Method and device for one-sided clamping

Abstract

The present invention relates to a method and apparatus for one-sided clamping, and more particularly to a method and apparatus for aligning a first hole in a first panel with a second hole in a second panel to define a through hole, clamping a wall defining the second hole from within the through hole to pull the second panel toward the first panel, thereby establishing clamping of the first panel and the second panel.

Description

Technical Field

[0001] The present disclosure relates generally to assembly of components and, more particularly, to methods and apparatus for using suction to establish a single-sided clamp of a component, maintain a single-sided clamp of a component, or both. Background Art

[0002] Automating certain operations during the assembly of a structure can increase assembly accuracy, improve assembly efficiency, and reduce overall assembly. For example, the tasks involved in the connection of two components can be automated. These tasks can include clamping the two components together, drilling through the two components, inspecting the drilled holes, and inserting fasteners through the drilled holes.

[0003] Currently, some fastener installation operations are automated using robots with multifunctional end effectors. A multifunctional end effector may be a machine with multiple moving parts that work together to perform various tasks involved in fastener installation, including clamping, drilling, inspection, and fastener insertion. One or more of these tasks may require holding parts together in place (e.g., clamping) in order to install fasteners through the parts. Some currently available systems for maintaining component clamping may be more complex and less efficient than what is required to perform certain types of assembly operations. Summary of the invention

[0004] In one example embodiment, a method for performing fastener installation is provided. A first mechanical force is applied to a first component and a second mechanical force is applied to a second component to form a clamping of the first component and the second component. Air is drawn through a fastener hole formed by alignment of a first hole in the first component with a second hole in the second component to pull the second component toward the first component, thereby maintaining the clamping of the first component and the second component.

[0005] In yet another example embodiment, a method for aligning a first hole in a first panel with a second hole in a second panel to define a through hole is provided. A wall defining the second hole is clamped from within the through hole to pull the second panel toward the first panel, thereby establishing clamping of the first panel and the second panel.

[0006] In another example embodiment, a method for maintaining a clamp is provided. A first mechanical force and a second mechanical force are applied to a first component and a second component, respectively, to form a clamp. The first component forms a first side of the clamp and the second component forms a second side of the clamp. Air is drawn from the first side of the clamp via fastener holes extending through the first component and the second component to pull the second component toward the first component. While continuing to draw suction, the first mechanical force and the second mechanical force are simultaneously removed, such that after the first mechanical force and the second mechanical force are removed, the suction independently maintains the clamp.

[0007] In various embodiments of the present disclosure, the features and functions may be implemented independently or may be combined in yet other embodiments, in which further details can be seen with reference to the following description and drawings.

[0008] The present disclosure also includes the following paragraphs:

[0009] 1. A method for performing fastener installation, the method comprising:

[0010] applying 1602 first mechanical force 342 to first component 308 and second mechanical force 344 to second component 310 to form clamp 341 of first component 308 and second component 310 , with first component 308 forming first side 311 of clamp 341 and second component 310 forming second side 312 of clamp 341 ; and

[0011] Air is drawn 1606 from first side 311 of clamp 341 via fastener holes 346 through first component 308 and second component 310 to pull second component 310 toward first component 308 and thereby maintain clamp 341 of first component 308 and second component 310 .

[0012] 2. The method of paragraph 1, further comprising:

[0013] First mechanical force 342 and second mechanical force 344 are removed 1608 while continuing to draw air through fastener hole 346 such that clamping 341 of first component 308 and second component 310 is maintained even after first mechanical force 342 and second mechanical force 344 have been removed.

[0014] 3. The method of paragraph 1, further comprising:

[0015] First hole 343 in first component 308 and second hole 345 in second component 310 are aligned 1802 to form fastener hole 346 .

[0016] 4. The method of paragraph 3, wherein aligning comprises:

[0017] Align 2302 the first hole 343 with the second hole 345 so that the first hole 343 and the second hole 345 are concentrically aligned.

[0018] 5. The method of paragraph 3, wherein aligning comprises:

[0019] Align 2302 the first hole 343 with the second hole 345 so that the first hole 343 and the second hole 345 are coaxially aligned.

[0020] 6. The method of paragraph 3, wherein drawing 1606 air through fastener hole 346 comprises:

[0021] Air is drawn through fastener hole 346 to clamp wall 347 defining second hole 345 and thereby pull second component 310 toward first component 308 .

[0022] 7. The method of paragraph 3, wherein drawing 1606 air through fastener hole 346 further comprises:

[0023] Air is drawn through fastener aperture 346 from first side 311 of clamp 341 in a direction toward first component 308 and at a volume flow rate sufficient to maintain clamping of wall 347 defining second aperture 345 while overcoming the lost drawn volume at second side 312 of clamp 341 .

[0024] 8. The method of paragraph 3, wherein drawing 1606 air through fastener hole 346 comprises:

[0025] A partial vacuum strong enough to clamp the wall 347 defining the second aperture 345 is maintained, thereby pulling the second component 310 toward the first component 308 , regardless of any loss of suction at the second side 312 of the clamp 341 .

[0026] 9. The method of paragraph 1, further comprising:

[0027] After forming the clamp 341 of the first component 308 and the second component 310 by the first mechanical force 342 and the second mechanical force 344 respectively, the fastener hole 346 is drilled 1604 by means of the drilling tool 338 positioned at the second side 312, wherein the fastener hole 346 is formed by the first hole 343 in the first component 308 and the second hole 345 in the second component 310.

