussed herein. In addition, by being in the indexing pin assembly retracted position, the indexing pin assembly 103 is pulled into the shaft fastener housing 170, thereby allowing the shaft fastener device 100 to have a compact size when the shaft fastener device 100 is manipulated into a position (which position may be constrained and limited in access) for operation.

[0071] The shaft fastener turret 102 is rotatable relative to the shaft fastener housing 170 so that once the shaft fastener apparatus 100 is secured relative to the first panel 500 and the second panel 502 by the indexing pin assembly 103, the tools supported by the shaft fastener turret 102 (i.e., the drill 104 and the shaft fastener delivery assembly 105) can be selectively positioned relative to the first panel 500 and the second panel 502 for operation thereof. In other words, the drill 104 for drilling the borehole 508 can be positioned at point P, and then the shaft fastener delivery assembly 105 operably arranged by the receiver fastener apparatus 200 can be positioned to insert the shaft fastener through the borehole 508 and through the receiver fastener, as discussed herein.

[0072] As indicated, the shaft fastener apparatus 100 and the receiver fastener apparatus 200 are used to join the first panel 500 and the second panel 502 together. In one or more examples, the shaft fastener apparatus 100 and the receiver fastener apparatus 200 are together components of the system 1000 discussed herein. More specifically, the shaft fastener apparatus 100 and the receiver fastener apparatus 200 are configured to automatically join the first panel 500 and the second panel 502 together using a two-piece fastening system, i.e., a two-piece fastening system including a shaft fastener and a receiver fastener (e.g., by a robotic device), and the receiver fastener is hammered or crimped onto the shaft fastener. An illustrative, non-exclusive example of a two-piece fastening system includes a locking bolt fastening system. The locking bolt fastening system utilizes a locking bolt pin (e.g., a shaft fastener) and a locking bolt collar (e.g., a receiver fastener). A typical locking bolt pin includes a head and a slotted shaft, and the locking bolt collar has a variety of forms, including flanged and flangeless locking bolt collars. To assemble the lockbolt, the lockbolt is inserted through a common hole extending through at least two panels, the lockbolt collar is positioned over the shaft of the lockbolt pin, and a lockbolt installation tool is used to push the lockbolt collar against the structure being fastened and hammer or crimp the lockbolt collar into the groove of the lockbolt pin, thereby securing the lockbolt pin and the lockbolt collar together. In some lockbolt systems, the hammer tool (e.g., the hammer assembly 206 of the receiver fastener apparatus 200) also breaks off a portion of the shaft of the lockbolt pin that extends through the lockbolt collar after the lockbolt collar is hammered onto the lockbolt pin.

[0073] In one or more examples, the shaft fastener device 100 illustrated herein includes two indexing pin assemblies. Although not required in all examples of the shaft fastener device 100, by having two indexing pin assemblies, the shaft fastener device 100 has greater versatility than when only one indexing pin assembly 103 is included (such as, depending on the location of the locating hole 510 relative to the point P).

[0074] Referring generally to FIG. 1 and in particular to e.g. Figure 2 , Figure 3 , Figures 5 to 8 , Fig.10 , Fig.11 , Fig.13 and Fig.14 , the shaft fastener housing 170 extends at least partially around the shaft fastener turret 102 and includes a shaft fastener housing mounting flange 173. The previous subject matter of this paragraph characterizes Example 2 of the present disclosure, wherein Example 2 also includes subject matter according to Example 1 above.

[0075] By extending at least partially around the shaft fastener turret 102, the shaft fastener housing 170 provides a base or foundation relative to which the shaft fastener turret 102 may be rotated to operably position the drill 104 and the shaft fastener delivery assembly 105. Fig.41 As shown in , the shaft fastener housing mounting flange 173 provides a structure for mounting the shaft fastener apparatus 100 to the first robotic device 600 .

[0076] Referring generally to FIG. 1 and in particular to e.g. Figure 2 and Figures 4 to 7 , the shaft fastener housing 170 includes an indexing pin assembly receptacle 172 that accommodates the indexing pin assembly 103. The previous subject matter of this paragraph characterizes Example 3 of the present disclosure, wherein Example 3 also includes subject matter according to Example 1 or 2 above.

[0077] The indexing pin assembly receptacle 172 enables the indexing pin assembly 103 to be deployed and retracted between the indexing pin assembly retracted position and the indexing pin assembly extended position. In addition, as discussed herein, the indexing pin assembly receptacle 172 provides a structure for facilitating linear translation of the clamping sleeve 111 of the indexing pin assembly 103 and a structure against which the first indexing pin spring 121 reacts so that the clamping sleeve 111 translates.

[0078] Referring generally to FIG. 1 and in particular to e.g. Figure 2 and Figures 4 to 7 , the indexing pin assembly container 172 has an indexing pin assembly container first end 174 and an indexing pin assembly container second end 175. The indexing pin assembly container second end 175 is positioned axially opposite to the indexing pin assembly container first end 174. The indexing pin assembly container 172 includes an indexing pin assembly container inlet 169. The indexing pin assembly container inlet 169 is located at the indexing pin assembly container first end 174 and is configured to supply pressurized fluid to the indexing pin assembly container 172 to move the indexing pin assembly 103 between the indexing pin assembly extended position and the indexing pin assembly retracted position. The indexing pin assembly container second end 175 is configured to enable the indexing pin assembly 103 to move to the indexing pin assembly extended position to engage with one of the first panel 500 or the second panel 502. The previous subject matter of this paragraph characterizes Example 4 of the present disclosure, wherein Example 4 also includes the subject matter according to Example 3 above.

[0079] The indexing pin assembly receptacle second end 175 is exposed to allow the indexing pin assembly 103 to extend from the indexing pin assembly retracted position to the indexing pin assembly extended position. Pressurized fluid (e.g., air) enters the indexing pin assembly receptacle first end 174 to sequentially overcome the spring forces of the second indexing pin spring 122, the first indexing pin spring 121, the third indexing pin spring 123, and then the second indexing pin spring 122 to extend to the indexing pin assembly extended position, as discussed herein.

[0080] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the indexing pin assembly 103 includes a clamping sleeve 111, an indexing pin 112, and a plunger 113. The indexing pin 112 is disposed in the clamping sleeve 111, and the plunger 113 is disposed in the indexing pin 112. Each of the clamping sleeve 111, the indexing pin 112, or the plunger 113 is movable relative to the other along the indexing pin assembly axis B. The previous subject matter of this paragraph characterizes Example 5 of the present disclosure, wherein Example 5 also includes subject matter according to any one of Examples 1 to 4 above.

[0081] The indexing pin 112 provides a structure for engaging with the locating hole 510 in the first panel 500. More specifically, the indexing pin 112 is configured to extend through the locating hole 510 and engage the side of the first panel 500 opposite the shaft fastener device 100. When the plunger 113 translates within the indexing pin 112 toward the indexing pin second end 115, the plunger 113 expands the indexing pin second end 115. When the clamping sleeve 111 translates toward the indexing pin second end 115, the first panel 500 becomes clamped between the indexing pin second end 115 and the clamping sleeve 111.

[0082] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the indexing pin 112 has an elongated shape and includes an indexing pin first end 114 and an indexing pin second end 115. The indexing pin second end 115 is axially opposite to the indexing pin first end 114. The indexing pin 112 also includes a finger 116, which is adjacent to the indexing pin second end 115 and can be bent relative to the indexing pin assembly axis B. The previous subject matter of this paragraph characterizes Example 6 of the present disclosure, wherein Example 6 also includes the subject matter according to Example 5 above.

[0083] Being able to flex, the fingers 116 expand within the locating holes 510 as the plunger 113 translates toward the indexing pin second end 115. As a result, the fingers 116 engage the first panel 500 and clamp the first panel 500 together with the clamping sleeve 111, thereby securing the shaft fastener apparatus 100 relative to the first panel 500.

[0084] Referring generally to FIG. 1 and in particular to e.g. Figure 2 , Figures 4 to 7 , Fig.26 and Fig. 27 , each of the fingers 116 includes a finger flange 118 at the indexing pin second end 115. The finger flange 118 of each of the fingers 116 extends radially away from the indexing pin assembly axis B. The previous subject matter of this paragraph characterizes Example 7 of the present disclosure, wherein Example 7 also includes subject matter according to Example 6 above.

[0085] Because each finger flange 118 extends radially away from the indexing pin assembly axis B, when the indexing pin second end 115 extends through the locating hole 510 and when the plunger 113 translates toward the indexing pin second end 115 and causes the fingers 116 to expand, each finger flange 118 will be positioned to engage the first panel 500 on the side of the first panel 500 opposite the shaft fastener device 100.

[0086] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the clamping sleeve 111 has an elongated shape and includes a clamping sleeve first end 119 and a clamping sleeve second end 120. The clamping sleeve second end 120 is positioned axially opposite to the clamping sleeve first end 119. In the retracted position of the indexing pin assembly, the clamping sleeve 111 is retracted into the shaft fastener housing 170, so that the clamping sleeve second end 120 is positioned inside the shaft fastener housing 170. In the extended position of the indexing pin assembly, the clamping sleeve 111 extends from the shaft fastener housing 170, so that the clamping sleeve second end 120 is positioned outside the shaft fastener housing 170. The previous subject matter of this paragraph characterizes Example 8 of the present disclosure, wherein Example 8 also includes the subject matter according to Example 6 or 7 above.

[0087] In other words, when the indexing pin assembly 103 is in the indexing pin assembly retracted position, the clamp sleeve 111 is fully retracted into the indexing pin assembly receptacle 172. Thus, when the clamp sleeve 111 is manipulated into position (which may be constrained and limited in access) for operation as discussed herein, manipulation of the clamp sleeve 111 does not interfere with the retraction of the indexing pin 112 and the compact size of the shaft fastener apparatus 100.

[0088] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the plunger 113 is shorter than the indexing pin 112 along the indexing pin assembly axis B. The previous subject matter of this paragraph characterizes Example 9 of the present disclosure, wherein Example 9 also includes subject matter according to any one of Examples 6 to 8 above.

[0089] Because the plunger 113 is shorter than the indexing pin 112, it is completely contained within the indexing pin 112. In addition, when the plunger 113 is translated toward the indexing pin second end 115 to expand the indexing pin second end 115, the plunger 113 does not extend beyond the indexing pin second end 115, and thus does not interfere with the operation of the indexing collet assembly 203 of the receiver fastener apparatus 200.

[0090] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7, the indexing pin assembly 103 further includes a first indexing pin spring 121. The first indexing pin spring 121 is operably connected to the clamping sleeve 111. The first indexing pin spring 121 applies a first spring force to the clamping sleeve 111 to bias the clamping sleeve 111 along the indexing pin assembly axis B1 into the shaft fastener housing 170. The previous subject matter of this paragraph characterizes Example 10 of the present disclosure, wherein Example 10 also includes subject matter according to any one of Examples 6 to 9 above.

[0091] As indicated, the first indexing pin spring 121 biases the clamping sleeve 111 into the shaft fastener housing 170, and more specifically, into the indexing pin assembly receptacle 172. Thus, the clamping sleeve 111 remains retracted until the gas pressure within the indexing pin assembly receptacle 172 sufficiently overcomes the spring force of the first indexing pin spring 121, at which point the clamping sleeve 111 translates toward the indexing pin second end 115 and against the first panel 500 to clamp the first panel 500 together with the indexing pin second end 115. Conversely, when the gas pressure within the indexing pin assembly receptacle 172 drops below the spring force of the first indexing pin spring 121, the clamping sleeve 111 will retract into the indexing pin assembly receptacle 172.

[0092] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the indexing pin assembly 103 further includes a second indexing pin spring 122. The second indexing pin spring 122 is operably connected to the indexing pin 112. The second indexing pin spring 122 applies a second spring force to the indexing pin 112 to bias the indexing pin 112 along the indexing pin assembly axis B1 into the shaft fastener housing 170. The previous subject matter of this paragraph characterizes Example 11 of the present disclosure, wherein Example 11 also includes the subject matter according to Example 10 above.

[0093] As indicated, the second indexing pin spring 122 biases the indexing pin 112 into the shaft fastener housing 170, and more specifically, into the indexing pin assembly receptacle 172. Thus, the indexing pin 112 remains retracted until the gas pressure within the indexing pin assembly receptacle 172 sufficiently overcomes the spring force of the second indexing pin spring 121, at which point the indexing pin 112 translates out of the indexing pin assembly receptacle 172 (e.g., toward and into the locating hole 510). Conversely, when the gas pressure within the indexing pin assembly receptacle 172 drops below the spring force of the second indexing pin spring 122, the indexing pin 112 will retract into the indexing pin assembly receptacle 172.

[0094] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7The indexing pin assembly 103 further includes a third indexing pin spring 123, which applies a third spring force to the plunger 113 to bias the plunger 113 away from the indexing pin second end 115. The previous subject matter of this paragraph characterizes Example 12 of the present disclosure, wherein Example 12 also includes subject matter according to Example 11 above.

[0095] As indicated, the third indexing pin spring 123 biases the plunger 113 away from the indexing pin second end 115. Thus, the plunger 113 remains retracted away from the indexing pin second end 115 until the gas pressure within the indexing pin assembly reservoir 172 sufficiently overcomes the spring force of the third indexing pin spring 123, at which point the plunger 113 translates toward the indexing pin second end 115 and deploys the fingers 116 of the indexing pin 112. Conversely, when the gas pressure within the indexing pin assembly reservoir 172 drops below the spring force of the third indexing pin spring 123, the plunger 113 will retract away from the indexing pin second end 115.

[0096] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the first indexing pin spring 121 has a first spring constant, the second indexing pin spring 122 has a second spring constant, and the third indexing pin spring 123 has a third spring constant. The first spring constant, the second spring constant, and the third spring constant are different from each other. The previous subject matter of this paragraph characterizes Example 13 of the present disclosure, wherein Example 13 also includes the subject matter according to Example 12 above.

[0097] Due to different spring constants, the first indexing pin spring 121, the second indexing pin spring 122 and the third indexing pin spring 123 will respectively cause the clamping sleeve 111, the indexing pin 112 and the plunger 113 to move along the indexing pin assembly axis B due to different threshold gas pressures in the indexing pin assembly container 172.

[0098] Referring generally to FIG. 1 and in particular to e.g. Figures 4 to 7 , the third spring constant is greater than the second spring constant and less than the first spring constant. The previous subject matter of this paragraph characterizes Example 14 of the present disclosure, wherein Example 14 also includes the subject matter according to Example 13 above.

[0099] Because the spring constant is greater than the second spring constant and less than the first spring constant, as the gas pressure in the indexing pin assembly container 172 increases, the third indexing pin spring 123 causes the plunger 113 to translate toward the indexing pin second end 115 after the indexing pin 112 translates out of the indexing pin assembly container 172 and before the clamping sleeve 111 translates toward the indexing pin second end 115. In other words, during the operation of the indexing pin assembly 103, as the gas pressure in the indexing pin assembly container 172 increases, first, the indexing pin 112 will extend out of the indexing pin assembly container 172 and into the positioning hole 510, second, the plunger 113 will translate toward the indexing pin second end 115 and expand the fingers 116 of the indexing pin 112, and third, the clamping sleeve 111 will translate toward the indexing pin second end 115 and clamp the first panel 500 between the clamping sleeve 111 and the finger flanges of the fingers 116.

[0100] Referring generally to FIG. 1 and in particular to e.g. Figures 2 to 8 , Fig.10 , Fig.11 , Fig.13 and Fig.14 , the shaft fastener turret 102 includes a shaft fastener turret rear side 180 and a shaft fastener turret front side 181. The shaft fastener turret front side 181 is opposite to the shaft fastener turret rear side 180. Each of the drill 104 and the shaft fastener transfer assembly 105 is positioned in the shaft fastener turret 102 to cooperate with the receiver fastener device 200 at the shaft fastener turret front side 181. The previous subject matter of this paragraph characterizes Example 15 of the present disclosure, wherein Example 15 also includes subject matter according to any of Examples 1 to 14 above.

[0101] In one or more examples, the drill 104 and the shaft fastener transfer assembly 105 cooperate with the receiver fastener apparatus 200 by being each positioned at the shaft fastener turret front side 181 to operably drill a hole and install a two-piece fastening system.

[0102] Referring generally to FIG. 1 and in particular to e.g. Figures 8 to 11 , the shaft fastener turret 102 also includes a drill receptacle 183 extending from the shaft fastener turret front side 181 into the shaft fastener turret 102. The drill 104 is disposed in the drill receptacle 183. The drill receptacle 183 is sized so that the drill 104 moves within the drill receptacle 183 along the drill axis C. The previous subject matter of this paragraph characterizes Example 16 of the present disclosure, wherein Example 16 also includes subject matter according to Example 15 above.

[0103] With the drill 104 positioned in the drill receptacle 183, the overall volume of the shaft fastener apparatus 100 is compact. In addition, the drill receptacle 183 forms a drill cavity 182 between the drill 104 and the shaft fastener turret rear side 180 to introduce and remove air pressure to push the drill 104 toward the first panel 500 and the second panel 502 to drill a borehole through the first panel 500 and the second panel 502 and to retract the drill 104 away from the first panel 500 and the second panel 502 after drilling the borehole 508.

[0104] Referring generally to FIG. 1 and in particular to e.g. Figures 8 to 11 , the drill 104 includes a drill housing 130, a drill shaft 131, and a motor 134. The drill housing 130 is disposed in a drill container 183 of the shaft fastener turret 102. The drill shaft 131 is disposed in the drill housing 130. The motor 134 is operably connected to the drill shaft 131 to apply a force to rotate a drill bit 132 held by the drill shaft 131. The previous subject matter of this paragraph characterizes Example 17 of the present disclosure, wherein Example 17 also includes the subject matter according to Example 16 above.

[0105] As mentioned, with the drill 104 including the drill housing 130 disposed in the drill receptacle 183 , the overall volume of the shaft fastener apparatus 100 is compact.

[0106] Referring generally to FIG. 1 and in particular to e.g. Figures 8 to 11 , the drill 104 further includes a gear train 162 operably coupling the motor 134 and the drill shaft 131. The previous subject matter of this paragraph characterizes Example 18 of the present disclosure, wherein Example 18 further includes subject matter according to Example 17 above.

[0107] The gear train 162 transmits the rotation output of the motor 134 to the drill shaft 131 and further to the drill bit 132 .

[0108] Referring generally to FIG. 1 and in particular to e.g. Figures 8 to 11 , the drill 104 further includes a collet nut 163 configured to attach the drill bit 132 to the drill shaft 131. The previous subject matter of this paragraph characterizes Example 19 of the present disclosure, wherein Example 19 further includes subject matter according to Example 17 or 18 above.

[0109] The collet nut 163 provides a mechanism for selectively attaching and removing the drill bit 132 so that drill bits of different configurations may be used with the shaft fastener apparatus 100 .

[0110] Referring generally to FIG. 1 and in particular to e.g. Figures 8 to 11, the drill 104 further includes a housing support spring 137 that biases the drill housing 130 away from the shaft fastener turret front side 181. The housing support spring 137 is disposed between the drill housing 130 and the shaft fastener turret 102. The previous subject matter of this paragraph characterizes Example 20 of the present disclosure, wherein Example 20 further includes subject matter according to any one of Examples 17 to 19 above.

[0111] As indicated, the housing support spring 137 biases the drill housing 130 away from the shaft fastener turret front side 181 and toward the shaft fastener turret rear side 180. Thus, when the air pressure in the drill cavity 182 is sufficient to overcome the spring force of the housing support spring 137, the drill housing 130 will translate within the drill receptacle 183 toward the shaft fastener turret front side 181. When the air pressure in the drill cavity 182 drops below a threshold pressure, the housing support spring 137 will translate the drill housing 130 back toward the shaft fastener turret rear side 180.

[0112] Referring generally to FIG. 1 and in particular to e.g. Figure 2 and Figures 8 to 11 , the drill 104 also includes a presser foot 136 and a presser foot spring 135. The presser foot 136 extends outside the shaft fastener turret 102 via the shaft fastener turret front side 181. The presser foot spring 135 is located between the presser foot 136 and the drill housing 130 to bias the presser foot 136 away from the drill housing 130. The previous subject matter of this paragraph characterizes Example 21 of the present disclosure, wherein Example 21 also includes the subject matter according to Example 20 above.

[0113] The pressure foot 136 provides stability to the drill 104 during the drilling operation. As indicated, the pressure foot spring 135 biases the pressure foot 136 away from the drill housing 130. Therefore, when the drill bit 104 translates toward the first panel 500 and the second panel 502, after the pressure foot 136 engages one of the first panel 500 and the second panel 502, as the drill housing 130 continues to translate toward the first panel 500 and the second panel 502, the pressure foot spring 135 compresses, thereby applying a stabilizing force to the drill housing 130 relative to the first panel 500 and the second panel 502.

[0114] Referring generally to FIG. 1 and in particular to e.g. Fig.11 , the shaft fastener turret 102 also includes a shaft fastener transfer assembly container 184 extending to the shaft fastener turret front side 181. The shaft fastener transfer assembly 105 is disposed in the shaft fastener transfer assembly container 184. The previous subject matter of this paragraph characterizes Example 22 of the present disclosure, wherein Example 22 also includes subject matter according to any one of Examples 15 to 21 above.

[0115] With the shaft fastener delivery assembly 105 disposed in the shaft fastener delivery assembly receptacle 184, the overall volume of the shaft fastener apparatus 100 is compact. Additionally, as discussed herein, the shaft fastener delivery assembly receptacle 184 forms a piston chamber 186 that facilitates the introduction and removal of gas pressure for operation of the push rod 149.

[0116] Referring generally to FIG. 1 and in particular to e.g. Figure 3 and Fig.11 , the shaft fastener apparatus 100 also includes a shaft fastener delivery assembly container pressure supply port 146 between the shaft fastener delivery assembly container 184 and the shaft fastener turret rear side 180. The shaft fastener delivery assembly container pressure supply port 146 is configured to move pressurized fluid into the shaft fastener delivery assembly container 184. The previous subject matter of this paragraph characterizes Example 23 of the present disclosure, wherein Example 23 also includes subject matter according to Example 22 above.

[0117] When pressurized fluid (e.g., air) enters the axle fastener transfer assembly container 184 via the axle fastener transfer assembly container pressure supply port 146 and overcomes the spring force of the push rod spring 159, the push rod 149 translates away from the axle fastener turret rear side 180 to operably transfer one of the axle fasteners 504 into the bore 508.

[0118] Referring generally to FIG. 1 and in particular to e.g. Figure 3 , Figure 8 , Fig.11 and Fig.12 , the shaft fastener delivery assembly 105 includes a plug 157 that seals the shaft fastener delivery assembly receptacle 184 toward the shaft fastener turret rear side 180. The previous subject matter of this paragraph characterizes Example 24 of the present disclosure, wherein Example 24 also includes subject matter according to Example 22 or 23 above.

[0119] As indicated, the plug 157 seals the shaft fastener delivery assembly container 184. Therefore, when gas pressure is introduced into the shaft fastener delivery assembly container 184 via the shaft fastener delivery assembly container pressure supply port 146, the gas pressure will act on the plug 157 and the walls of the shaft fastener delivery assembly container 184 and the piston 158 to translate the piston 158, the push rod 149 and the stopper 147 toward the first panel 500 and the second panel 502 to operably deliver one of the shaft fasteners 504 into the bore 508.

[0120] Referring generally to FIG. 1 and in particular to e.g. Figure 2 , Figure 8 and Figures 11 to 14, the shaft fastener delivery assembly 105 includes a box 138 and a stopper 147. The box 138 is sized to hold the shaft fasteners 504, and the stopper 147 is disposed adjacent to the box 138 to receive one of the shaft fasteners 504 in the box 138. The previous subject matter of this paragraph characterizes Example 25 of the present disclosure, wherein Example 25 also includes subject matter according to any of Examples 15 to 24 above.

[0121] The cartridge 138 holds a supply of shaft fasteners 504 so that in one or more examples, the shaft fastener apparatus 100 is used with the receiver fastener apparatus 200 to install a plurality of two-piece fastening systems, after which the shaft fasteners 504 need to be reloaded into the shaft fastener apparatus 100. The retainer 147 is a structure of the shaft fastener transfer assembly 105 that receives individual shaft fasteners 504 in the cartridge 138 and operably transfers them to the bore 508 in response to the piston 158 and push rod 149 translating away from the shaft fastener turret rear side 180 against the spring force of the push rod spring 159 in response to gas pressure being introduced into the shaft fastener transfer assembly receptacle 184.

[0122] Referring generally to FIG. 1 and in particular to e.g. Figure 2 , Fig.12 and Fig.13 , the box 138 includes a box body 148, a shaft fastener outlet 145, and a box slot 143 extending from the shaft fastener outlet 145 into the box body 148. The previous subject matter of this paragraph characterizes Example 26 of the present disclosure, wherein Example 26 also includes subject matter according to Example 25 above.

[0123] The cartridge slots 143 hold the shaft fasteners 504 in a single row within the cartridge body 148 for sequential delivery to the stopper 147 via the shaft fastener outlet 145 .

[0124] In one or more examples, the cartridge slot 143 includes a bracket 142 for engaging a flange of the shaft fastener 504 .

[0125] In one or more examples, such as illustrated in the figures, the cartridge slots 143 are exposed on one or both of the first cartridge side 140 or the second cartridge side 141. When the cartridge slots 143 are exposed on the first cartridge side 140, in one or more examples, when the cartridge 138 is removed from the axle fastener turret 102, the axle fasteners 504 are inserted into the cartridge slots 143 via the first cartridge side 140. When the cartridge slots 143 are exposed on the second cartridge side 140, the axle fasteners 504 are visible via the axle fastener turret front side 181, such that visual inspection of the axle fastener apparatus 100 communicates whether the cartridge 138 needs to be refilled with additional axle fasteners in the axle fasteners 504.

[0126] refer to Fig.14The shaft fastener turret 102 includes a cartridge pressure supply port 139 extending from the shaft fastener turret rear side 180 to the cartridge slot 143 for delivering air pressure in the form of an air jet to push the shaft fastener 504 held in the cartridge slot 143 toward the shaft fastener outlet 145 .

[0127] Referring generally to FIG. 1 and in particular to e.g. Figure 2 and Fig.13 , the stopper 147 is disposed on the shaft fastener turret front side 181. The previous subject matter of this paragraph characterizes Example 27 of the present disclosure, wherein Example 27 also includes the subject matter according to Example 25 or 26 above.

[0128] Since the stopper 147 is disposed on the front side 181 of the shaft fastener turret, it is configured to facilitate the transfer of one of the shaft fasteners 504 to the bore 508. That is, the stroke of the piston 158 and the push rod 149 is minimized.

[0129] Referring generally to FIG. 1 and in particular to e.g. Fig.12 , the stopper 147 includes a first stopper side 152 and a second stopper side 153 opposite the first stopper side 152. The stopper 147 also includes a hollow interior space 155 extending between the first stopper side 152 and the second stopper side 153 and sized to accommodate one of the shaft fasteners 504 in the box 138. The previous subject matter of this paragraph characterizes Example 28 of the present disclosure, wherein Example 28 also includes subject matter according to any of Examples 25 to 27 above.

[0130] Thus, hollow interior space 155 is configured to receive a single one of shaft fasteners 504 in cassette 138 for operable communication to borehole 508 .

[0131] Referring generally to FIG. 1 and in particular to e.g. Fig.12 , the stopper 147 also includes a stopper slot 156 extending into the hollow interior space 155. The stopper slot 156 is aligned with the box 138 so that one of the shaft fasteners 504 can pass from the box 138 through the stopper slot 156 into the hollow interior space 155. The previous subject matter of this paragraph characterizes Example 29 of the present disclosure, wherein Example 29 also includes subject matter according to Example 28 above.

[0132] Due to alignment with the cartridge 138 , and more specifically the cartridge slot 143 , the shaft fastener 504 is easily transferred from the cartridge 138 directly to the retainer 147 for subsequent transfer to the bore 508 by the shaft fastener transfer assembly 105 .

[0133] Referring generally to FIG. 1 and in particular to e.g. Fig.12 and Fig.13, the box 138 is configured to receive the shaft fasteners 504 in a row aligned with the stopper slots 156. The previous subject matter of this paragraph characterizes Example 30 of the present disclosure, wherein Example 30 also includes subject matter according to Example 29 above.

[0134] As mentioned, the shaft fasteners 504 are arranged in a single row or line within the cassette 138 to facilitate subsequent delivery to the retainer 147 and subsequent insertion through the bore 508 .

[0135] Referring generally to FIG. 1 and in particular to e.g. Figure 2 , Figure 8 and Figures 11 to 13 , the stopper 147 also includes fins 154 on the second stopper side 153. The fins 154 are partially circumferentially spaced around the hollow interior space 155 to temporarily hold one of the shaft fasteners 504 in an operable position. Two of the fins 154 at least partially define the stopper slot 156. The previous subject matter of this paragraph characterizes Example 31 of the present disclosure, wherein Example 31 also includes subject matter according to Example 29 or 30 above.

[0136] The radially inwardly biased fins 154 engage the shaft of a shaft fastener being held by the retainer 147 and expand as the flange of the shaft fastener reaches outside of the hollow interior space 155 as the shaft fastener is being conveyed into the bore 508 .

[0137] Referring generally to FIG. 1 and in particular to e.g. Figure 8 , Fig.11 and Fig.12 , the shaft fastener transmission assembly 105 also includes a push rod 149. The push rod 149 is aligned with the stopper 147 and is configured to contact one of the shaft fasteners 504 in the stopper 147 and drive one of the shaft fasteners 504 from the hollow interior space 155 of the stopper 147. The previous subject matter of this paragraph characterizes Example 32 of the present disclosure, wherein Example 32 also includes subject matter according to Example 31 above.

[0138] That is, the push rod 149 engages the shaft fastener being held by the retainer 147 and pushes it out of the hollow interior space 155 of the retainer 147 so as to be inserted into the bore 508 .

[0139] Referring generally to FIG. 1 and in particular to e.g. Figure 8 , Fig.11 and Fig.12, the push rod 149 has an elongated shape and includes a first push rod end 150 and a second push rod end 151 axially opposite to the first push rod end 150. The shaft fastener transmission assembly 105 also includes a piston 158 disposed at the second push rod end 151. The previous subject matter of this paragraph characterizes Example 33 of the present disclosure, wherein Example 33 also includes the subject matter according to Example 32 above.

[0140] The piston 158 acts against the gas pressure within the piston chamber 186 of the axle fastener transfer assembly receptacle 184 to force the push rod 149 away from the axle fastener turret rear side 180 .

[0141] Referring generally to FIG. 1 and in particular to e.g. Figure 8 , Fig.11 and Fig.12 , the shaft fastener transmission assembly 105 also includes a push rod spring 159 that biases the push rod 149 away from the stopper 147 toward the shaft fastener turret rear side 180. The previous subject matter of this paragraph characterizes Example 34 of the present disclosure, wherein Example 34 also includes subject matter according to Example 32 or 33 above.

[0142] When the gas pressure in the piston chamber 186 is reduced, the push rod spring 159 forces the push rod 149 and the piston 158 back toward the shaft fastener turret rear side 180 so that a subsequent one of the shaft fasteners 504 can then translate into the stopper 147 for its subsequent insertion into the bore.

[0143] Referring generally to FIG. 1 and in particular to e.g. Figure 8 , Fig.11 and Fig.12 , the stopper 147 includes an opening 160 at the first stopper side 152. The opening 160 is sized to receive the push rod 149 when the push rod 149 drives one of the shaft fasteners 504 from the hollow interior space 155 of the stopper 147 away from the shaft fastener turret rear side 180. The previous subject matter of this paragraph characterizes Example 35 of the present disclosure, wherein Example 35 also includes subject matter according to any of Examples 32 to 34 above.

[0144] Thus, in one or more examples, the push rod 149 sufficiently drives the shaft fastener 504 from the hollow interior space 155 into the bore 508 .