[0028] 10. The method of paragraph 9, further comprising:

[0029] Fastener 348 is inserted 1610 into fastener hole 346 while continuing to draw air through fastener hole 346 , thereby maintaining clamping 341 of first component 308 and second component 310 during insertion of fastener 348 .

[0030] 11. The method of paragraph 9, wherein drawing 1606 air through the fastener hole 346 comprises:

[0031] During at least a portion of the drilling of fastener hole 346 , air is drawn from first side 311 of clamp 341 through fastener hole 346 .

[0032] 12. The method of paragraph 9, wherein drawing 1606 air through fastener hole 346 comprises:

[0033] After the fastener holes 346 have been drilled, air is drawn from the first side 311 of the clamp 341 through the fastener holes 346 .

[0034] 13. The method of paragraph 1, wherein drawing 1606 air through fastener hole 346 comprises:

[0035] Air is drawn through fastener aperture 346 at a volume flow rate sufficient to maintain first component 308 and second component 310 clamped 341 relative to one another without requiring the use of second mechanical force 344 .

[0036] 14. The method of paragraph 1, wherein applying 1602 a first mechanical force 342 to the first component 308 and applying 310 a second mechanical force 344 to the second component 310 comprises:

[0037] applying a first mechanical force 342 to the first component 308 using a first tool 332 coupled to the first end effector 324; and

[0038] A second mechanical force 344 is applied to the second component 310 using a second tool 336 coupled to the second end effector 326 , wherein the second mechanical force 344 is equal and opposite to the first mechanical force 342 , until the clamp 341 is first established.

[0039] 15. The method of paragraph 14, wherein the first tool 332 is a nozzle 332 of a suction device 330 coupled to the first end effector 324 .

[0040] 16. The method of paragraph 14, further comprising:

[0041] The fastener hole 346 is drilled 1604 by drilling a first hole 343 through the first component 308 and a second hole 345 through the second component 310, wherein the first hole 343 and the second hole 345 are coaxially or concentrically aligned, wherein application of the second mechanical force 344 continues at least until after the fastener hole 346 is drilled.

[0042] 17. The method of paragraph 1, further comprising:

[0043] After fastener holes 346 have been drilled and after air has been drawn through fastener holes 346 , second mechanical force 344 is removed.

[0044] 18. The method of paragraph 1, further comprising:

[0045] Fastener hole 346 is drilled 1604 using drilling tool 338 of first end effector 324 positioned relative to second side 312 of clamp 341 , wherein fastener hole 346 is a coaxial hole formed by first hole 343 through first component 308 and second hole 345 through second component 310 .

[0046] 19. The method of paragraph 18, further comprising:

[0047] moving the first end effector 324 away from the clamp 341;

[0048] Positioning the second end effector 326 relative to the second side 312 of the clamp 341; and

[0049] While continuing to draw air through fastener hole 346 to maintain the positioning of first component 308 and second component 310 relative to each other, fastener 348 is installed 1610 within fastener hole 346 using second end effector 326 .

[0050] 20. The method of paragraph 1, wherein drawing 1606 air through fastener hole 346 comprises:

[0051] A partial vacuum is drawn through fastener hole 346 and by means of nozzle 332 positioned at first side 311 of clamp 341 relative to first component 308 to maintain clamp 341 .

[0052] 21. A portion of an aircraft 314 assembled using the method of paragraph 1.

[0053] 22. A method for performing fastener installation, the method comprising:

[0054] aligning 1802 the first hole 343 in the first panel 402 with the second hole 345 in the second panel 404 to define a through hole; and

[0055] The wall 347 defining the second aperture 345 is clamped 1804 from within the through hole to pull the second panel 404 toward the first panel 402 and thereby establish a clamp 341 of the first panel 402 and the second panel 404 .

[0056] 23. The method of paragraph 22, wherein clamping 1804 wall 347 comprises:

[0057] Suction is used to clamp the wall 347 of the second hole 345 from within the through hole to pull the second panel 404 towards the first panel 402 and thereby provide clamping 341 of the first panel 402 and the second panel 404 .

[0058] 24. A method for maintaining clamping 341, the method comprising:

[0059] applying 1702 first mechanical force 342 and second mechanical force 344 to first component 308 and second component 310 , respectively, to form clamp 341 , wherein first component 308 forms first side 311 of clamp 341 and second component 310 forms second side 312 of clamp 341 ;

[0060] Drawing 1704 air from first side 311 of clamp 341 through fastener holes 346 extending through first component 308 and second component 310 to pull second component 310 toward first component 308 ; and

[0061] The first mechanical force 342 and the second mechanical force 344 are removed 1706 while the suction is continued, such that after the first mechanical force 342 and the second mechanical force 344 are removed, the suction independently maintains the clamping 341 .

[0062] 25. The method of paragraph 24, wherein applying 1702 the first mechanical force 342 and the second mechanical force 344 comprises:

[0063] applying a first mechanical force 342 to the first component 308 using a first tool 332 coupled to the first end effector 324; and

[0064] applying a second mechanical force 344 to the second component 310 using a second tool 336 coupled to the second end effector 326,

[0065] Therein, the second mechanical force 344 is equal to and opposite to the first mechanical force 342 until the clamping 341 is first established.

[0066] 26. The method of paragraph 24, wherein the pumping 1704 comprises:

[0067] A partial vacuum is drawn to clamp a portion of the walls of fastener hole 346 in second component 310 to pull second component 310 toward first component 308 .

[0068] 27. A method for providing clamping 341, the method comprising:

[0069] Air is drawn 1902 from first side 311 of clamp 341 of first component 308 and second component 310 via fastener hole 346 formed by first hole 343 in first component 308 and second hole 345 in second component 310 to pull second component 310 toward first component 308 to provide clamp 341 of first component 308 and second component 310 .

[0070] 28. The method of paragraph 27, wherein the pumping 1902 comprises:

[0071] Air is drawn from the first side 311 of the clamp 341 through the fastener hole 346 to clamp the wall 347 defining the second hole 345 in the second component 310, thereby pulling the second component 310 toward the first component 308,

[0072] Therein, a static force balance is established by a suction force 802 generated by suction and a reaction force 804 generated by the contact surface of the first tool 332 at the first side 311 of the clamp 341 .

[0073] 29. The method of paragraph 28, wherein during suction, the first mechanical force 342 is applied by the first tool 332 at the first side 311 of the clamp 341 and the second mechanical force 344 is applied by the second tool 336 at the second side 312 of the clamp 341 .

[0074] 30. The method of paragraph 29, wherein the first mechanical force 342 and the second mechanical force 344 are applied at least until a static balance of forces is established by the suction force 802 generated by the suction and the reaction force 804 generated by the contact surface of the first tool 332 at the first side 311 of the clamp 341 .

[0075] 31. The method of paragraph 30, further comprising:

[0076] After static equilibrium of forces has been reached, first mechanical force 342 and second mechanical force 344 are removed 1904 , wherein suction force 802 and reaction force 804 provide clamping 341 of first component 308 and second component 310 in the absence of first mechanical force 342 and second mechanical force 344 .

[0077] 32. The method of paragraph 27, further comprising:

[0078] While continuing to draw air through fastener hole 346 , fastener 348 is installed 1906 through fastener hole 346 , wherein the drawing is performed at least until fastener 348 is fully installed.

[0079] 33. The method of paragraph 27, wherein drawing 1902 air from first side 311 of clamp 341 of first component 308 and second component 310 through fastener hole 346 comprises:

[0080] Air is drawn through fastener hole 346 from first side 311 of clamp 341 in a direction toward first component 308 and at a volume flow rate sufficient to clamp wall 347 defining second aperture 345 while overcoming the lost drawn volume at the open end of second aperture 345 at second side 312 of clamp 341 .

[0081] 34. The method of paragraph 27, further comprising:

[0082] First hole 343 in first component 308 and second hole 345 in second component 310 are aligned 1802 to form fastener hole 346 .

[0083] 35. The method of paragraph 34, wherein aligning comprises:

[0084] Align 2302 the first hole 343 with the second hole 345 such that the first hole 343 and the second hole 345 are aligned in at least one of a concentric and a coaxial manner.

[0085] 36. The method of paragraph 27, wherein the suction force 802 generated by the suction 1902 is sufficient to provide the clamp 341 during and after the fastener 348 has been inserted through the fastener hole 346 from the second side 312 of the clamp 341.

[0086] 37. The method of paragraph 27, further comprising:

[0087] aligning 1802 first hole 343 in first component 308 with second hole 345 in second component 310 to define fastener hole 346; and

[0088] Among them, suction 1902 includes:

[0089] Wall 347 defining second aperture 345 is gripped 1804 from within fastener aperture 346 to pull second component 310 toward first component 308 and thereby provide clamping 341 of first component 308 and second component 310 .

[0090] 38. A portion of an aircraft 314 assembled using the method of paragraph 27.

[0091] 39. A method for maintaining clamping 341, the method comprising:

[0092] applying 2102 a first force 342 by a first end effector 324 at the first side 311 of the panel joint 400 via contact with the first side 311 of the panel joint 400 ;

[0093] applying 2104 a second force 344 equal and opposite to the first force 342 by the second end effector 326 at the second side 312 of the panel joint 400 via contact with the second side 312 of the panel joint 400 to establish the clamp 341 ; and

[0094] After removing contact of the second end effector 326 with the second side 312 , the clamp 341 is maintained 2106 by the first end effector 324 at the first side 311 of the panel joint 400 .

[0095] 40. The method of paragraph 39, wherein maintaining 2106 clamping 341 comprises:

[0096] Locating fastener holes 346 through panel connector 400; and

[0097] A partial vacuum is drawn through fastener holes 346 .

[0098] 41. The method of paragraph 39, wherein the panel joint 400 is an overlapping splice 400 including two skin panels 402 , 404 .

[0099] 42. The method of paragraph 39, further comprising:

[0100] aligning 1802 first holes 343 in first panel 402 of panel joint 400 with second holes 345 in second panel 404 of panel joint 400 to define fastener holes 346; and

[0101] Wherein, maintaining clamping 341 includes:

[0102] The wall 347 defining the second aperture 345 is clamped 1804 from within the fastener aperture 346 to pull the second panel 404 toward the first panel 402 and thereby maintain the clamping 341 of the first panel 402 and the second panel 404 .

[0103] 43. The method of paragraph 39, wherein maintaining 2106 clamping 341 comprises:

[0104] applying suction 802 to a feature of the panel joint 400 that forms the second side 312 of the panel joint 400; and

[0105] A reaction force 804 is exerted on another component of the panel joint 400 forming the first side 311 of the panel joint 400 , wherein the suction force 802 and the reaction force 804 establish a static balance of forces.