[0145] Referring generally to FIG. 1 and in particular to e.g. Figures 15 to 24, a receiver fastener apparatus 200 is disclosed. The receiver fastener apparatus 200 is used to cooperatively engage a first panel 500 and a second panel 502 that at least partially overlap each other with the shaft fastener apparatus 100. The receiver fastener apparatus 200 includes a receiver fastener housing 270, a receiver fastener turret 202, an indexing collet assembly 203, an anvil 204, a receiver fastener transport assembly 205, and a hammer assembly 206. The receiver fastener turret 202 is supported by the receiver fastener housing 270 and can selectively rotate relative to the receiver fastener housing 270 about a receiver fastener turret rotation axis Z. The indexing collet assembly 203 is supported by the receiver fastener housing 270 and can selectively move relative to the receiver fastener housing 270 along an indexing collet assembly axis Y parallel to the receiver fastener turret rotation axis Z between an indexing collet assembly extended position and an indexing collet assembly retracted position. Anvil 204 is supported by receiver fastener turret 202 and is selectively movable relative to receiver fastener turret 202 along anvil axis X parallel to receiver fastener turret rotation axis Z. Receiver fastener transfer assembly 205 is supported by receiver fastener turret 202 and is configured to operably position receiver fastener 506 so as to be operably disposed on shaft fastener 504 corresponding to receiver fastener 506. Hammer assembly 206 is also supported by receiver fastener turret 202 and is movable relative to receiver fastener turret 202 along forging hammer axis W parallel to receiver fastener turret rotation axis Z. The previous subject matter of this paragraph characterizes Example 36 of the present disclosure.

[0146] The indexing collet assembly 203 enables the receiver fastener apparatus 200 to be temporarily secured to the shaft fastener apparatus 100, and thus to the first and second panels 500, 502, while the various component tools of the receiver fastener apparatus 200 are in operation. More specifically, the indexing collet assembly 203 is configured to couple to the indexing pin assembly 103 of the shaft fastener apparatus 100 when the indexing pin assembly 103 is secured to the locating hole 510. Additionally, when the indexing collet assembly 203 is coupled to the indexing pin assembly 103, and thus when both the shaft fastener apparatus 100 and the receiver fastener apparatus 200 are fixed relative to the first panel 500 and the second panel 502, the receiver fastener turret 202 may then be rotated relative to the receiver fastener housing 270 to align the anvil 204 with the drill 104 and so as to arrange one of the receiver fasteners 506 so as to insert one of the shaft fasteners 504 through the bore 508, and subsequently rotated to align the forging hammer assembly 206 with the arranged receiver fastener so as to forge the hammer on the shaft fastener.

[0147] The indexing collet assembly 203 is configured to transition between an indexing collet assembly extended position and an indexing collet assembly retracted position such that it can be selectively extended to couple to the indexing pin assembly 103 of the shaft fastener apparatus 100 at the locating hole 510. Additionally, when in the indexing collet assembly retracted position, the indexing collet assembly 203 is drawn into the receiver fastener turret 202, thereby allowing the receiver fastener apparatus 200 to have a compact size when it is manipulated into a position that would otherwise be constrained and limited in access for operation.

[0148] The receiver fastener turret 202 is rotatable relative to the receiver fastener housing 270 so that once the receiver fastener apparatus 100 is coupled to the shaft fastener apparatus 100 and thus secured relative to the first and second panels 500, 502 by the indexing collet assembly 203, the tools (i.e., the anvil 204, the receiver fastener transfer assembly 205, and the forging assembly 206) supported by the receiver fastener turret 202 can be selectively positioned relative to the first and second panels 500, 502 for operation thereof. That is, in one or more examples, the anvil 204 is configured to oppose the force of the drill 104 and to operatively position one of the receiver fasteners 506, and subsequently, the receiver fastener transfer assembly 205 is configured to cause the forging assembly 206 to hammer the receiver fastener on the shaft fastener extending through the receiver fastener, as discussed herein.

[0149] In one or more examples, the receiver fastener apparatus 200 illustrated herein includes two indexing collet assemblies. Although not required in all examples of the receiver fastener apparatus 200, having two indexing collet assemblies provides greater versatility for the receiver fastener apparatus 200 than when only one indexing collet assembly 203 is included (e.g., depending on the location of the locating hole 510 relative to the point P).

[0150] In one or more examples, the anvil 204 includes an inner bore 238 extending therethrough. When present, the inner bore 238 provides a volume into which the drill bit 132 operated by the drill 104 of the shaft fastener apparatus 100 extends during drilling of the borehole 508. Additionally, the inner bore 238 provides a volume into which debris (or shavings) resulting from the drilling operation can be collected and removed.

[0151] Referring generally to FIG. 1 and in particular to e.g. Figures 15 to 24 , the receiver fastener housing 270 extends at least partially around the shaft fastener turret 202 and includes a receiver fastener housing mounting flange 273. The previous subject matter of this paragraph characterizes Example 37 of the present disclosure, wherein Example 37 also includes subject matter according to Example 36 above.

[0152] By extending at least partially around the receiver fastener turret 202, the receiver fastener housing 270 provides a base or foundation relative to which the receiver fastener turret 202 can rotate to operably arrange the anvil 204, the receiver fastener transfer assembly 205, and the forging assembly 206. Fig.41 As shown in , receiver fastener housing mounting flange 273 provides a structure for mounting receiver fastener apparatus 200 to second robotic device 602 .

[0153] Referring generally to FIG. 1 and in particular to e.g. Fig.15 , Fig.17 and Fig.18 , the receiver fastener housing 270 includes an indexing collet assembly receptacle 272 that accommodates the indexing collet assembly 203. The previous subject matter of this paragraph characterizes Example 38 of the present disclosure, wherein Example 38 also includes subject matter according to Example 36 or 37 above.

[0154] The indexing collet assembly receptacle 272 enables the indexing collet assembly 203 to be deployed and retracted between the indexing collet assembly retracted position and the indexing collet assembly extended position. In addition, as discussed herein, the indexing collet assembly receptacle 272 provides a structure that facilitates linear translation of the clamping sleeve 220 of the indexing collet assembly 203 and a structure against which the second indexing collet spring 232 reacts to facilitate translation of the clamping sleeve 220.

[0155] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , the indexing collet assembly container 272 includes a first end 275 of the indexing collet assembly container and a second end 276 of the indexing collet assembly container. The second end 276 of the indexing collet assembly container is axially opposite to the first end 275 of the indexing collet assembly container. The indexing collet assembly container 272 includes an indexing collet assembly container inlet 269. The indexing collet assembly container inlet 269 is located at the first end 275 of the indexing collet assembly container and is configured to supply pressurized fluid to the indexing collet assembly container 272 so that the indexing collet assembly 203 moves between the indexing collet assembly extended position and the indexing collet assembly retracted position. The second end 276 of the indexing collet assembly container is configured to enable the indexing collet assembly 203 to move to the indexing collet assembly extended position. The previous subject matter of this paragraph characterizes Example 39 of the present disclosure, wherein Example 39 also includes the subject matter according to Example 38 above.

[0156] The indexing collet assembly container second end 276 is exposed to allow the indexing collet assembly 203 to extend from the indexing collet assembly retracted position to the indexing collet assembly extended position. Pressurized fluid (e.g., air) enters the indexing collet assembly container first end 275 via the indexing collet assembly container inlet 269 to sequentially overcome the spring forces of the first indexing collet spring 231 and the second indexing collet spring 232 to cause the indexing collet assembly 203 to transition to the indexing collet assembly extended position, as discussed herein.

[0157] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , the indexing collet assembly 203 includes a collet sleeve 220 and an indexing collet 219. The indexing collet 219 is disposed within the collet sleeve 220. The collet sleeve 220 and the indexing collet 219 are movable relative to each other along the indexing collet assembly axis Y. The previous subject matter of this paragraph characterizes Example 40 of the present disclosure, wherein Example 40 also includes subject matter according to Example 39 above.

[0158] The indexing collet 219 provides a structure for engaging and coupling with the indexing pin 112 of the indexing collet assembly 103 of the shaft fastener apparatus 100. The collet sleeve 220 translates on the indexing collet 219 toward the indexing collet second end 225 to compress the indexing collet second end 225 radially inward toward the indexing collet assembly axis Y to clamp the indexing collet 219 to the indexing pin 112.

[0159] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , the collet sleeve 220 includes a collet sleeve first end 222 and a collet sleeve second end 223 axially opposite to the collet sleeve first end 222. The indexing collet 219 includes an indexing collet first end 224 and an indexing collet second end 225 axially opposite to the indexing collet first end 224. The indexing collet 219 extends through the collet sleeve second end 223. The previous subject matter of this paragraph characterizes Example 41 of the present disclosure, wherein Example 41 also includes subject matter according to Example 40 above.

[0160] Because the indexing collet 219 extends through the collet sleeve second end 223 , the collet sleeve 220 can be translated along the indexing collet 219 to compress the indexing collet second end 225 radially inward toward the indexing collet assembly axis Y to clamp the indexing collet 219 to the indexing pin 112 .

[0161] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18, the collet sleeve 220 includes a tapered inner surface 226 proximate the indexing collet second end 225 and extending inwardly from the collet sleeve second end 223 toward the indexing collet assembly axis Y. The indexing collet 219 includes a tapered outer surface 227 configured to contact the tapered inner surface 226 of the collet sleeve 220. The indexing collet 219 also includes a leg 228 proximate the indexing collet second end 225 and configured to be bendable relative to the indexing collet assembly axis Y. The previous subject matter of this paragraph characterizes Example 42 of the present disclosure, wherein Example 42 also includes subject matter according to Example 41 above.

[0162] As the collet sleeve 220 translates along the indexing collet 219 toward the indexing collet second end 225, the tapered inner surface 226 of the collet sleeve 220 engages the tapered outer surface 227 of the indexing collet 219 to compress the legs 228 radially inward toward the indexing collet assembly axis Y to clamp the indexing collet 219 to the indexing pin 112 of the indexing pin assembly 103 of the shaft fastener apparatus 100. Being able to bend relative to the indexing collet assembly axis Y, the legs 228 bend inward to clamp against the indexing pin 112.

[0163] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , each of the legs 228 includes an inward clamping surface 230 at the indexing collet second end 225. The inward clamping surface 230 of each of the legs 228 faces the indexing collet assembly axis Y. The previous subject matter of this paragraph characterizes Example 43 of the present disclosure, wherein Example 43 also includes subject matter according to Example 42 above.

[0164] The inward clamping surface 230 provides an engagement surface for clamping the indexing pin 112 of the indexing pin assembly 103 of the shaft fastener apparatus 100 .

[0165] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , when the indexing collet assembly 203 is in the indexing collet assembly retracted position, the collet sleeve 220 is retracted into the receiver fastener housing 270 and the collet sleeve second end 223 is disposed in the receiver fastener housing 270. When the indexing collet assembly 203 is in the indexing collet assembly extended position, the collet sleeve 220 is extended from the receiver fastener housing 270 and the collet sleeve second end 223 is positioned outside the receiver fastener housing 270. The previous subject matter of this paragraph characterizes Example 44 of the present disclosure, wherein Example 44 also includes subject matter according to any one of Examples 41 to 43 above.

[0166] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18, the indexing collet assembly 203 further includes a first indexing collet spring 231 disposed between the collet sleeve first end 222 and the indexing collet first end 224. The first indexing collet spring 231 applies a first spring force to bias the indexing collet first end 224 toward the collet sleeve first end 222, thereby retracting the indexing collet 219 into the collet sleeve 220. The previous subject matter of this paragraph characterizes Example 45 of the present disclosure, wherein Example 45 further includes subject matter according to any one of Examples 41 to 44 above.

[0167] As indicated, the first indexing collet spring 231 biases the indexing collet first end 224 toward the collet sleeve first end 222. Thus, the indexing collet 219 remains retracted until the gas pressure within the indexing collet assembly receptacle 272 overcomes the spring force of the first indexing collet spring 121, at which point the indexing collet 219 translates toward the indexing pin 112 of the indexing pin assembly 103 of the shaft fastener apparatus 100 so as to engage therewith.

[0168] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , the indexing collet assembly 203 also includes a second indexing collet spring 232 disposed between the indexing collet assembly container first end 275 and the collet sleeve first end 222. The second indexing collet spring 232 applies a second spring force to bias the collet sleeve first end 222 toward the indexing collet assembly container first end 275, thereby retracting the collet sleeve 220 toward the indexing collet assembly container first end 275. The previous subject matter of this paragraph characterizes Example 46 of the present disclosure, wherein Example 46 also includes the subject matter according to Example 45 above.

[0169] As indicated, the second indexing collet spring 232 biases the collet sleeve first end 222 toward the indexing collet assembly container first end 275. Thus, the collet sleeve 220 remains retracted until the gas pressure within the indexing collet assembly container 272 overcomes the spring force of the second indexing collet spring 232, at which point the collet sleeve 220 translates toward the indexing collet second end 225 to squeeze the legs 228 toward the indexing collet assembly axis Y, thereby clamping the indexing collet 219 to the indexing pin 112 of the indexing pin assembly 103 of the shaft fastener apparatus 100.

[0170] Referring generally to FIG. 1 and in particular to e.g. Fig.17 and Fig.18 , the second spring force is greater than the first spring force. The previous subject matter of this paragraph characterizes Example 47 of the present disclosure, wherein Example 47 also includes the subject matter according to Example 46 above.

[0171] Because the spring force of the second index collet spring 232 is greater than the spring force of the first index collet spring 231, as the gas pressure within the index collet assembly receptacle 272 increases, the index collet 219 will extend ahead of the collet sleeve 220 in time. As a result, the collet sleeve 220 will not compress the legs 228 until the index collet 219 has been seated and engaged with the index pin 112 of the index pin assembly 103 of the shaft fastener apparatus 100. Conversely, as the gas pressure in the index collet assembly receptacle 272 decreases, the collet sleeve 220 will retract ahead of the index collet 219. As a result, the collet sleeve 220 will release its pressure on the legs 228, after which the index collet 228 disengages from the index pin 112 of the index pin assembly 103 of the shaft fastener apparatus 100.

[0172] Referring generally to FIG. 1 and in particular to e.g. Fig.15 , Fig.16 and Figures 19 to 24 , the receiver fastener turret 202 includes a receiver fastener turret rear side 280 and a receiver fastener turret front side 281 opposite the receiver fastener turret rear side 280. Each of the anvil 204, the receiver fastener transfer assembly 205, and the hammer assembly 206 are positioned in the receiver fastener turret 202 to cooperate with the shaft fastener apparatus 100 at the receiver fastener turret front side 281. The previous subject matter of this paragraph characterizes Example 48 of the present disclosure, wherein Example 48 also includes subject matter according to any of Examples 36 to 47 above.

[0173] The anvil 204 , the receiver fastener transfer assembly 205 , and the hammer assembly 206 cooperate with the shaft fastener apparatus 100 by being respectively positioned at the receiver fastener turret front side 281 to operably drill a hole and install a two-piece fastening system.

[0174] Referring generally to FIG. 1 and in particular to e.g. Fig.19 , the receiver fastener turret 202 also includes an anvil receptacle 282 extending from the receiver fastener turret front side 281 into the receiver fastener turret 202. The anvil 204 is disposed in the anvil receptacle 282. The anvil receptacle 282 is sized so that the anvil 204 moves within the anvil receptacle 282 along the anvil axis X. The previous subject matter of this paragraph characterizes Example 49 of the present disclosure, wherein Example 49 also includes subject matter according to Example 48 above.

[0175] The anvil 204 moves along the anvil axis X to selectively extend from the receiver fastener turret 202 to engage one of the first panel 500 or the second panel 502 to counteract the force of the drill 104 when the borehole 508 is being cut.

[0176] Referring generally to FIG. 1 and in particular to e.g. Fig.19, the anvil 204 is configured to move along the anvil axis X within the anvil container 282 in response to gas pressure against the anvil 204. The previous subject matter of this paragraph characterizes Example 50 of the present disclosure, wherein Example 50 also includes subject matter according to Example 49 above.

[0177] As with the other tools in the tools of the receiver fastener apparatus 200 and the shaft fastener apparatus 100, air pressure is an efficient mechanism for facilitating operation of the anvil 204. Most manufacturers facilitate readily available factory compressed air at the appropriate pressure for attaching and using with various tools.

[0178] Referring generally to FIG. 1 and in particular to e.g. Fig. 20 , the receiver fastener turret 202 also includes a receiver fastener receptacle 209 extending from the receiver fastener turret rear side 281 into the receiver fastener turret 202 along a receiver fastener receptacle axis V. The receiver fastener receptacle 290 is configured to receive the receiver fasteners 506 so as to operably arrange one of the receiver fasteners 506 to be inserted into a corresponding shaft fastener in the shaft fasteners 504 at the receiver fastener turret front side 281. The previous subject matter of this paragraph characterizes Example 51 of the present disclosure, wherein Example 51 also includes subject matter according to any of Examples 48 to 50 above.

[0179] The receiver fastener container 290 holds a supply of receiver fasteners 506 so that in one or more examples, the receiver fastener apparatus 200 is used with the shaft fastener apparatus 100 to install multiple two-piece fastening systems, after which the receiver fastener apparatus 200 needs to be associated with the receiver fasteners 506 .

[0180] Referring generally to FIG. 1 and in particular to e.g. Fig.16 and Fig. 20 , the receiver fastener container 290 extends from the receiver fastener turret front side 281 through the receiver fastener turret 202 to the receiver fastener turret rear side 280. The receiver fastener apparatus 200 also includes a cap 291 that blocks the receiver fastener container 290 at the receiver fastener turret rear side 280 to retain the receiver fastener 506 in the receiver fastener container 290. The previous subject matter of this paragraph characterizes Example 52 of the present disclosure, wherein Example 52 also includes subject matter according to Example 51 above.

[0181] The cap 291 is removable so that the receiver fastener 506 can be loaded into the receiver fastener container 290 via the receiver fastener turret rear side 280. The cap 291 not only retains the receiver fastener 506 in the receiver fastener container 290, but the cap 291 also provides a structure against which the receiver fastener container spring 293 acts to urge the receiver fastener 506 toward the receiver fastener turret front side 281.

[0182] Referring generally to FIG. 1 and in particular to e.g. Fig. 20 , the receiver fastener apparatus 200 further includes a receiver fastener container spring 293 disposed in the receiver fastener container 290 to bias the receiver fastener 506 toward the receiver fastener turret front side 281. The previous subject matter of this paragraph characterizes Example 53 of the present disclosure, wherein Example 53 further includes subject matter according to Example 51 or 52 above.

[0183] As indicated, the receiver fastener receptacle spring 293 biases the receiver fasteners 506 toward the receiver fastener turret front side 281 and thus toward a position of the receiver fastener turret front side 281 , allowing the retainer 236 to operably move one of the receiver fasteners 506 for insertion into a corresponding one of the shaft fasteners 504 .

[0184] Referring generally to FIG. 1 and in particular to e.g. Fig.15 , Fig.21 and Fig. 22 , the shaft fastener transfer assembly 205 includes a retainer 236, which is supported by the receiver fastener turret 202 at the receiver fastener turret front side 281. The retainer 236 is configured to retain one of the receiver fasteners 506 and operably arrange one of the receiver fasteners 506 for operably inserting into a corresponding one of the shaft fasteners 504. The retainer 236 can be selectively pivoted relative to the receiver fastener turret 202 in a plane perpendicular to the receiver fastener turret rotation axis Z to move one of the receiver fasteners 506 from the receiver fastener container axis V to the anvil axis X for operably inserting into a corresponding one of the shaft fasteners 504. The previous subject matter of this paragraph characterizes Example 54 of the present disclosure, wherein Example 54 also includes subject matter according to any of Examples 51 to 53 above.

[0185] By moving one of the receiver fasteners 506 to align with the anvil axis X via the retainer 236 , the receiver fastener turret 202 need not be rotated to operably position the receiver fastener 506 because the bore 508 is drilled with the anvil axis X coaxial with the drill axis C.

[0186] In one or more examples, the receiver fastener transmission assembly 205 also includes a pivot device 241 and a return spring 242. The return spring 242 biases the retainer 236 to a pivot position so as to operably receive one of the receiver fasteners 506 in the receiver fastener container 290. The pivot device 241, when actuated (e.g., via gas pressure), selectively pivots the retainer 236 against the bias of the return spring 242 so that the receiver fastener held by the retainer is operably moved toward the anvil axis X.

[0187] Referring generally to FIG. 1 and in particular to e.g. Fig.23 and Fig.24 , the receiver fastener turret 202 also includes a hammer receptacle 284 that extends from the receiver fastener turret front side 281 into the receiver fastener turret 202. The hammer assembly 206 is disposed in the hammer receptacle 284. The hammer receptacle 284 is sized so that the hammer assembly 206 moves within the hammer receptacle 284 along the forging hammer axis W. The previous subject matter of this paragraph characterizes Example 55 of the present disclosure, wherein Example 55 also includes subject matter according to any of Examples 48 to 54 above.

[0188] In one or more examples, the hammer assembly 206 is selectively extended to forge a receiver fastener on a shaft fastener due to its ability to move along the hammer axis W. In addition, in one or more examples, the hammer assembly 206 is retracted into the hammer receptacle 284, making the receiver fastener apparatus 200 compact and easy to maneuver into place for operation.

[0189] Referring generally to FIG. 1 and in particular to e.g. Fig.23 and Fig.24 , the hammer assembly 206 includes a hammer 207 and at least one piston 245. The at least one piston 245 is coupled to the hammer 207 and is configured to move the hammer assembly 206 along the forging hammer axis W in response to gas pressure acting against the at least one piston 245. The previous subject matter of this paragraph characterizes Example 56 of the present disclosure, wherein Example 56 also includes subject matter according to Example 55 above.

[0190] The at least one piston 245 provides a structure against which gas pressure acts to operably move the hammer assembly 206 .

[0191] In one or more examples, receiver fastener turret 202 includes at least one piston cavity 248 through which at least one piston 245 travels and in which gas pressure is used to cause at least one piston 245 to move, such as depending on which side of the piston has greater gas pressure.

[0192] In one or more examples, hammer 207 is model PR3228-1 manufactured by Arconic Fastening Systems of Kingston, New York, USA.

[0193] Referring generally to FIG. 1 and in particular to e.g. Figures 25 to 41, a system 1000 for joining a first panel 500 and a second panel 502 that at least partially overlap each other is disclosed. The system 1000 includes a shaft fastener device 100 and a receiver fastener device 200. The shaft fastener device 100 includes a shaft fastener housing 170, a shaft fastener turret 102, an indexing pin assembly 103, a drill 104, and a shaft fastener transmission assembly 105. The shaft fastener turret 102 is supported by the shaft fastener housing 170 and can selectively rotate relative to the shaft fastener housing 170 about a shaft fastener turret rotation axis A. The indexing pin assembly 103 is supported by the shaft fastener housing 170 and can selectively move relative to the shaft fastener housing 170 along an indexing pin assembly axis B parallel to the shaft fastener turret rotation axis A between an indexing pin assembly extended position and an indexing pin assembly retracted position. The drill 104 is supported by the shaft fastener turret 102 and is selectively movable relative to the shaft fastener turret 102 along a drill axis C parallel to the shaft fastener turret rotation axis A. The shaft fastener transfer assembly 105 is also supported by the shaft fastener turret 102. The receiver fastener apparatus 200 includes a receiver fastener housing 270, a receiver fastener turret 202, an indexing collet assembly 203, an anvil 204, a receiver fastener transfer assembly 205, and a hammer assembly 206. The receiver fastener turret 202 is supported by the receiver fastener housing 270 and is selectively rotatable relative to the receiver fastener housing 270 about a receiver fastener turret rotation axis Z. The indexing collet assembly 203 is supported by the receiver fastener housing 270 and is selectively movable relative to the receiver fastener housing 270 along an indexing collet assembly axis Y parallel to the receiver fastener turret rotation axis Z between an indexing collet assembly extended position and an indexing collet assembly retracted position. The indexing collet assembly 203 is also configured to cooperate with the indexing pin assembly 103 to fix the shaft fastener device 100 and the receiver fastener device 200 relative to the first panel 500 and the second panel 502. The anvil 204 is supported by the receiver fastener turret 202 and is selectively movable relative to the receiver fastener turret 202 along an anvil axis X parallel to the receiver fastener turret rotation axis Z. The anvil 204 is also configured to cooperate with the drill 104 to operably drill a bore 508 through the first panel 500 and the second panel 502. The receiver fastener transfer assembly 205 is supported by the receiver fastener turret 202 and is configured to position the receiver fastener 506 so as to be operably arranged on the shaft fastener 504 corresponding to the receiver fastener 506 by the shaft fastener transfer assembly 105. The hammer assembly 206 is supported by the receiver fastener turret 202 and is movable relative to the receiver fastener turret 202 along a forging hammer axis W parallel to the receiver fastener turret rotation axis Z. The hammer assembly 206 is also configured to forge the receiver fasteners 506 onto corresponding ones of the shaft fasteners 504 .The previous subject matter of this paragraph characterizes Example 57 of the present disclosure.

[0194] Referring generally to FIG. 1 and in particular to e.g. Fig.41 , system 1000 also includes a first robotic device 600 and a second robotic device 601. The shaft fastener apparatus 100 is coupled to the first robotic device 600 as a first end effector 603. The receiver fastener apparatus 200 is coupled to the second robotic device 601 as a second end effector 604. The previous subject matter of this paragraph characterizes Example 58 of the present disclosure, wherein Example 58 also includes subject matter according to Example 57 above.

[0195] The first robotic device 600 and the second robotic device 601 are used to operably position the shaft fastener apparatus 100 and the receiver fastener apparatus 200 relative to the first panel 500 and the second panel 502 to install the two-piece fastening system. In addition, the use of the first robotic device 600 and the second robotic device 601 enables the shaft fastener apparatus 100 and the receiver fastener apparatus 200 to be automatically operated and, in some examples, moved within locations that are constrained, in the air, or otherwise difficult for personnel to reach or access, such as within a wing box of an aircraft being manufactured.

[0196] Overall reference Fig.42 And specifically refer to e.g. Figure 2 , Fig.15 and Figures 25 to 41, a method 2000 of engaging a first panel 500 and a second panel 502 that at least partially overlap each other is disclosed. The method 2000 includes (block 2002) positioning a shaft fastener device 100 relative to the first panel 500 and the second panel 502 by engaging an indexing pin assembly 103 of the shaft fastener device 100 with a locating hole 510 in the first panel 500. The shaft fastener device 100 is located on a first side of the first panel 500. The method 2000 also includes (block 2004) positioning a receiver fastener device 200 relative to the first panel 500 and the second panel 502 by engaging an indexing pin assembly 103 of the shaft fastener device 100 with an indexing collet assembly 203 of the receiver fastener device 200. The receiver fastener device 200 is positioned opposite the shaft fastener device 100 on a second side of the first panel 500 that is opposite to the first side. The method 2000 further includes (block 2006) aligning the drill 104 of the shaft fastener apparatus 100 with the anvil 204 of the receiver fastener apparatus 200. The method 2000 further includes (block 2008) drilling a borehole 508 with the drill 104 through the first panel 500 and the second panel 502. The method 2000 further includes (block 2010) aligning one of the receiver fasteners 506 with the borehole 508 using the receiver fastener transport assembly 205 of the receiver fastener apparatus 200. The method 2000 further includes (block 2012) inserting one shaft fastener 504 from the first side of the first panel 500 into the borehole 508 and into one of the receiver fasteners 506 using the shaft fastener transport assembly 105 of the shaft fastener apparatus 100. The method 2000 further includes (block 2014) securing the receiver fastener 506 to the shaft fastener 504 using the hammer assembly 206 of the receiver fastener apparatus 200. The previous subject matter of this paragraph characterizes Example 59 of the present disclosure.

[0197] The shaft fastener apparatus 100 and the receiver fastener apparatus 200 are fixed relative to the first panel 500 and the second panel 502 by positioning them relative to the first panel 500 and the second panel 502 and by engaging the indexing pin assembly 103 with the indexing collet assembly 203 so as to operate their respective component tools. That is, once the shaft fastener apparatus 100 is fixed, the drill 104 for drilling the borehole 508 through the first panel 500 and the second panel 502 can be accurately positioned, and then the shaft fastener delivery assembly 105 can be accurately positioned so as to insert one of the shaft fasteners 504 through the borehole 508 and through the receiver fastener positioned by the receiver fastener apparatus 200. Once the receiver fastener apparatus 200 is secured, the anvil 204 can be accurately positioned relative to the drill 104, one of the receiver fasteners 506 can be positioned so that the shaft fastener can be inserted through the bore 508 and through the positioned receiver fastener, and then the forging assembly 206 can be accurately positioned so as to secure the arranged receiver fastener to the inserted shaft fastener.

[0198] Figure 2 , Fig.15 and Figures 25 to 40 The diagram is generally shown in sequence and illustrates the operation of the shaft fastener apparatus 100 and the receiver fastener apparatus 200 to install a two-piece fastening system that engages a first panel 500 with a second panel 502 .

[0199] Overall reference Fig.42 And specifically refer to e.g. Fig.25 According to method 2000, (block 2002) engaging the indexing pin assembly 103 of the shaft fastener device 100 with the locating hole 510 in the first panel 500 includes (block 2016) extending the indexing pin 112 of the shaft fastener device 100 along the indexing pin assembly axis B and inserting the indexing pin second end 115 of the indexing pin 112 through the locating hole 510. The previous subject matter of this paragraph characterizes Example 60 of the present disclosure, wherein Example 60 also includes subject matter according to Example 59 above.

[0200] By extending the indexing pins 112 through the locating holes 510 , the indexing pins engage opposing sides of the first panel 500 to help secure the shaft fastener apparatus 100 to the first panel 500 .

[0201] Overall reference Fig.42 And specifically refer to e.g. Fig.26According to method 2000, (box 2002) engaging the indexing pin assembly 103 of the shaft fastener device 100 with the locating hole 510 in the first panel 500 also includes (box 2018) sliding the plunger 113 along the indexing pin assembly axis B inside the indexing pin 112 and expanding the indexing pin second end 115 within the locating hole 510. The previous subject matter of this paragraph characterizes Example 61 of the present disclosure, wherein Example 61 also includes the subject matter according to Example 60 above.

[0202] By deploying the indexing pin second end 115 with the plunger 113 , the indexing pin 112 will engage the surface of the locating hole 510 to help secure the shaft fastener apparatus 100 to the first panel 500 .

[0203] Overall reference Fig.42 And specifically refer to e.g. Fig.26 According to the method 2000, (block 2002) engaging the indexing pin assembly 103 of the shaft fastener device 100 with the locating hole 510 in the first panel 500 further includes (block 2020) contacting the finger flange 118 at the second end 115 of the indexing pin against the second side of the first panel 500. The previous subject matter of this paragraph characterizes Example 62 of the present disclosure, wherein Example 62 also includes subject matter according to Example 60 or 61 above.

[0204] Contact of the finger flange 118 against the second side of the first panel 500 helps secure the shaft fastener apparatus 100 to the first panel 500 .

[0205] Overall reference Fig.42 And specifically refer to e.g. Fig. 27 According to method 2000, (block 2002) engaging indexing pin assembly 103 of shaft fastener apparatus 100 with locating hole 510 in first panel 500 also includes (block 2022) sliding clamping sleeve 111 along the exterior of indexing pin 112 and clamping first panel 500 between clamping sleeve 111 on a first side of first panel 500 and finger flange 118 on a second side of first panel 500. The previous subject matter of this paragraph characterizes Example 63 of the present disclosure, wherein Example 63 also includes subject matter according to Example 62 above.

[0206] Clamping the first panel 500 between the clamping sleeve 111 on a first side of the first panel 500 and the finger flange 118 on a second side of the first panel 500 secures the shaft fastener apparatus 100 to the first panel 500 for subsequent manipulation by other tools of the shaft fastener apparatus 100 .

[0207] Overall reference Fig.42 And specifically refer to e.g. Fig.28 and Fig.29According to method 2000, (block 2004) engaging the indexing pin assembly 103 of the shaft fastener apparatus 100 with the indexing collet assembly 203 of the receiver fastener apparatus 200 includes (block 2024) moving the collet sleeve 220 of the indexing collet assembly 203 along the indexing collet assembly axis Y over the indexing collet 219 of the indexing collet assembly 203 and (block 2026) compressing the indexing collet second end 225 of the indexing collet 219 onto the indexing pin assembly 103 extending through the locating hole 510. The previous subject matter of this paragraph characterizes Example 64 of the present disclosure, wherein Example 64 also includes subject matter according to any one of Examples 59 to 63 above.

[0208] Compressing the indexing collet second end 225 onto the indexing pin assembly 103 clamps the indexing collet 219 to the indexing pin 112 , thereby securing the receiver fastener apparatus 200 to the shaft fastener apparatus 100 , thereby securing the receiver fastener apparatus 200 relative to the first panel 500 and the second panel 502 .

[0209] Overall reference Fig.42 And specifically refer to e.g. Fig.30 , method 2000 further includes, after (block 2004) engaging indexing pin assembly 103 of shaft fastener apparatus 100 with indexing collet assembly 203 of receiver fastener apparatus 200, (block 2028) rotating shaft fastener turret 102 of shaft fastener apparatus 100 about shaft fastener turret rotation axis A to align drill 104 at overlap point P of first panel 500 and second panel 502. The previous subject matter of this paragraph characterizes example 65 of the present disclosure, wherein example 65 also includes subject matter according to any of examples 59 to 64 above.