[0106] 44. A method for providing one-sided clamping 341:

[0107] applying 2202 a first force 802 to the first panel 402 of the panel joint 400 by the single-function end effector 324 positioned at the first side 311 of the panel joint 400; and

[0108] A second force 804 equal and opposite to the first force 802 is applied 2204 by the single-function end effector 324 to the second panel 404 of the panel joint 400 , thereby providing a single-sided clamping 341 of the first panel 402 and the second panel 804 .

[0109] 45. The method of paragraph 44, wherein the panel joint 400 is an overlap splice 400, and the first panel 402 and the second panel 404 are skin panels.

[0110] 46. ​​The method of paragraph 44, wherein applying 2204 the second force 804 comprises:

[0111] A suction force 802 is applied that pulls the second panel 404 to the first panel 402 .

[0112] 47. The method of paragraph 46, wherein applying 2202 the first force 802 comprises:

[0113] A reaction force 804 is applied via the surface of the tool 332 in contact with the first panel 402 in response to the suction force 802 , thereby providing the one-sided clamp 341 .

[0114] 48. A method of providing clamping 341, the method comprising:

[0115] Gripping 2304 the wall 347 defining the second hole 345 in the second component 310 is achieved via the first hole 343 in the first component 308 , thereby pulling the second component 310 against the first component 308 .

[0116] 49. The method of paragraph 48, wherein implementing 2304 comprises:

[0117] A pressure differential is created that acts on the wall 347 of the second hole 345 in the second component 310 to pull the second component 310 against the first component 308 .

[0118] 50. The method of paragraph 48, wherein implementing 2304 comprises:

[0119] Air is sucked through the first hole 343 and the second hole 345 by means of the suction device 330 positioned relative to the first component 308 to pull the second component 310 toward the first component 308 .

[0120] 51. The method of paragraph 48, further comprising:

[0121] Prior to implementing the clamping wall 347 via the first hole 343 in the first component 308 , the first hole 343 is aligned 2302 at least one of concentrically and coaxially with the second hole 345 .

[0122] 52. The method of paragraph 48, further comprising:

[0123] A first mechanical force 342 is applied 2002 to first component 308 and a second mechanical force 344 is applied to second component 310 to form a clamp 341 of first component 308 and second component 310 , with first component 308 forming a first side 311 of clamp 341 and second component 310 forming a second side 312 of clamp 341 .

[0124] 53. The method of paragraph 52, further comprising:

[0125] Drilling 1604 is performed through the clamp 341 using the drilling tool 338 positioned at the second side 312 of the clamp 341 to form the second hole 345 in the second component 310 and the first hole 343 in the first component 308 .

[0126] 54. The method of paragraph 53, further comprising:

[0127] The first mechanical force 342 and the second mechanical force 344 are removed after the wall 347 of the second hole 345 has been clamped via the enabling step, wherein the clamping 341 is maintained by the clamping of the wall 347 after the first mechanical force 342 and the second mechanical force 344 have been removed.

[0128] 55. The method of paragraph 48, wherein the first component 308 and the second component 310 are skin panels forming the panel joint 400.

[0129] 56. A device for maintaining clamping 341, the device comprising:

[0130] a nozzle 332 having a nozzle 332 diameter that is larger than a hole diameter of a first hole 343 in the first component 308, the nozzle 332 being used to apply a first mechanical force 342 to the first side 311 of the clamp 341 when engaged with the first component 308; and

[0131] A suction device 330 is used to suck air from the first side 311 of the clamp 341 through the fastener hole 346 formed by the first hole 343 in the first component 308 and the second hole 345 in the second component 310 and with the help of the nozzle 332, wherein the air is sucked from the first side 311 at a volume flow rate sufficient to maintain the clamp 341 of the first component 308 and the second component 310 without requiring additional force at the second side 312 of the clamp 341.

[0132] 57. The apparatus of paragraph 56, further comprising:

[0133] An extension system is provided for moving first tool 332 toward first side 311 of clamp 341 to apply force 342 to first component 308 .

[0134] 58. The apparatus of paragraph 57, wherein the first tool 332 is a nozzle 332.

[0135] 59. The apparatus of paragraph 57, wherein the extension system, the nozzle 332 and the suction device 330 are parts of the same end effector 324.

[0136] 60. The apparatus of paragraph 56, further comprising:

[0137] a first extension system for moving the first tool 332 toward the first side 311 of the clamp 341 to apply a first mechanical force 342 to the first component 308; and

[0138] A second extension system for moving second tool 336 towards second side 312 of clamp 341 to apply second mechanical force 344 to second component 310 , wherein second mechanical force 344 is removed after air extraction through fastener hole 346 has begun.

[0139] 61. The apparatus of paragraph 56, further comprising:

[0140] autonomous guided vehicles; and

[0141] An end effector 324 is coupled to the automated guided vehicle, wherein the end effector includes a nozzle 332 and a suction device 330 .

[0142] 62. A method of maintaining a clamp 341 of a first component 308 and a second component 310 for a fuselage assembly 313 using the apparatus of paragraph 56.

[0143] 63. An apparatus for forming a clamp 341, the apparatus comprising:

[0144] The end effector 324 positioned at the first side 311 of the panel joint 400 applies a first clamping force 802 to the first panel 402 of the panel joint 400 and an equal and opposite second clamping force 804 to the second panel 404 of the panel joint 400 to provide the clamp 341 .

[0145] 64. The apparatus of paragraph 63, wherein the end effector 324 applies the first clamping force 802 via contact with the first side 311 of the panel joint 400, and the end effector 324 applies the second clamping force 804 via contact with the second side 312 of the panel joint 400.