[0210] By rotating the shaft fastener turret 102 about the shaft fastener turret rotation axis A, the drill 104 is aligned with point P to drill the borehole 508 .

[0211] Overall reference Fig.42 And specifically refer to e.g. Fig.31 , method 2000 also includes (block 2030) rotating receiver fastener turret 202 of receiver fastener apparatus 200 about receiver fastener turret rotation axis Z to align anvil 204 with point P. The previous subject matter of this paragraph characterizes Example 66 of the present disclosure, wherein Example 66 also includes subject matter according to Example 65 above.

[0212] By rotating receiver fastener turret 202 about receiver fastener turret rotation axis Z, anvil 204 is aligned with point P such that anvil 204 counteracts the force of drill 104 .

[0213] Overall reference Fig.42 And specifically refer to e.g. Fig.32 and Fig.33 , the method 2000 further includes (block 2032) extending the presser foot 136 of the drill 104 to contact the first panel 500 and (block 2034) extending the anvil 204 to contact the second panel 502 and clamping the first panel 500 and the second panel 502 between the anvil 204 and the presser foot 136. The previous subject matter of this paragraph characterizes Example 67 of the present disclosure, wherein Example 67 also includes subject matter according to Example 66 above.

[0214] By extending the anvil 204 to contact the second panel 502 , the anvil 204 counteracts the force of the drill 104 .

[0215] Overall reference Fig.42 And specifically refer to e.g. Fig.35 , method 2000 further includes rotating (block 2036) the shaft fastener turret 102 of shaft fastener apparatus 100 about shaft fastener turret axis A to align shaft fastener transfer assembly 105 with borehole 508 after (block 2008) drilling borehole 508 through first panel 500 and second panel 502, before (block 2012) inserting one shaft fastener 504 into borehole 508 and one receiver fastener 506 from a first side of first panel 500 and while indexing pin assembly 103 is engaged with indexing collet assembly 203. The previous subject matter of this paragraph characterizes example 68 of the present disclosure, wherein example 68 also includes subject matter according to any of examples 59 to 67 above.

[0216] By rotating shaft fastener turret 102 about shaft fastener turret axis A, shaft fastener transfer assembly 105 is aligned with bore 508 so that shaft fastener transfer assembly 105 can insert a shaft fastener 504 through bore 508 and a receiver fastener of receiver fasteners 506 disposed by receiver fastener apparatus 200 .

[0217] Overall reference Fig.42 And specifically refer to e.g. Fig.38 , the method 2000 further includes, after inserting (block 2012) one shaft fastener 504 into the bore 508 and one receiver fastener 506 from the first side of the first panel 500 while the indexing pin assembly 103 is engaged with the indexing collet assembly 203, (block 2040) rotating the receiver fastener turret 202 of the receiver fastener apparatus 200 about the receiver fastener turret rotation axis Z to align the hammer assembly 206 with the one shaft fastener 504 and the one receiver fastener 506. The previous subject matter of this paragraph characterizes Example 69 of the present disclosure, wherein Example 69 also includes subject matter according to any of Examples 59 to 68 above.

[0218] By rotating the receiver fastener turret 202 about the receiver fastener turret rotation axis Z, the hammer assembly 206 is aligned with the arranged receiver fastener and the shaft fastener extending through the arranged receiver fastener such that the receiver fastener is hammered onto the shaft fastener.

[0219] Overall reference Fig.42 And specifically refer to e.g. Fig.41 , method 2000 further includes (block 2042) moving shaft fastener apparatus 100 relative to first panel 500 and second panel 502 with first robotic apparatus 600 and moving receiver fastener apparatus 100 relative to first panel 500 and second panel 502 with second robotic apparatus 601. The previous subject matter of this paragraph characterizes example 70 of the present disclosure, wherein example 70 further includes subject matter according to any of examples 59 to 69 above.

[0220] Moving the shaft fastener apparatus 100 and the receiver fastener apparatus 200 with a robotic device enables the shaft fastener apparatus 100 and the receiver fastener apparatus 200 to be automatically operated and, in some examples, moved within locations that are constrained, in mid-air, or otherwise difficult for personnel to reach or access, such as within a wing box of an aircraft being manufactured.

[0221] The present disclosure also includes the following illustrative, non-exclusive enumerated examples that may or may not be claimed:

[0222] Example 1. A shaft fastener device (100) for cooperatively engaging a first panel (500) and a second panel (502) that at least partially overlap one another with a receiver fastener device (200), the shaft fastener device (100) comprising:

[0223] a shaft fastener housing (170);

[0224] a shaft fastener turret (102) supported by the shaft fastener housing (170) and selectively rotatable relative to the shaft fastener housing (170) about a shaft fastener turret rotation axis (A);

[0225] an indexing pin assembly (103) supported by the shaft fastener housing (170) and selectively movable relative to the shaft fastener housing (170) between an indexing pin assembly extended position and an indexing pin assembly retracted position along an indexing pin assembly axis (B) parallel to the shaft fastener turret rotation axis (A);

[0226] a drill (104) supported by the shaft fastener turret (102) and selectively movable relative to the shaft fastener turret (102) along a drill axis (C) parallel to the shaft fastener turret rotation axis (A); and

[0227] A shaft fastener transfer assembly (105) is supported by the shaft fastener turret (102).

[0228] Example 2. The shaft fastener apparatus (100) of Example 1, wherein the shaft fastener housing (170) extends at least partially around the shaft fastener turret (102) and includes a shaft fastener housing mounting flange (173).

[0229] Example 3. The shaft fastener apparatus (100) of Example 1 or 2, wherein the shaft fastener housing (170) includes an indexing pin assembly receptacle (172) for accommodating the indexing pin assembly (103).

[0230] Example 4. The shaft fastener apparatus (100) of Example 3, wherein:

[0231] The indexing pin assembly container (172) has an indexing pin assembly container first end (174) and an indexing pin assembly container second end (175) axially positioned opposite to the indexing pin assembly container first end (174);

[0232] The indexing pin assembly container (172) includes an indexing pin assembly container inlet (169) located at the first end (174) of the indexing pin assembly container and configured to supply pressurized fluid to the indexing pin assembly container (172) to move the indexing pin assembly (103) between the indexing pin assembly extended position and the indexing pin assembly retracted position; and

[0233] The indexing pin assembly receptacle second end (175) is configured to enable the indexing pin assembly (103) to be moved to the indexing pin assembly extended position to engage one of the first panel (500) or the second panel (502).

[0234] Example 5. The shaft fastener apparatus (100) of any one of Examples 1 to 4, wherein:

[0235] The indexing pin assembly (103) comprises:

[0236] A clamping sleeve (111);

[0237] An indexing pin (112) disposed within the clamping sleeve (111); and

[0238] a plunger (113) disposed within the indexing pin (112); and

[0239] Each of the clamping sleeve (111), the indexing pin (112) or the plunger (113) is movable relative to the other along the indexing pin assembly axis (B).

[0240] Example 6. The shaft fastener apparatus (100) of Example 5, wherein the indexing pin (112) has an elongated shape and comprises:

[0241] An indexing pin first end (114) and an indexing pin second end (115) axially opposite to the indexing pin first end (114); and

[0242] A finger (116) is disposed proximate the indexing pin second end (115) and is bendable relative to the indexing pin assembly axis (B).

[0243] Example 7: The shaft fastener apparatus (100) of Example 6, wherein:

[0244] Each of the fingers (116) includes a finger flange (118) at the indexing pin second end (115); and

[0245] The finger flange (118) of each of the fingers (116) extends radially away from the indexing pin assembly axis (B).

[0246] Example 8. The shaft fastener apparatus (100) of Example 6 or 7, wherein:

[0247] The clamping sleeve (111) has an elongated shape and comprises a clamping sleeve first end (119) and a clamping sleeve second end (120) located axially opposite to the clamping sleeve first end (119);

[0248] In the retracted position of the indexing pin assembly, the clamping sleeve (111) is retracted into the shaft fastener housing (170) so that the second end (120) of the clamping sleeve is positioned within the shaft fastener housing (170); and

[0249] In the extended position of the indexing pin assembly, the clamping sleeve (111) extends from the shaft fastener housing (170) such that the clamping sleeve second end (120) is positioned outside the shaft fastener housing (170).

[0250] Example 9. The shaft fastener apparatus (100) of any one of Examples 6 to 8, wherein the plunger (113) is shorter than the indexing pin (112) along the indexing pin assembly axis (B).

[0251] Example 10: The shaft fastener apparatus (100) of any one of Examples 6 to 9, wherein:

[0252] The indexing pin assembly (103) further includes a first indexing pin spring (121) operably connected to the clamping sleeve (111); and

[0253] The first indexing pin spring (121) applies a first spring force to the clamping sleeve (111) to bias the clamping sleeve (111) along the indexing pin assembly axis (B) into the shaft fastener housing (170).

[0254] Example 11. The shaft fastener apparatus (100) of Example 10, wherein:

[0255] The indexing pin assembly (103) further includes a second indexing pin spring (122) operably connected to the indexing pin (112); and

[0256] The second index pin spring (122) applies a second spring force to the index pin (112) to bias the index pin (112) along the index pin assembly axis (B) into the shaft fastener housing (170).

[0257] Example 12. An axis fastener device (100) according to Example 11, wherein the indexing pin assembly (103) further includes a third indexing pin spring (123), wherein the third indexing pin spring (123) applies a third spring force to the plunger (113) to bias the plunger (113) away from the second end (115) of the indexing pin.

[0258] Example 13 The shaft fastener apparatus (100) of Example 12, wherein:

[0259] The first indexing pin spring (121) has a first spring constant;

[0260] The second indexing pin spring (122) has a second spring constant;

[0261] The third indexing pin spring (123) has a third spring constant; and

[0262] The first spring constant, the second spring constant, and the third spring constant are different from each other.

[0263] Example 14. The shaft fastener apparatus (100) of Example 13, wherein the third spring constant is greater than the second spring constant and less than the first spring constant.

[0264] Example 15. The shaft fastener apparatus (100) of any one of Examples 1 to 14, wherein:

[0265] The shaft fastener turret (102) includes a shaft fastener turret rear side (180) and a shaft fastener turret front side (181) opposite to the shaft fastener turret rear side (180); and

[0266] Each of the drill (104) and the shaft fastener transfer assembly (105) is positioned in the shaft fastener turret (102) to cooperate with the receiver fastener device (200) at the shaft fastener turret front side (181).

[0267] Example 16. The shaft fastener apparatus (100) of Example 15, wherein:

[0268] The shaft fastener turret (102) further includes a drill container (183), the drill container (183) extending from the shaft fastener turret front side (181) into the shaft fastener turret (102);

[0269] The drill (104) is disposed in the drill container (183); and

[0270] The drill receptacle (183) is sized to allow the drill (104) to move within the drill receptacle (183) along the drill axis (C).

[0271] Example 17. The shaft fastener apparatus (100) of Example 16, wherein the drill (104) comprises:

[0272] a drill housing (130) disposed in the drill receptacle (183) of the shaft fastener turret (102);

[0273] a drill shaft (131) disposed in the drill housing (130); and

[0274] A motor (134) is operably connected to the drill shaft (131) to apply force to rotate a drill bit (132) held by the drill shaft (131).

[0275] Example 18. The shaft fastener apparatus (100) of Example 17, wherein the drill (104) further comprises a gear train (162) operably coupling the motor (134) and the drill shaft (131).

[0276] Example 19. The shaft fastener apparatus (100) of Example 17 or 18, wherein the drill (104) further comprises a collet nut (163) configured to attach the drill bit (132) to the drill shaft (131).

[0277] Example 20. The shaft fastener apparatus (100) of any one of Examples 17 to 19, wherein:

[0278] The drill head (104) further includes a housing support spring (137) that biases the drill housing (130) away from the front side (181) of the shaft fastener turret; and

[0279] The housing support spring (137) is disposed between the drill housing (130) and the shaft fastener turret (102).

[0280] Example 21. The shaft fastener apparatus (100) of Example 20, wherein the drill (104) further comprises:

[0281] a presser foot (136) extending out of the shaft fastener turret (102) via the shaft fastener turret front side (181); and

[0282] A pressure foot spring (135) is located between the pressure foot (136) and the drill housing (130) to bias the pressure foot (136) away from the drill housing (130).

[0283] Example 22. The shaft fastener apparatus (100) of any one of Examples 15 to 21, wherein:

[0284] The shaft fastener turret (102) also includes a shaft fastener delivery assembly receptacle (184) extending into the front side (181) of the shaft fastener turret; and

[0285] The shaft fastener delivery assembly (105) is disposed in the shaft fastener delivery assembly container (184).

[0286] Example 23. According to the shaft fastener device (100) described in Example 22, the shaft fastener device (100) also includes a shaft fastener transfer assembly container pressure supply port (146) between the shaft fastener transfer assembly container (184) and the rear side (180) of the shaft fastener rotating frame, and wherein the shaft fastener transfer assembly container pressure supply port (146) is configured to move pressurized fluid into the shaft fastener transfer assembly container (184).

[0287] Example 24. The shaft fastener apparatus (100) of Example 22 or 23, wherein the shaft fastener transfer assembly (105) includes a plug (157) that seals the shaft fastener transfer assembly container (184) toward the rear side (180) of the shaft fastener turret.

[0288] Example 25. The shaft fastener apparatus (100) of any one of Examples 15 to 24, wherein the shaft fastener delivery assembly (105) comprises:

[0289] a cartridge (138) sized to retain the shaft fastener (504); and

[0290] A retainer (147) is disposed adjacent the cassette (138) to receive one of the shaft fasteners (504) from the cassette (138).

[0291] Example 26. The shaft fastener apparatus (100) of Example 25, wherein the box (138) comprises a box body (148), a shaft fastener outlet (145), and a box slot (143) extending from the shaft fastener outlet (145) into the box body (148).

[0292] Example 27. The shaft fastener apparatus (100) of Example 25 or 26, wherein the stopper (147) is disposed on a front side (181) of the shaft fastener turret.

[0293] Example 28. The shaft fastener apparatus (100) of any one of Examples 25 to 27, wherein the stopper (147) comprises:

[0294] a first stopper side (152) and a second stopper side (153) opposite the first stopper side (152); and

[0295] A hollow interior space (155) extends between the first stopper side (152) and the second stopper side (153) and is sized to receive one of the shaft fasteners (504) in the cassette (138).

[0296] Example 29. The shaft fastener apparatus (100) of Example 28, wherein:

[0297] The stopper (147) further includes a stopper slot (156) extending into the hollow interior space (155); and

[0298] The retainer slot (156) is aligned with the box (138) so that one of the shaft fasteners (504) can pass from the box (138) through the retainer slot (156) into the hollow interior space (155).

[0299] Example 30. The shaft fastener apparatus (100) of Example 29, wherein the cassette (138) is configured to receive the shaft fasteners (504) in a row aligned with the stopper slots (156).

[0300] Example 31. The shaft fastener apparatus (100) of Example 29 or 30, wherein:

[0301] The stopper (147) further includes a fin (154) at the second stopper side (153);

[0302] The fins (154) are spaced circumferentially about a portion of the hollow interior space (155) to temporarily retain one of the shaft fasteners (504) in an operable position; and

[0303] Two of the fins (154) at least partially define the stopper slot (156).

[0304] Example 32. An axial fastener device (100) according to Example 31, wherein the axial fastener transmission assembly (105) further includes a push rod (149), which is aligned with the stopper (147) and is configured to contact one of the axial fasteners (504) in the stopper (147) and drive the one of the axial fasteners (504) in the hollow interior space (155) of the stopper (147).

[0305] Example 33. The shaft fastener apparatus (100) of Example 32, wherein:

[0306] The push rod (149) has an elongated shape and includes a first push rod end (150) and a second push rod end (151) axially opposite to the first push rod end (150); and

[0307] The shaft fastener transmission assembly (105) also includes a piston (158) disposed at the second push rod end (151).

[0308] Example 34. An axial fastener device (100) according to Example 32 or 33, wherein the axial fastener transmission assembly (105) further includes a push rod spring (159), which biases the push rod (149) away from the stopper (147) toward the rear side (180) of the axial fastener rotating frame.

[0309] Example 35. The shaft fastener apparatus (100) of any one of Examples 32 to 34, wherein:

[0310] a stopper (147) comprising an opening (160) on said first stopper side (152); and

[0311] The opening (160) is sized to receive the push rod (149) when the push rod (149) drives one of the shaft fasteners (504) from the hollow interior space (155) of the stopper (147) away from the rear side (180) of the shaft fastener turret.

[0312] Example 36. A receiver fastener device (200) for cooperatively engaging a first panel (500) and a second panel (502) that at least partially overlap one another with a shaft fastener device (100), the receiver fastener device (200) comprising:

[0313] a receiver fastener housing (270);

[0314] a receiver fastener turret (202) supported by the receiver fastener housing (270) and selectively rotatable relative to the receiver fastener housing (270) about a receiver fastener turret rotation axis (A);

[0315] an indexing collet assembly (203) supported by the receiver fastener housing (270) and selectively movable relative to the receiver fastener housing (270) along an indexing collet assembly axis (Y) parallel to the receiver fastener turret rotation axis (Z) between an indexing collet assembly extended position and an indexing collet assembly retracted position;

[0316] an anvil (204) supported by the receiver fastener turret (202) and selectively movable relative to the receiver fastener turret (202) along an anvil axis (X) parallel to the receiver fastener turret rotation axis (Z);

[0317] a receiver fastener transfer assembly (205) supported by the receiver fastener turret (202) and configured to operably position the receiver fastener (506) so as to be operably disposed on the shaft fastener (504) corresponding to the receiver fastener (506); and

[0318] A hammer assembly (206) is supported by the receiver fastener turret (202) and is movable relative to the receiver fastener turret (202) along a hammer axis (W) parallel to the receiver fastener turret rotation axis (Z).

[0319] Example 37. The receiver fastener apparatus (200) of Example 36, wherein the receiver fastener housing (270) extends at least partially around the receiver fastener turret (202) and includes a receiver fastener housing mounting flange (273).

[0320] Example 38. The receiver fastener apparatus (200) of Examples 36 or 37, wherein the receiver fastener housing (270) includes an indexing collet assembly receptacle (272) that accommodates the indexing collet assembly (203).

[0321] Example 39. The receiver fastener apparatus (200) of Example 38, wherein:

[0322] The indexing collet assembly container (272) includes an indexing collet assembly container first end (275) and an indexing collet assembly container second end (276) axially positioned opposite to the indexing collet assembly container first end (275);

[0323] The indexing collet assembly container (272) includes an indexing collet assembly container inlet (269), the indexing collet assembly container inlet (169) being located at the indexing collet assembly container first end (275) and configured to supply pressurized fluid to the indexing collet assembly container (272) to move the indexing collet assembly (203) between the indexing collet assembly extended position and the indexing collet assembly retracted position; and

[0324] The indexing collet assembly container second end (276) is configured to enable the indexing collet assembly (203) to move to the indexing collet assembly extended position.

[0325] Example 40. The receiver fastener apparatus (200) of Example 39, wherein:

[0326] The indexing collet assembly (203) comprises:

[0327] a collet sleeve (220); and

[0328] An indexing collet (219) disposed within the collet sleeve (220); and

[0329] The collet sleeve (220) and the indexing collet (219) are movable relative to each other along the indexing collet assembly axis (Y).

[0330] Example 41. The receiver fastener apparatus (200) of Example 40, wherein:

[0331] The collet sleeve (220) comprises a collet sleeve first end (222) and a collet sleeve second end (223) axially opposite to the collet sleeve first end (222);

[0332] The indexing collet (219) comprises an indexing collet first end (224) and an indexing collet second end (225) axially opposite to the indexing collet first end (224); and

[0333] The indexing collet (219) extends through the collet sleeve second end (223).

[0334] Example 42. The receiver fastener apparatus (200) of Example 41, wherein:

[0335] The collet sleeve (220) includes a tapered inner surface (226) proximate the indexing collet second end (225) and extending inwardly from the collet sleeve second end (223) toward the indexing collet assembly axis (Y);

[0336] The indexing collet (219) comprises:

[0337] a tapered outer surface (227) configured to contact the tapered inner surface (226) of the collet sleeve (220); and

[0338] A leg (228) is proximate the indexing collet second end (225) and is configured to bend relative to the indexing collet assembly axis (Y).

[0339] Example 43. The receiver fastener apparatus (200) of Example 42, wherein:

[0340] Each of the legs (228) includes an inwardly facing gripping surface (230) at the indexing collet second end (225); and

[0341] The inwardly facing clamping surface (230) of each of the legs (228) faces the indexing collet assembly axis (Y).

[0342] Example 44. The receiver fastener apparatus (200) of any of Examples 41 to 43, wherein:

[0343] wherein, when the indexing collet assembly (203) is in the indexing collet assembly retracted position, the collet sleeve (220) is retracted into the receiver fastener housing (270), and the collet sleeve second end (223) is positioned within the receiver fastener housing (270); and

[0344] When the indexing collet assembly (203) is in the indexing collet assembly extended position, the collet sleeve (220) extends from the receiver fastener housing (270) and the collet sleeve second end (223) is positioned outside of the receiver fastener housing (270).

[0345] Example 45. The receiver fastener apparatus (200) of any one of Examples 41 to 44, wherein:

[0346] The indexing collet assembly (203) further comprises a first indexing collet spring (231) disposed between the collet sleeve first end (222) and the indexing collet first end (224); and

[0347] The first indexing collet spring (231) applies a first spring force to bias the indexing collet first end (224) toward the collet sleeve first end (222), thereby retracting the indexing collet (219) into the collet sleeve (220).

[0348] Example 46. The receiver fastener apparatus (200) of Example 45, wherein:

[0349] The indexing collet assembly (203) further includes a second indexing collet spring (232) disposed between the indexing collet assembly container first end (275) and the collet sleeve first end (222); and

[0350] The second indexing collet spring (232) applies a second spring force to bias the collet sleeve first end (222) toward the indexing collet assembly container first end (275), thereby retracting the collet sleeve (220) toward the indexing collet assembly container first end (275).

[0351] Example 47. The receiver fastener apparatus (200) of Example 46, wherein the second spring force is greater than the first spring force.

[0352] Example 48. The receiver fastener apparatus (200) of any of Examples 36 to 47, wherein:

[0353] The receiver fastener turret (202) includes a receiver fastener turret rear side (280) and a receiver fastener turret front side (281) opposite the receiver fastener turret rear side (280); and

[0354] Each of the anvil (204), the receiver fastener transfer assembly (205), and the hammer assembly (206) are positioned in the receiver fastener turret (202) to cooperate with the shaft fastener apparatus (100) at a front side (281) of the receiver fastener turret.

[0355] Example 49. The receiver fastener apparatus (200) of Example 48, wherein:

[0356] The receiver fastener turret (202) further includes an anvil receptacle (282), the anvil receptacle (183) extending from the receiver fastener turret front side (281) into the receiver fastener turret (202);

[0357] The anvil (204) is disposed in the anvil container (282); and

[0358] The anvil receptacle (282) is sized to allow the anvil (204) to move within the anvil receptacle (282) along the anvil axis (X).

[0359] Example 50. The receiver fastener apparatus (200) of Example 49, wherein the anvil (204) is configured to move along the anvil axis (X) within the anvil receptacle (282) in response to gas pressure acting against the anvil (204).

[0360] Example 51. The receiver fastener apparatus (200) of any one of Examples 48 to 50, wherein:

[0361] The receiver fastener turret (202) further includes a receiver fastener receptacle (290) extending from the receiver fastener turret front side (281) into the receiver fastener turret (202) along a receiver fastener receptacle axis (V); and

[0362] The receiver fastener receptacle (290) is configured to receive the receiver fasteners (506) to operably position one of the receiver fasteners (506) to insert a corresponding one of the shaft fasteners (504) into the receiver fastener turret front side (281).

[0363] Example 52. The receiver fastener apparatus (200) of Example 51, wherein:

[0364] The receiver fastener receptacle (290) extends through the receiver fastener turret (202) from the receiver fastener turret front side (281) to the receiver fastener turret rear side (280); and

[0365] The receiver fastener apparatus (200) further includes a cap (291) that blocks the receiver fastener container (290) at the rear side (280) of the receiver fastener turret to retain the receiver fastener (506) in the receiver fastener container (290).

[0366] Example 53. According to the receiver fastener device (200) of Example 51 or 52, the receiver fastener device (200) also includes a receiver fastener container spring (293), and the receiver fastener container spring (293) is arranged in the receiver fastener container (290) to bias the receiver fastener (506) toward the front side (281) of the receiver fastener rotating frame.

[0367] Example 54. The receiver fastener apparatus (200) of any of Examples 51 to 53, wherein:

[0368] The receiver fastener transfer assembly (205) includes a retainer (236) supported by the receiver fastener turret (202) at a front side (281) of the receiver fastener turret, and wherein the retainer (236) is configured to retain the one of the receiver fasteners (506) and operably position the one of the receiver fasteners (506) for operably insertion into the corresponding one of the shaft fasteners (504); and

[0369] The retainer (236) is selectively pivotable relative to the receiver fastener turret (202) in a plane perpendicular to the receiver fastener turret rotation axis (Z) to move one of the receiver fasteners (506) from the receiver fastener receptacle axis (V) to the anvil axis (X) for operative insertion into the corresponding one of the shaft fasteners (504).

[0370] Example 55. The receiver fastener apparatus (200) of any one of Examples 48 to 54, wherein:

[0371] The receiver fastener turret (202) further includes a hammer receptacle (284) extending from the receiver fastener turret front side (281) into the receiver fastener turret (202);

[0372] The hammer assembly (206) is disposed in the hammer container (284); and

[0373] The hammer receptacle (284) is sized to allow the hammer assembly (206) to move within the hammer receptacle (284) along the forging hammer axis (W).

[0374] Example 56. The receiver fastener apparatus (200) of Example 55, wherein the hammer assembly (206) comprises:

[0375] Hammer (207); and

[0376] At least one piston (245) is coupled to the hammer (207) and is configured to move the hammer assembly (206) along the hammer axis (W) in response to gas pressure acting against the at least one piston (245).

[0377] Example 57. A system (1000) for joining a first panel (500) and a second panel (502) that at least partially overlap each other, the system (1000) comprising:

[0378] A shaft fastener apparatus (100), comprising;

[0379] a shaft fastener housing (170);

[0380] a shaft fastener turret (102) supported by the shaft fastener housing (170) and selectively rotatable relative to the shaft fastener housing (170) about a shaft fastener turret rotation axis (A);

[0381] an indexing pin assembly (103) supported by the shaft fastener housing (170) and selectively movable relative to the shaft fastener housing (170) between an indexing pin assembly extended position and an indexing pin assembly retracted position along an indexing pin assembly axis (B) parallel to the shaft fastener turret rotation axis (A);

[0382] a drill (104) supported by the shaft fastener turret (102) and selectively movable relative to the shaft fastener turret (102) along a drill axis (C) parallel to the shaft fastener turret rotation axis (A); and

[0383] a shaft fastener transfer assembly (105) supported by the shaft fastener turret (102); and

[0384] A receiver fastener apparatus (200) comprising;

[0385] a receiver fastener housing (270);

[0386] a receiver fastener turret (202) supported by the receiver fastener housing (270) and selectively rotatable relative to the receiver fastener housing (270) about a receiver fastener turret rotation axis (A);

[0387] an indexing collet assembly (203) supported by the receiver fastener housing (270) and selectively movable relative to the receiver fastener housing (270) between an indexing collet assembly extended position and an indexing collet assembly retracted position along an indexing collet assembly axis (Y) parallel to the receiver fastener turret rotation axis (Z), and configured to cooperate with the indexing pin assembly (103) to secure the shaft fastener device (100) and the receiver fastener device (200) relative to the first panel (500) and the second panel (502);

[0388] an anvil (204) supported by the receiver fastener turret (202) and selectively movable relative to the receiver fastener turret (202) along an anvil axis (X) parallel to the receiver fastener turret rotation axis (Z), and configured to cooperate with the drill (104) to operably drill a borehole (508) through the first panel (500) and the second panel (502);

[0389] a receiver fastener transfer assembly (205) supported by the receiver fastener turret (202) and configured to position a receiver fastener (506) so as to be operably disposed on the shaft fastener (504) corresponding to the receiver fastener (506) via the shaft fastener transfer assembly (105); and

[0390] A hammer assembly (206) is supported by the receiver fastener turret (202), movable relative to the receiver fastener turret (202) along a hammer axis (W) parallel to the receiver fastener turret rotation axis (Z), and configured to hammer forge the receiver fastener (506) on a corresponding one of the shaft fasteners (504).

[0391] Example 58. The system (1000) of Example 57, further comprising:

[0392] a first robotic device (600);

[0393] a second robotic device (601); and

[0394] in:

[0395] The shaft fastener apparatus (100) is coupled to the first robotic device (600) as a first end effector (603); and

[0396] The receiver fastener apparatus (200) is coupled to the second robotic device (601) as a second end effector (604).

[0397] Example 59. A method (2000) of joining a first panel (500) and a second panel (502) that at least partially overlap each other, the method comprising the steps of:

[0398] positioning the shaft fastener device (100) relative to the first panel (500) and the second panel (502) by engaging an indexing pin assembly (103) of the shaft fastener device (100) with a locating hole (510) in the first panel (500), and wherein the shaft fastener device (100) is located on a first side of the first panel (500);

[0399] positioning a receiver fastener device (200) relative to the first panel (500) and the second panel (502) by engaging the indexing pin assembly (103) of the shaft fastener device (100) with the indexing collet assembly (203) of the receiver fastener device (200), and wherein the receiver fastener device (200) is positioned opposite the shaft fastener device (100) on a second side of the first panel (500) opposite the first side;

[0400] aligning a drill (104) of the shaft fastener apparatus (100) with an anvil (204) of the receiver fastener apparatus (200);

[0401] Drilling a borehole (508) through the first panel (500) and the second panel (502) using the drill (104);

[0402] aligning one of the receiver fasteners (506) with the bore (508) using a receiver fastener transfer assembly (205) of the receiver fastener apparatus (200);

[0403] inserting one of the shaft fasteners (504) from a first side of the first panel (500) into the bore (508) and into one of the receiver fasteners (506) using the shaft fastener delivery assembly (105) of the shaft fastener apparatus (100); and

[0404] The one of the receiver fasteners (506) is secured to the one of the shaft fasteners (506) using a hammer assembly (206) of the receiver fastener apparatus (200).

[0405] Example 60. A method (2000) according to Example 59, wherein the step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the positioning hole (510) in the first panel (500) includes extending the indexing pin (112) of the shaft fastener device (100) along the indexing pin assembly axis (B) and inserting the indexing pin second end (115) of the indexing pin (112) through the positioning hole (510).

[0406] Example 61. A method (2000) according to Example 60, wherein the step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the locating hole (510) in the first panel (500) also includes sliding the plunger (113) along the indexing pin assembly axis (B) inside the indexing pin (112) and expanding the second end (115) of the indexing pin within the locating hole (510).

[0407] Example 62. A method (2000) according to Example 60 or 61, wherein the step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the locating hole (510) in the first panel (500) also includes contacting a finger flange (118) at the second end (115) of the indexing pin against a second side of the first panel (500).

[0408] Example 63. A method (2000) according to Example 62, wherein the step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the locating hole (510) in the first panel (500) also includes sliding a clamping sleeve (111) along the outside of the indexing pin (112) and clamping the first panel (500) between the clamping sleeve (111) on the first side of the first panel (500) and the finger flange (118) on the second side of the first panel (500).

[0409] Example 64. The method (2000) of any one of Examples 59 to 63, wherein the step of engaging the indexing pin assembly (103) of the shaft fastener apparatus (100) with the indexing collet assembly (203) of the receiver fastener apparatus (200) comprises:

[0410] Moving the collet sleeve (220) of the indexing collet assembly (203) along the indexing collet assembly axis (Y) above the indexing collet (219) of the indexing collet assembly (203); and

[0411] The indexing collet second end (225) of the indexing collet (219) is compressed onto the indexing pin assembly (103) extending through the locating hole (510).

[0412] Example 65. According to the method (2000) described in any one of Examples 59 to 64, the method also includes rotating the shaft fastener turret (102) of the shaft fastener device (100) around the shaft fastener turret rotation axis (A) after engaging the indexing pin assembly (103) of the shaft fastener device (100) with the indexing collet assembly (203) of the receiver fastener device (200) to align the drill (104) at the overlapping point P of the first panel (500) and the second panel (502).

[0413] Example 66. The method (2000) of Example 65, further comprising rotating a receiver fastener turret (202) of the receiver fastener apparatus (200) about a receiver fastener turret rotation axis (Z) to align the anvil (204) with the point (P).