[0146] 65. The apparatus of paragraph 63, wherein a first hole 343 in a first panel 402 of a panel joint 400 is aligned with a second hole 345 in a second panel 404 of the panel joint 400 to define a fastener hole 346, and wherein the end effector 324 clamps a wall 347 defining the second hole 345 from within the fastener hole 346 to pull the second panel 404 toward the first panel 402 and thereby provide a clamp 341.

[0147] 66. The apparatus of paragraph 63, wherein the panel joint 400 is an overlapping splice 400 formed by skin panels.

[0148] 67. The apparatus of paragraph 63, wherein the end effector 324 comprises:

[0149] A suction device 330 draws a partial vacuum through a fastener hole 346 extending through the panel joint 400 to provide a first clamping force.

[0150] 68. The apparatus of paragraph 67, wherein the end effector 324 comprises:

[0151] A surface that contacts the first panel 402 of the panel joint 400 and provides an equal and opposite second clamping force.

[0152] 69. A method of maintaining a clamp 341 of two skin panels for a fuselage assembly 313 using the apparatus of paragraph 63.

[0153] 70. An apparatus for forming a clamp 341, the apparatus comprising:

[0154] a first clamping end effector 324 on the first side 311 of the panel joint 400;

[0155] a second clamping end effector 326 on the second side 312 of the panel joint 400 , wherein the first clamping end effector 324 is in communication with the second clamping end effector 326 ; and

[0156] Through hole clamps 332 , 330 , which are incorporated into the first clamping end effector 324 .

[0157] 71. The apparatus of paragraph 70, wherein the through-hole clamping device comprises:

[0158] A hole wall clamping device 330; and

[0159] The contact device 332 is coupled to the hole wall clamping device 330 , and the contact device 332 contacts the first side 311 of the panel joint 400 .

[0160] 72. The apparatus of paragraph 71, wherein the hole wall clamping device 330 is a suction device 330.

[0161] 73. The apparatus of paragraph 72, wherein the contact device 332 is a nozzle 332 comprising:

[0162] A surface for contacting the first side 311 of the panel connector 400; and

[0163] A channel 334 through which the suction device 330 draws air.

[0164] 74. The apparatus of paragraph 70, wherein the through-hole clamping device 324 comprises:

[0165] The hole wall clamping device 330 independently provides single-sided clamping 341 of the first panel 402 and the second panel 404 of the panel joint 400 without requiring a second clamping end effector 326.

[0166] 75. The apparatus of paragraph 70, wherein the through-hole clamping device 332, 330 comprises:

[0167] A suction device 330 that draws a partial vacuum through a fastener hole 346 extending through the panel joint 400.

[0168] 76. A method of maintaining a clamp 341 of two skin panels 402, 404 for a fuselage assembly 313 using the apparatus of paragraph 70. BRIEF DESCRIPTION OF THE DRAWINGS

[0169] The novel features believed characteristic of the example embodiments are set forth in the appended claims. However, the example embodiments and their preferred modes of use, further objects and features thereof will be best understood by reference to the following detailed description of example embodiments of the present disclosure when read in conjunction with the accompanying drawings.

[0170] Figure 1 is an illustration of a perspective view of manufacturing environment 100 according to an example implementation.

[0171] Figure 2 Built according to example implementations Figure 1 Illustration of an end view of a fuselage assembly.

[0172] Figure 3 is a block diagram of a manufacturing environment according to an example implementation.

[0173] Figure 4 is an illustration of a side view of a robotic device having a single-function end effector positioned relative to a component according to an example implementation.

[0174] Figure 5 According to an example implementation, Figure 4 The overlapping joints are positioned Figure 4 Illustration of an enlarged side view of the end effector.

[0175] Figure 6 According to an example implementation Figure 4 FIG. 1 is a side view of an end effector of FIG. Figure 4 Apply force to the overlapping joints.

[0176] Figure 7 is an illustration of a side view of a drilling operation according to an example embodiment.

[0177] Figure 8 is an illustration of a side view of a pumping operation according to an example embodiment.

[0178] Fig. 9 According to an example implementation Figure 8 Illustration of an enlarged cross-sectional side view of a component.

[0179] Fig.10is an illustration of an enlarged side view of a single-sided clamp according to an example embodiment.

[0180] Fig.11 According to an example implementation Fig.10 Illustration of another side view of one-sided clamping.

[0181] Fig.12 According to an example implementation, Fig.11 Illustration of a perspective view of an end effector positioned on a second side of an overlapping joint.

[0182] Fig.13 is a method for attaching a fastener ( Fig.11 and Fig.12 ) into the fastener hole ( Fig.11 ) is an illustration of a side view of a fastener insertion tool.

[0183] Fig.14 is an illustration of a cross-sectional view of a fastener installed in an overlapping splice according to an example embodiment.

[0184] Fig.15 is an illustration of the completion of a fastener installation operation according to an example embodiment.

[0185] Fig.16 is a flow chart of a method for performing fastener installation according to an example implementation.

[0186] Fig.17 is a flow chart of a process for maintaining clamping according to an example implementation.

[0187] Fig.18 is a flow chart of a process for maintaining clamping according to an example implementation.

[0188] Fig.19 is a flow chart of a process for maintaining single-sided clamping according to an example implementation.

[0189] Fig. 20 is a flow chart of a process for maintaining single-sided clamping according to an example implementation.

[0190] Fig.21 is a flow chart of a process for maintaining single-sided clamping according to an example implementation.

[0191] Fig. 22 is a flow chart of a process for maintaining single-sided clamping according to an example implementation.