[0414] Example 67. The method (2000) of Example 66, further comprising the following steps:

[0415] extending a presser foot (136) of the drill (104) to contact the first panel (500); and

[0416] The anvil (204) is extended to contact the second panel (502) and clamp the first panel (500) and the second panel (502) between the anvil (204) and the presser foot (136).

[0417] Example 68. A method (2000) according to any one of Examples 59 to 67, further comprising, after the step of drilling a bore hole (508) through the first panel (500) and the second panel (502), before the step of inserting the one of the shaft fasteners (504) into the bore hole (508) and into the one of the receiver fasteners (506) from the first side of the first panel (500), and while the indexing pin assembly (103) is engaged with the indexing collet assembly (203), rotating the shaft fastener turret (102) of the shaft fastener device (100) about the shaft fastener turret axis (A) to align the shaft fastener transfer assembly (105) with the bore hole (508).

[0418] Example 69. A method (2000) according to any one of Examples 59 to 68, further comprising, after the step of inserting said one of the shaft fasteners (504) into the bore (508) and into said one of the receiver fasteners (506) from the first side of the first panel (500) while the indexing pin assembly (103) is engaged with the indexing collet assembly (203), rotating the receiver fastener turret (202) of the receiver fastener device (200) about a receiver fastener turret rotation axis (Z) to align the hammer assembly (206) with said one of the shaft fasteners (504) and said one of the receiver fasteners (506).

[0419] Example 70. The method (2000) of any one of Examples 59 to 69, further comprising:

[0420] moving the shaft fastener apparatus (100) relative to the first panel (500) and the second panel (502) using a first robotic device (600); and

[0421] The receiver fastener apparatus (200) is moved relative to the first panel (500) and the second panel (502) using a second robotic device (601).

[0422] Available in Fig.43 Aircraft manufacturing and service method 1100 and the like are shown Fig.44 Examples of the present disclosure are described in the context of an aircraft 1102 as shown. During pre-production, the illustrative method 1100 may include specification and design of the aircraft 1102 (block 1104) and material procurement (block 1106). During production, component and subassembly manufacturing (block 1108) and system integration (block 1110) of the aircraft 1102 may occur. Thereafter, the aircraft 1102 may be certified and delivered (block 1112) to be placed in service (block 1114). When undergoing maintenance, the aircraft 1102 may be scheduled for routine maintenance and servicing (block 1116). Routine maintenance and servicing may include modification, reconfiguration, refurbishment, etc. of one or more systems of the aircraft 1102.

[0423] The various processes of the exemplary method 1100 may be performed or executed by a system integrator, a third party, and / or an operator (e.g., a customer). For the purposes of this description, a system integrator may include, but is not limited to, any number of aircraft manufacturers and major system subcontractors; a third party may include, but is not limited to, any number of suppliers, subcontractors, and vendors; and an operator may be an airline, a leasing company, a military entity, a service organization, etc.

[0424] like Fig.44 As shown, an aircraft 1102 produced using the exemplary method 1100 may include a fuselage 1118 having a plurality of high-level systems 1120 and an interior 1122. Examples of high-level systems 1120 include one or more of a propulsion system 1124, an electrical system 1126, a hydraulic system 1128, and an environmental system 1130. Any number of other systems may be included. Although an aerospace example is shown, the principles disclosed herein may be applied to other industries such as the automotive industry. Therefore, in addition to the aircraft 1102, the principles disclosed herein may be applicable to other vehicles, such as land vehicles, marine vehicles, spacecraft, etc.

[0425] The apparatus and methods shown or described herein may be employed during any one or more of the stages of the manufacturing and service method 1100. For example, components or subassemblies corresponding to the components and subassemblies may be made or manufactured (block 1108) in a manner similar to the way the components or subassemblies are produced while the aircraft 1102 is in service (block 1114). Additionally, one or more examples of apparatus, methods, or a combination thereof may be utilized during the production stages 1108 and 1110, for example, by significantly speeding up assembly of the aircraft 1102 or reducing the cost of the aircraft 1102. Similarly, for example, and not limitation, one or more examples of apparatus or method implementations or a combination thereof may be utilized while the aircraft 1102 is in service (block 1114) and / or during maintenance and service (block 1116).

[0426] Different examples of the devices and methods disclosed herein include various components, features, and functions. It should be understood that the various examples of the devices and methods disclosed herein may include any of the components, features, and functions of any of the other examples of the devices and methods disclosed herein in any combination, and all of these possibilities are intended to fall within the scope of the present disclosure.

[0427] Many modifications of the examples set forth herein will come to mind to one skilled in the art to which this disclosure pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings.

[0428] Therefore, it is to be understood that the present disclosure is not limited to the specific examples illustrated, and modifications and other examples are intended to be included within the scope of the appended claims. In addition, although the previous description and associated drawings describe examples of the present disclosure in the context of certain illustrative combinations of elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided by alternative implementations without departing from the scope of the appended claims. Therefore, the reference numerals in parentheses in the appended claims are provided for illustrative purposes only and are not intended to limit the scope of the claimed subject matter to the specific examples provided in the present disclosure.

Claims

1. A shaft fastener device (100) for cooperatively engaging a first panel (500) and a second panel (502) at least partially overlapping each other with a receiver fastener device (200), the shaft fastener device (100) comprising: a shaft fastener housing (170); a shaft fastener turret (102) supported by the shaft fastener housing (170) and selectively rotatable relative to the shaft fastener housing (170) about a shaft fastener turret rotation axis (A); an indexing pin assembly (103) supported by the shaft fastener housing (170) and selectively movable relative to the shaft fastener housing (170) along an indexing pin assembly axis (B) between an indexing pin assembly extended position in which the indexing pin assembly extends from the shaft fastener housing and an indexing pin assembly retracted position in which the indexing pin assembly is drawn into the shaft fastener housing, the indexing pin assembly axis (B) being parallel to the shaft fastener turret rotation axis (A); a drill (104) supported by the shaft fastener turret (102) and selectively movable relative to the shaft fastener turret (102) along a drill axis (C) parallel to the shaft fastener turret rotation axis (A); as well as A shaft fastener transfer assembly (105) is supported by the shaft fastener turret (102).

2. The shaft fastener device (100) according to claim 1, wherein: The shaft fastener housing (170) extends at least partially around the shaft fastener turret (102) and includes a shaft fastener housing mounting flange (173).

3. The shaft fastener device (100) according to claim 1 or 2, wherein: The shaft fastener housing (170) includes an indexing pin assembly receptacle (172) that receives the indexing pin assembly (103).

4. The shaft fastener apparatus (100) of claim 3, wherein: The indexing pin assembly container (172) has an indexing pin assembly container first end (174) and an indexing pin assembly container second end (175) axially positioned opposite to the indexing pin assembly container first end (174); The indexing pin assembly container (172) includes an indexing pin assembly container inlet (169) located at the first end (174) of the indexing pin assembly container and configured to supply pressurized fluid to the indexing pin assembly container (172) to move the indexing pin assembly (103) between the indexing pin assembly extended position and the indexing pin assembly retracted position; and The indexing pin assembly receptacle second end (175) is configured to enable the indexing pin assembly (103) to be moved to the indexing pin assembly extended position to engage one of the first panel (500) or the second panel (502).

5. The shaft fastener device (100) according to claim 1 or 2, wherein: The indexing pin assembly (103) comprises: A clamping sleeve (111); An indexing pin (112) disposed within the clamping sleeve (111); and a plunger (113) disposed within the indexing pin (112), and Each of the clamping sleeve (111), the indexing pin (112) or the plunger (113) is movable relative to the other along the indexing pin assembly axis (B).

6. The shaft fastener apparatus (100) according to claim 5, wherein: The indexing pin (112) has an elongated shape and comprises: An indexing pin first end (114) and an indexing pin second end (115) axially opposite to the indexing pin first end (114); and A finger (116) is disposed proximate the indexing pin second end (115) and is bendable relative to the indexing pin assembly axis (B).

7. The shaft fastener apparatus (100) of claim 6, wherein: Each of the fingers (116) includes a finger flange (118) at the indexing pin second end (115); and The finger flange (118) of each of the fingers (116) extends radially away from the indexing pin assembly axis (B).

8. The shaft fastener device (100) according to claim 6 or 7, wherein: The clamping sleeve (111) has an elongated shape and comprises a clamping sleeve first end (119) and a clamping sleeve second end (120) located axially opposite to the clamping sleeve first end (119); In the retracted position of the indexing pin assembly, the clamping sleeve (111) is retracted into the shaft fastener housing (170) so that the second end (120) of the clamping sleeve is positioned within the shaft fastener housing (170); and In the extended position of the indexing pin assembly, the clamping sleeve (111) extends from the shaft fastener housing (170) such that the clamping sleeve second end (120) is positioned outside the shaft fastener housing (170).

9. The shaft fastener device (100) according to claim 6 or 7, wherein: The plunger (113) is shorter than the indexing pin (112) along the indexing pin assembly axis (B).

10. The shaft fastener device (100) according to claim 6 or 7, wherein: The indexing pin assembly (103) further comprises: A first indexing pin spring (121) is operably connected to the clamping sleeve (111); and the first indexing pin spring (121) applies a first spring force to the clamping sleeve (111) to bias the clamping sleeve (111) along the indexing pin assembly axis (B) into the shaft fastener housing (170).

11. The shaft fastener apparatus (100) of claim 10, wherein: The indexing pin assembly (103) further includes a second indexing pin spring (122) operably connected to the indexing pin (112); as well as The second index pin spring (122) applies a second spring force to the index pin (112) to bias the index pin (112) along the index pin assembly axis (B) into the shaft fastener housing (170).

12. The shaft fastener apparatus (100) of claim 11, wherein: The indexing pin assembly (103) further includes a third indexing pin spring (123) which applies a third spring force to the plunger (113) to bias the plunger (113) away from the indexing pin second end (115).

13. The shaft fastener apparatus (100) of claim 12, wherein: The first indexing pin spring (121) has a first spring constant; The second indexing pin spring (122) has a second spring constant; The third indexing pin spring (123) has a third spring constant; and The first spring constant, the second spring constant, and the third spring constant are different from each other.

14. The shaft fastener apparatus (100) of claim 13, wherein: The third spring constant is greater than the second spring constant and smaller than the first spring constant.

15. The shaft fastener apparatus (100) of claim 1 or 2, wherein: The shaft fastener turret (102) comprises a shaft fastener turret rear side (180) and a shaft fastener turret front side (181) opposite to the shaft fastener turret rear side (180); as well as Each of the drill (104) and the shaft fastener transfer assembly (105) is positioned in the shaft fastener turret (102) to cooperate with the receiver fastener device (200) at the shaft fastener turret front side (181).

16. The shaft fastener apparatus (100) of claim 15, wherein: The shaft fastener turret (102) further includes a drill container (183), the drill container (183) extending from the shaft fastener turret front side (181) into the shaft fastener turret (102); The drill (104) is disposed in the drill container (183); and The drill receptacle (183) is sized to allow the drill (104) to move within the drill receptacle (183) along the drill axis (C).

17. The shaft fastener apparatus (100) of claim 16, wherein: The drill (104) comprises: a drill housing (130) disposed in the drill receptacle (183) of the shaft fastener turret (102); a drill shaft (131) disposed in the drill housing (130); and A motor (134) is operably connected to the drill shaft (131) to apply force to rotate a drill bit (132) held by the drill shaft (131).

18. The shaft fastener apparatus (100) of claim 17, wherein: The drill (104) also includes a gear train (162) that operably couples the motor (134) and the drill shaft (131).

19. The shaft fastener device (100) according to claim 17 or 18, wherein: The drill (104) also includes a collet nut (163) configured to attach the drill bit (132) to the drill shaft (131).

20. The shaft fastener apparatus (100) of claim 17 or 18, wherein: The drill (104) further includes a housing support spring (137) that biases the drill housing (130) away from the shaft fastener turret front side (181); and The housing support spring (137) is disposed between the drill housing (130) and the shaft fastener turret (102).

21. The shaft fastener apparatus (100) of claim 20, wherein: The drill (104) further comprises: a presser foot (136) extending out of the shaft fastener turret (102) via the shaft fastener turret front side (181); and A pressure foot spring (135) is located between the pressure foot (136) and the drill housing (130) to bias the pressure foot (136) away from the drill housing (130).

22. The shaft fastener apparatus (100) of claim 15, wherein: The shaft fastener turret (102) also includes a shaft fastener delivery assembly receptacle (184) extending into the front side (181) of the shaft fastener turret; and The shaft fastener delivery assembly (105) is disposed in the shaft fastener delivery assembly container (184).

23. The shaft fastener apparatus (100) of claim 22, further comprising a shaft fastener delivery assembly container pressure supply port (146) extending between the shaft fastener delivery assembly container (184) and the rear side (180) of the shaft fastener turret, and wherein: The shaft fastener transfer assembly container pressure supply port (146) is configured to move pressurized fluid into the shaft fastener transfer assembly container (184).

24. The shaft fastener apparatus (100) according to claim 22 or 23, wherein: The shaft fastener transfer assembly (105) includes a plug (157) that seals the shaft fastener transfer assembly receptacle (184) toward the rear side (180) of the shaft fastener turret.

25. The shaft fastener apparatus (100) of claim 15, wherein: The shaft fastener transmission assembly (105) comprises: a cartridge (138) sized to retain the shaft fastener (504); and A retainer (147) is disposed adjacent the cassette (138) to receive one of the shaft fasteners (504) from the cassette (138).

26. The shaft fastener apparatus (100) of claim 25, wherein: The box (138) includes a box body (148), a shaft fastener outlet (145), and a box slot (143) extending from the shaft fastener outlet (145) into the box body (148).

27. The shaft fastener apparatus (100) of claim 25 or 26, wherein: The stopper (147) is arranged on the front side (181) of the shaft fastener rotating frame.

28. The shaft fastener apparatus (100) of claim 25 or 26, wherein: The stopper (147) comprises: a first stopper side (152) and a second stopper side (153) opposite the first stopper side (152); and A hollow interior space (155) extends between the first stopper side (152) and the second stopper side (153) and is sized to receive one of the shaft fasteners (504) in the cassette (138).

29. The shaft fastener apparatus (100) of claim 28, wherein: The stopper (147) further includes a stopper slot (156) extending into the hollow interior space (155); and The retainer slot (156) is aligned with the box (138) so that one of the shaft fasteners (504) can pass from the box (138) through the retainer slot (156) into the hollow interior space (155).

30. The shaft fastener apparatus (100) of claim 29, wherein: The cassette (138) is configured to receive the shaft fasteners (504) in a row aligned with the detent slots (156).

31. The shaft fastener apparatus (100) of claim 29 or 30, wherein: The stopper (147) further includes a fin (154) at the second stopper side (153); The fins (154) are spaced circumferentially about a portion of the hollow interior space (155) to temporarily retain one of the shaft fasteners (504) in an operable position; as well as Two of the fins (154) at least partially define the stopper slot (156).

32. The shaft fastener apparatus (100) of claim 31, wherein: The shaft fastener transmission assembly (105) also includes a push rod (149) which is aligned with the stopper (147) and is configured to contact one of the shaft fasteners (504) in the stopper (147) and drive the one of the shaft fasteners (504) in the hollow interior space (155) of the stopper (147).

33. The shaft fastener apparatus (100) of claim 32, wherein: The push rod (149) has an elongated shape and includes a first push rod end (150) and a second push rod end (151) axially opposite to the first push rod end (150); and The shaft fastener transfer assembly (105) also includes a piston (158) disposed at the second push rod end (151).

34. The shaft fastener apparatus (100) of claim 32 or 33, wherein: The shaft fastener transmission assembly (105) also includes a push rod spring (159) that biases the push rod (149) away from the stopper (147) toward the rear side (180) of the shaft fastener turret.

35. The shaft fastener apparatus (100) of claim 32 or 33, wherein: The stopper (147) includes an opening (160) on the first stopper side (152); and The opening (160) is sized to receive the push rod (149) when the push rod (149) drives one of the shaft fasteners (504) from the hollow interior space (155) of the stopper (147) away from the rear side (180) of the shaft fastener turret.

36. A receiver fastener device (200) for cooperatively engaging a first panel (500) and a second panel (502) that at least partially overlap one another with a shaft fastener device (100), the receiver fastener device (200) comprising: a receiver fastener housing (270); a receiver fastener turret (202) supported by the receiver fastener housing (270) and selectively rotatable relative to the receiver fastener housing (270) about a receiver fastener turret rotation axis (Z); an indexing collet assembly (203) supported by the receiver fastener housing (270) and selectively movable relative to the receiver fastener housing (270) along an indexing collet assembly axis (Y) parallel to the receiver fastener turret rotation axis (Z) between an indexing collet assembly extended position and an indexing collet assembly retracted position; an anvil (204) supported by the receiver fastener turret (202) and selectively movable relative to the receiver fastener turret (202) along an anvil axis (X) parallel to the receiver fastener turret rotation axis (Z); a receiver fastener transfer assembly (205) supported by the receiver fastener turret (202) and configured to operably position the receiver fastener (506) so as to be operably disposed on the shaft fastener (504) corresponding to the receiver fastener (506); as well as A hammer assembly (206) is supported by the receiver fastener turret (202) and is movable relative to the receiver fastener turret (202) along a hammer axis (W) parallel to the receiver fastener turret rotation axis (Z).

37. The receiver fastener apparatus (200) of claim 36, wherein: The receiver fastener housing (270) extends at least partially around the receiver fastener turret (202) and includes a receiver fastener housing mounting flange (273).

38. The receiver fastener apparatus (200) of claim 36 or 37, wherein: The receiver fastener housing (270) includes an indexing collet assembly receptacle (272) that receives the indexing collet assembly (203).

39. The receiver fastener apparatus (200) of claim 38, wherein: The indexing collet assembly container (272) includes an indexing collet assembly container first end (275) and an indexing collet assembly container second end (276) axially positioned opposite to the indexing collet assembly container first end (275); The indexing collet assembly container (272) includes an indexing collet assembly container inlet (269), the indexing collet assembly container inlet (269) being located at the first end (275) of the indexing collet assembly container and being configured to supply pressurized fluid to the indexing collet assembly container (272) to move the indexing collet assembly (203) between the indexing collet assembly extended position and the indexing collet assembly retracted position; as well as The indexing collet assembly container second end (276) is configured to enable the indexing collet assembly (203) to move to the indexing collet assembly extended position.

40. The receiver fastener apparatus (200) of claim 39, wherein: The indexing collet assembly (203) comprises: a collet sleeve (220); and An indexing collet (219) disposed within the collet sleeve (220); and The collet sleeve (220) and the indexing collet (219) are movable relative to each other along the indexing collet assembly axis (Y).

41. The receiver fastener apparatus (200) of claim 40, wherein: The collet sleeve (220) comprises a collet sleeve first end (222) and a collet sleeve second end (223) axially opposite to the collet sleeve first end (222); The indexing collet (219) comprises an indexing collet first end (224) and an indexing collet second end (225) axially opposite to the indexing collet first end (224); and The indexing collet (219) extends through the collet sleeve second end (223).

42. The receiver fastener apparatus (200) of claim 41, wherein: The collet sleeve (220) includes a tapered inner surface (226) proximate the indexing collet second end (225) and extending inwardly from the collet sleeve second end (223) toward the indexing collet assembly axis (Y); The indexing collet (219) comprises: a tapered outer surface (227) configured to contact the tapered inner surface (226) of the collet sleeve (220); as well as A leg (228) is proximate the indexing collet second end (225) and is configured to bend relative to the indexing collet assembly axis (Y).

43. The receiver fastener apparatus (200) of claim 42, wherein: Each of the legs (228) includes an inwardly facing gripping surface (230) at the indexing collet second end (225); and The inwardly facing clamping surface (230) of each of the legs (228) faces the indexing collet assembly axis (Y).

44. The receiver fastener apparatus (200) of any one of claims 41 to 43, wherein: When the indexing collet assembly (203) is in the indexing collet assembly retracted position, the collet sleeve (220) is retracted into the receiver fastener housing (270) and the collet sleeve second end (223) is positioned within the receiver fastener housing (270); as well as When the indexing collet assembly (203) is in the indexing collet assembly extended position, the collet sleeve (220) extends from the receiver fastener housing (270) and the collet sleeve second end (223) is positioned outside of the receiver fastener housing (270).

45. The receiver fastener apparatus (200) of any one of claims 41 to 43, wherein: The indexing collet assembly (203) further comprises a first indexing collet spring (231) disposed between the collet sleeve first end (222) and the indexing collet first end (224); and The first indexing collet spring (231) applies a first spring force to bias the indexing collet first end (224) toward the collet sleeve first end (222), thereby retracting the indexing collet (219) into the collet sleeve (220).

46. ​​The receiver fastener apparatus (200) of claim 45, wherein: The indexing collet assembly (203) further comprises a second indexing collet spring (232) disposed between the first end (275) of the indexing collet assembly container and the first end (222) of the collet sleeve; as well as The second indexing collet spring (232) applies a second spring force to bias the collet sleeve first end (222) toward the indexing collet assembly container first end (275), thereby retracting the collet sleeve (220) toward the indexing collet assembly container first end (275).

47. The receiver fastener apparatus (200) of claim 46, wherein: The second spring force is greater than the first spring force.

48. The receiver fastener apparatus (200) of claim 36 or 37, wherein: The receiver fastener turret (202) includes a receiver fastener turret rear side (280) and a receiver fastener turret front side (281) opposite the receiver fastener turret rear side (280); and Each of the anvil (204), the receiver fastener transfer assembly (205), and the hammer assembly (206) are positioned in the receiver fastener turret (202) to cooperate with the shaft fastener apparatus (100) at a front side (281) of the receiver fastener turret.

49. The receiver fastener apparatus (200) of claim 48, wherein: The receiver fastener turret (202) further includes an anvil receptacle (282) extending from the receiver fastener turret front side (281) into the receiver fastener turret (202); The anvil (204) is disposed in the anvil container (282); as well as The anvil receptacle (282) is sized to allow the anvil (204) to move within the anvil receptacle (282) along the anvil axis (X).

50. The receiver fastener apparatus (200) of claim 49, wherein: The anvil (204) is configured to move along the anvil axis (X) within the anvil container (282) in response to gas pressure acting against the anvil (204).

51. The receiver fastener apparatus (200) of claim 48, wherein: The receiver fastener turret (202) further includes a receiver fastener container (290) extending from the receiver fastener turret front side (281) into the receiver fastener turret (202) along a receiver fastener container axis (V); as well as The receiver fastener receptacle (290) is configured to receive the receiver fasteners (506) so as to operably position one of the receiver fasteners (506) for insertion into a corresponding one of the shaft fasteners (504) at the receiver fastener turret front side (281).

52. The receiver fastener apparatus (200) of claim 51, wherein: The receiver fastener receptacle (290) extends through the receiver fastener turret (202) from the receiver fastener turret front side (281) to the receiver fastener turret rear side (280); and The receiver fastener apparatus (200) further includes a cap (291) that blocks the receiver fastener container (290) at the rear side (280) of the receiver fastener turret to retain the receiver fastener (506) in the receiver fastener container (290).

53. According to claim 51 or 52, the receiver fastener device (200) further includes a receiver fastener container spring (293), wherein the receiver fastener container spring (293) is arranged in the receiver fastener container (290) to bias the receiver fastener (506) toward the front side (281) of the receiver fastener rotating frame.

54. The receiver fastener apparatus (200) of claim 51 or 52, wherein: The receiver fastener transfer assembly (205) includes a retainer (236) supported by the receiver fastener turret (202) at a front side (281) of the receiver fastener turret, and wherein the retainer (236) is configured to retain the one of the receiver fasteners (506) and operably position the one of the receiver fasteners (506) for operably insertion into the corresponding one of the shaft fasteners (504); and The retainer (236) is selectively pivotable relative to the receiver fastener turret (202) in a plane perpendicular to the receiver fastener turret rotation axis (Z) to move one of the receiver fasteners (506) from the receiver fastener receptacle axis (V) to the anvil axis (X) for operative insertion into the corresponding one of the shaft fasteners (504).

55. The receiver fastener apparatus (200) of claim 48, wherein: The receiver fastener turret (202) further includes a hammer receptacle (284) extending from the receiver fastener turret front side (281) into the receiver fastener turret (202); The hammer assembly (206) is disposed in the hammer container (284); and The hammer receptacle (284) is sized to allow the hammer assembly (206) to move within the hammer receptacle (284) along the forging hammer axis (W).

56. The receiver fastener apparatus (200) of claim 55, wherein: The hammer assembly (206) comprises: Hammer (207); and At least one piston (245) is coupled to the hammer (207) and is configured to move the hammer assembly (206) along the hammer axis (W) in response to gas pressure acting against the at least one piston (245).

57. A system (1000) for joining a first panel (500) and a second panel (502) that at least partially overlap each other, the system (1000) comprising: A shaft fastener apparatus (100) comprising; a shaft fastener housing (170); a shaft fastener turret (102) supported by the shaft fastener housing (170) and selectively rotatable relative to the shaft fastener housing (170) about a shaft fastener turret rotation axis (A); an indexing pin assembly (103) supported by the shaft fastener housing (170) and selectively movable relative to the shaft fastener housing (170) between an indexing pin assembly extended position and an indexing pin assembly retracted position along an indexing pin assembly axis (B) parallel to the shaft fastener turret rotation axis (A); a drill (104) supported by the shaft fastener turret (102) and selectively movable relative to the shaft fastener turret (102) along a drill axis (C) parallel to the shaft fastener turret rotation axis (A); as well as a shaft fastener transfer assembly (105) supported by the shaft fastener turret (102); and a receiver fastener apparatus (200) comprising; a receiver fastener housing (270); a receiver fastener turret (202) supported by the receiver fastener housing (270) and selectively rotatable relative to the receiver fastener housing (270) about a receiver fastener turret rotation axis (Z); an indexing collet assembly (203) supported by the receiver fastener housing (270) and selectively movable relative to the receiver fastener housing (270) between an indexing collet assembly extended position and an indexing collet assembly retracted position along an indexing collet assembly axis (Y) parallel to the receiver fastener turret rotation axis (Z), and configured to cooperate with the indexing pin assembly (103) to secure the shaft fastener device (100) and the receiver fastener device (200) relative to the first panel (500) and the second panel (502); an anvil (204) supported by the receiver fastener turret (202), selectively movable relative to the receiver fastener turret (202) along an anvil axis (X) parallel to the receiver fastener turret rotation axis (Z), and configured to cooperate with the drill (104) to operably drill a borehole (508) through the first panel (500) and the second panel (502); a receiver fastener transfer assembly (205) supported by the receiver fastener turret (202) and configured to position a receiver fastener (506) so as to be operably disposed on the shaft fastener (504) corresponding to the receiver fastener (506) via the shaft fastener transfer assembly (105); and A hammer assembly (206) is supported by the receiver fastener turret (202), movable relative to the receiver fastener turret (202) along a hammer axis (W) parallel to the receiver fastener turret rotation axis (Z), and configured to hammer forge the receiver fastener (506) on a corresponding one of the shaft fasteners (504).

58. The system (1000) of claim 57, further comprising: a first robotic device (600); A second robotic device (601); as well as in: The shaft fastener apparatus (100) is coupled to the first robotic device (600) as a first end effector (603); and The receiver fastener apparatus (200) is coupled to the second robotic device (601) as a second end effector (604).

59. A method (2000) of joining a first panel (500) and a second panel (502) that at least partially overlap each other, the method comprising the steps of: positioning the shaft fastener device (100) relative to the first panel (500) and the second panel (502) by engaging an indexing pin assembly (103) of the shaft fastener device (100) with a locating hole (510) in the first panel (500), and wherein the shaft fastener device (100) is located on a first side of the first panel (500); positioning the receiver fastener device (200) relative to the first panel (500) and the second panel (502) by engaging the indexing pin assembly (103) of the shaft fastener device (100) with the indexing collet assembly (203) of the receiver fastener device (200), and wherein the receiver fastener device (200) is positioned opposite the shaft fastener device (100) on a second side of the first panel (500) opposite the first side; aligning a drill (104) of the shaft fastener apparatus (100) with an anvil (204) of the receiver fastener apparatus (200); Drilling a borehole (508) through the first panel (500) and the second panel (502) using the drill (104); aligning one of the receiver fasteners (506) with the bore (508) using a receiver fastener transfer assembly (205) of the receiver fastener apparatus (200); inserting one of the shaft fasteners (504) from the first side of the first panel (500) into the bore (508) and into the one of the receiver fasteners (506) using the shaft fastener delivery assembly (105) of the shaft fastener apparatus (100); and The one of the receiver fasteners (506) is secured to the one of the shaft fasteners (504) using a hammer assembly (206) of the receiver fastener apparatus (200).

60. The method (2000) of claim 59, wherein: The step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the positioning hole (510) in the first panel (500) includes extending the indexing pin (112) of the shaft fastener device (100) along the indexing pin assembly axis (B) and inserting the indexing pin second end (115) of the indexing pin (112) through the positioning hole (510).

61. The method (2000) of claim 60, wherein: The step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the locating hole (510) in the first panel (500) also includes sliding a plunger (113) along the axis (B) of the indexing pin assembly inside the indexing pin (112) and unfolding the second end (115) of the indexing pin in the locating hole (510).

62. The method (2000) of claim 60 or 61, wherein: The step of engaging the indexing pin assembly (103) of the shaft fastener apparatus (100) with the locating hole (510) in the first panel (500) also includes contacting a finger flange (118) at the second end (115) of the indexing pin against a second side of the first panel (500).

63. The method (2000) of claim 62, wherein: The step of engaging the indexing pin assembly (103) of the shaft fastener device (100) with the locating hole (510) in the first panel (500) also includes sliding a clamping sleeve (111) along the outside of the indexing pin (112) and clamping the first panel (500) between the clamping sleeve (111) on the first side of the first panel (500) and the finger flange (118) on the second side of the first panel (500).

64. The method (2000) of any one of claims 59 to 61, wherein: The step of engaging the indexing pin assembly (103) of the shaft fastener apparatus (100) with the indexing collet assembly (203) of the receiver fastener apparatus (200) comprises: Moving the collet sleeve (220) of the indexing collet assembly (203) along the indexing collet assembly axis (Y) above the indexing collet (219) of the indexing collet assembly (203); and The indexing collet second end (225) of the indexing collet (219) is compressed onto the indexing pin assembly (103) extending through the locating hole (510).

65. The method (2000) according to any one of claims 59 to 61, further comprising, after engaging the indexing pin assembly (103) of the shaft fastener device (100) with the indexing collet assembly (203) of the receiver fastener device (200), rotating the shaft fastener turret (102) of the shaft fastener device (100) around the shaft fastener turret rotation axis (A) to align the drill (104) at the overlapping point (P) of the first panel (500) and the second panel (502).

66. The method (2000) of claim 65, further comprising rotating a receiver fastener turret (202) of the receiver fastener apparatus (200) about a receiver fastener turret rotation axis (Z) to align the anvil (204) with the point (P).

67. The method (2000) of claim 66, further comprising the steps of: extending a presser foot (136) of the drill (104) to contact the first panel (500); as well as The anvil (204) is extended to contact the second panel (502) and clamp the first panel (500) and the second panel (502) between the anvil (204) and the presser foot (136).

68. The method (2000) according to any one of claims 59 to 61, further comprising, after the step of drilling a bore hole (508) through the first panel (500) and the second panel (502), before the step of inserting the one of the shaft fasteners (504) into the bore hole (508) and into the one of the receiver fasteners (506) from the first side of the first panel (500), and while the indexing pin assembly (103) is engaged with the indexing collet assembly (203), rotating the shaft fastener turret (102) of the shaft fastener device (100) around the shaft fastener turret axis (A) to align the shaft fastener transfer assembly (105) with the bore hole (508).

69. The method (2000) according to any one of claims 59 to 61, further comprising, after the step of inserting said one of the shaft fasteners (504) into the bore (508) and into said one of the receiver fasteners (506) from the first side of the first panel (500) while the indexing pin assembly (103) is engaged with the indexing collet assembly (203), rotating the receiver fastener turret (202) of the receiver fastener apparatus (200) about a receiver fastener turret rotation axis (Z) to align the hammer assembly (206) with said one of the shaft fasteners (504) and said one of the receiver fasteners (506).

70. The method (2000) according to any one of claims 59 to 61, further comprising: moving the shaft fastener apparatus (100) relative to the first panel (500) and the second panel (502) using a first robotic device (600); as well as The receiver fastener apparatus (200) is moved relative to the first panel (500) and the second panel (502) using a second robotic device (601).

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