[0192] Fig.23 is a flow chart of a process for providing clamping according to an example implementation.

[0193] Fig.24 is a block diagram of a data processing system according to an example implementation.

[0194] Fig.25 is an illustration of an aircraft manufacturing and service methodology according to an example implementation.

[0195] Fig.26 is a block diagram of an aircraft according to an example implementation. DETAILED DESCRIPTION

[0196] The example embodiments described below provide methods and apparatus for improving the efficiency and ease of connecting components together. For example, the methods and apparatus described below can improve the efficiency and ease, and reduce the complexity of installing fasteners to connect components together. The example embodiments recognize and take into account that a single-function end effector allows various tasks of a fastener installation operation (e.g., drilling, inspection, fastener insertion) to be separated. By using different single-function end effectors for different tasks, the end effector can be made smaller, lighter, and simpler than a multi-function end effector.

[0197] The simplicity of the single-function end effector can help improve the overall efficiency and reliability of using the end effector to automate fastener installation operations. In addition, the simplicity of the single-function end effector can reduce the amount of maintenance required, the overall size of the supporting robot and associated structure, or both.

[0198] In particular, example embodiments recognize and take into account that when switching out a single-function end effector to perform various tasks, the components of an assembly through which fasteners are mounted need to be held in place together (e.g., clamped together). Example embodiments provide methods and apparatus for holding these components together from one side of an assembly to enable switching out a single-function end effector on the other side of the assembly.

[0199] In one example embodiment, a method for automating fastener installation is provided. A first mechanical force is applied to a first component and a second mechanical force is applied to a second component to form a clamping of the first component and the second component. Air is drawn through a fastener hole formed by a first hole in the first component to pull the second component toward the first component, thereby maintaining the clamping of the first component and the second component even after the second mechanical force has been removed, the first hole being aligned with a second hole in the second component.

[0200] In another example embodiment, a method for aligning a first hole in a first panel with a second hole in a second panel to define a through hole is provided. A wall defining the second hole is clamped from within the through hole to pull the second panel toward the first panel, thereby establishing clamping of the first panel and the second panel.

[0201] In yet another example embodiment, a method for maintaining clamping using a single-function end effector is provided. The single-function end effector is positioned at one side of a panel joint and applies a first force to a first panel of the panel joint and a second force to a second panel of the panel joint to maintain clamping. The first force may be, for example, a suction force, and the second force may be, for example, a reaction force applied in response to the suction force. In this manner, single-sided clamping is achieved.

[0202] Thus, example embodiments provide methods and systems for establishing clamping of a first panel and a second panel, maintaining clamping of a first panel and a second panel, or both. These methods and systems involve clamping a wall defining a hole in a second panel from within a hole in a first panel to pull the second panel toward the first panel. The first hole and the second hole form a through hole extending through the first panel and the second panel.

[0203] The clamping can be performed by, for example, drawing a partial vacuum (e.g., suction) through a fastener hole (e.g., through hole) in a direction from the second panel toward the first panel. The clamping force is combined with a counterforce (e.g., reaction force) generated by a single-function end effector positioned in contact with the first panel. In this way, a single-sided clamping is achieved. The clamping is formed from one side of the first panel to allow tool and device movement and provide space for any number of operations to be performed on one side of the second panel.

[0204] In some cases, one or more panels may be present between the first panel and the second panel. The fastener holes extend through the first panel, the second panel, and any number of panels between the first panel and the second panel. In other cases, the sealant is applied to the joining surface of one or both of the first panel and the second panel.

[0205] Now referring to the accompanying drawings, Figure 1 1 is an illustration of a perspective view of manufacturing environment 100 in accordance with an illustrative embodiment. Within manufacturing environment 100, fuselage assembly 102 is being constructed. In this illustrative example, plurality of assembly systems 104 are positioned relative to fuselage assembly 102.

[0206] Assembly system 106 is an embodiment of one of assembly systems 104. Assembly system 106 includes a robotic device 108 positioned relative to exterior 110 of fuselage assembly 102 and a robotic device 112 positioned relative to interior 114 of fuselage assembly 102. Robotic device 108 and robotic device 112 work together to perform fastener installation operations for building fuselage assembly 102.

[0207] Figure 22 is an illustration of an end view of fuselage assembly 102 being constructed in accordance with an example embodiment. As depicted, robotic machine 108 is supported by platform 200 and robotic machine 112 is supported by platform 202. Robotic machine 108 and robotic machine 112 work together to install fasteners that hold fuselage panels together, thereby constructing fuselage assembly 102.

[0208] In this illustrative embodiment, the robotic devices 108 are coupled with end effectors for performing drilling, inspection, and fastener insertion tasks. These end effectors are single-function end effectors that can be switched out to perform their respective tasks by moving around relative to, for example, fastener mounting points 113. Single-function end effectors are end effectors that perform a single function by each robotic device at each fastener mounting point. In some cases, the robotic devices 108 are moved around on the platform 200 in order to position the end effector for a particular task relative to the fastener mounting points 113. In other cases, the robotic devices 108 can remain stationary on the platform 200, but can be used to move their end effectors around in order to position the appropriate end effector for a given task relative to the fastener mounting points 113.

[0209] Each robotic device 112 is coupled to an end effector that is used to hold the fuselage panels together from the inside of the fuselage assembly 102 during switching out of the single-function end effector coupled to the robotic device 108. For example, after an end effector on one of the robotic devices 108 has been used to perform its designated task, the end effector may be moved away from the fastener mounting point 113 to make room for a different end effector. The end effector coupled to one of the robotic devices 112 is used to maintain the clamping of the fuselage panels only from the inside of the fuselage assembly 102 when the end effector switches positions on the outside of the fuselage assembly 102.

[0210] Figure 3 is a block diagram of a manufacturing environment 300 according to an example implementation. Figure 1 Manufacturing environment 100 in FIG. 1 is an example of one implementation of manufacturing environment 300 . Within manufacturing environment 300 , assembly system 302 is used to build component 304 .

[0211] Assembly 304 includes component 308 and component 310. Component 308 and component 310 cooperate to form a joint (not shown) in assembly 304. A side 311 of component 308 forming a first side of the joint faces the opposite component 310. A side 312 of component 310 forming a second side of the joint faces the opposite component 308.

[0212] Although assembly 304 is described as having only two parts in these example embodiments, in other cases, assembly 304 may include more than two parts. In one illustrative embodiment, assembly 304 takes the form of fuselage assembly 313 of aircraft 314. In one embodiment, parts 308 and parts 310 take the form of fuselage panels. In other embodiments, parts 308 and parts 310 take the form of other types of aircraft parts, such as wing panels. When parts 308 and parts 310 take the form of panels, they together form a panel joint.

[0213] Figure 1 The assembly system 106 in FIG. 1 is an example of one implementation of the assembly system 302. The assembly system 302 includes a control system 315 and a plurality of robotic devices 316. The control system 315 controls the operation of the robotic devices 316. The control system 315 is implemented using software, hardware, firmware, or a combination thereof.

[0214] When software is used, the operations performed by the control system 315 may be implemented using, for example, but not limited to, program code configured to run on a processor unit. When firmware is used, the operations performed by the control system 315 may be implemented using, for example, but not limited to, program code and data and stored in a persistent memory to run on a processor unit.

[0215] When hardware is employed, the hardware may include one or more circuits that operate to perform the operations performed by the control system 315. Depending on the implementation, the hardware may take the form of a circuit system, an integrated circuit, an application specific integrated circuit (ASIC), a programmable logic device, or some other suitable type of hardware device configured to perform any number of operations. A programmable logic device may be configured to perform certain operations. The device may be permanently configured to perform these operations or may be reconfigurable. A programmable logic device may take the form of, for example, but not limited to, a programmable logic array, a programmable array logic, a field programmable logic array, a field programmable gate array, or some other type of programmable hardware device.

[0216] In these illustrative examples, control system 315 may be implemented using a computer system. The computer system may include a single computer or multiple computers in communication with each other.

[0217] The plurality of robotic devices 316 include, for example but not limited to, a robotic device 318, a robotic device 320, and a robotic device 322. The robotic device 318, the robotic device 320, and the robotic device 322 are coupled to an end effector 324, an end effector 326, and an end effector 328, respectively. Each of these end effectors may be considered a single-function end effector. In some illustrative embodiments, the end effector 324, the end effector 326, and the end effector 328 are considered to be part of the robotic device 318, the robotic device 320, and the robotic device 322, respectively. In other illustrative embodiments, the end effector 324, the end effector 326, and the end effector 328 are considered to be separate from the robotic device 318, the robotic device 320, and the robotic device 322, but may be attached to and detached from them.

[0218] In one example embodiment, end effector 324 includes a suction device 330 and a tool, which may be a nozzle 332 coupled to suction device 330. Nozzle 332 is coupled directly or indirectly to suction device 330. In these illustrative examples, nozzle 332 may be an elongated member having a passage 334 extending through nozzle 332. Suction device 330 creates suction that draws air in and through passage 334 within nozzle 332 with sufficient force.

[0219] End effector 326 includes tool 336 and drilling tool 338. In some illustrative embodiments, tool 336 is a cylindrical member surrounding drilling tool 338. End effector 328 includes fastener insertion tool 340.

[0220] To perform fastener installation, end effector 324 and end effector 326 are positioned on opposite sides of assembly 304. These end effectors are used to apply equal and opposite forces (e.g., first force 342 and second force 344 to component 308 and component 310, respectively) to form clamp 341. In particular, end effector 324 and end effector 326 are operated to apply equal and opposite forces to side 311 of component 308 and side 312 of component 310, respectively, to form clamp 341.

[0221] For example, at least one of the robotic device 318 or the end effector 324 is operated to apply a first force 342 to one side 311 of the component 308 using the nozzle 332. The first force 342 is a first mechanical force, which may also be referred to as a clamping force in some cases. In some cases, the end effector 324 includes an extension system for moving the nozzle 332 toward the side 311 to apply the first force 342 to the component 308. In addition, at least one of the robotic device 320 or the end effector 326 may be operated to apply a second force 344 to the other side of the assembly 304 using the tool 336. The second force 344 is a second mechanical force, which may also be referred to as a clamping force in some cases. In some cases, the end effector 326 includes an extension system for moving the tool 336 toward the side 312 to apply the second force 344 to the component 310.

[0222] In one embodiment, nozzle 332 and tool 336 are simultaneously extended toward and pressed against parts 308 and 310, respectively, to apply first force 342 to part 308 and second force 344 to part 310. Nozzle 332 and tool 336 are pressed against parts 308 and 310, respectively, until a desired static balance of forces is achieved between first force 342 and second force 344. In other words, nozzle 332 and tool 336 are pressed or pushed against parts 308 and 310, respectively, until first force 342 and second force 344, which are equal and opposite forces, reach an amount sufficient to establish clamping 341 of parts 308 and 310.

[0223] Once the clamp 341 is achieved, the nozzle 332 and the tool 336 remain in a fixed position relative to the reference coordinate system. Therefore, the clamp 341 is maintained in a fixed position relative to the reference coordinate system by a static balance of forces generated by the positioning of the nozzle 332 and the tool 336 relative to the reference coordinate system.

[0224] In some illustrative embodiments, clamping 341 includes components 308, 310, both having sealants applied to the mating surfaces of the components. In other words, clamping may include a sealant that seals the components together. This type of clamping 341 of components 308 and 310 may be used for "one-up" assembly.

[0225] In some illustrative embodiments, drilling tool 338 is used to drill hole 343 through component 308 and to drill hole 345 through component 310 while maintaining clamping 341 of the components using suction 349. Drilling tool 338 is positioned at one side 312 so that drilling of both hole 343 and hole 345 is performed from one side 312. In this manner, hole 345 is formed before hole 343. In one or more embodiments, drilling tool 338 includes a suction device or some other type of cleaning device that is used to facilitate removal of component shavings or waste generated during drilling.

[0226] Maintaining the clamping 341 of the components during drilling ensures that the holes 343 and 345 are aligned during and after drilling to form the fastener holes 346. In addition, maintaining the clamping 341 of the components during drilling can also help maintain the clamping of the sealant (not shown) between the components 308 and 310; prevent gaps between the components 308 and 310; prevent drill cuttings, shavings, or waste from falling through or otherwise entering one or more gaps between the components 308 and 310; reduce or eliminate the need to deburr the edges of the holes 343 and 345 after drilling; or a combination thereof.

[0227] Hole 343 in component 308 and hole 345 in component 310 are formed concentrically and coaxially. Fastener hole 346 may also be referred to as a passage or through-hole. As used herein, a through-hole is a hole that passes through two or more components and is thus formed by coaxial holes passing through the two or more components.

[0228] Prior to installing fastener 348 within fastener hole 346, end effector 326 needs to be switched to end effector 328 with fastener insertion tool 340. However, because tool 336 of end effector 326 is being used to maintain clamp 341, a different mechanism for maintaining clamp 341 is needed before end effector 328 can be switched out. For example, without some additional mechanism for maintaining clamp 341, movement of tool 336 away from part 310 or movement of nozzle 332 away from part 308 may release clamp 341. Therefore, a mechanism for maintaining clamp 341 while still allowing end effector 326 to be switched out with end effector 328 is needed.

[0229] The suction device 330 of the end effector 324 is used to maintain the clamp 341 only from one side 311, thereby allowing the end effector 326 located on the side 312 to be switched out with the end effector 328. In particular, the suction device 330 generates suction 349 to suck air from the side 311 through the fastener hole 346. The suction is performed while maintaining a static balance of forces between the first force 342 and the second force 344.

[0230] The volume flow rate of the suction is sufficient to pull component 310 toward component 308 to maintain clamp 341. In particular, the volume flow rate is sufficient to provide a clamping force that clamps walls 347 defining aperture 345 to pull component 310 toward component 308. In other illustrative embodiments, walls 347 may also be referred to as aperture walls. This suction is sufficient to independently maintain clamp 341 of component 308 and component 310 relative to each other.

[0231] The suction device 330 applies a suction force to the part 310 by using suction to clamp the wall 347 defining the hole 345 in the part 310. The suction force pulls the part 310 toward the part 308 and ultimately toward the end effector 324. The positioning of the nozzle 332 of the end effector 324 relative to the part 308 and to the reference coordinate system generates a reaction force in response to the suction force. The reaction force is equal to and opposite to the suction force.

[0232] Suction is performed until a desired static balance of forces is achieved between the suction force and the reaction force. Once the desired static balance of forces is achieved, suction can be used to independently maintain the clamp 341 even when the tool 336 moves away from the clamp 341.

[0233] In this manner, suction device 330 generates suction 349 sufficient to hold parts 308 and 310 in position relative to each other even after second force 344 has been removed (e.g., when tool 336 is removed and end effector 326 is switched to another end effector). In other words, when tool 336 is removed and out of contact with part 310, such that second force 344 is removed, the suction of air through fastener hole 346 and into channel 334 of nozzle 332 maintains clamping 341 of parts 308 and 310.

[0234] In one or more illustrative embodiments, control system 315 is used to control the operation of end effector 324, end effector 326, and end effector 328. Control system 315 ensures that the desired static balance of forces described above is established, thereby maintaining clamping 341 when switching out end effector 326 for drilling with end effector 328 for fastener installation, and preventing any undesirable displacement of part 308 relative to part 310.

[0235] Specifically, end effector 326 having drilling tool 338 may be switched out with end effector 328 having fastener insertion tool 340. Fastener insertion tool 340 is used to insert fastener 348 into fastener hole 346 while suction device 330 continues to draw air from opposite side 311 of assembly 304 through fastener hole 346. In this manner, assembly system 302 may allow installation of fastener 348 to be performed in a simple, easy, and efficient manner.

[0236] The suction device 330 provides sufficient suction force, which combines with the reaction force provided by the nozzle 332 to maintain the clamp 341 without requiring additional force at one side 312 of the clamp 341. In other words, the suction device 330 and the nozzle 332 together ensure that the clamp 341 is maintained independently from a single side of the clamp 341.

[0237] Fastener 348 is installed while clamp 341 is maintained with suction 349. In these illustrative embodiments, suction continues until fastener 348 is fully installed in fastener hole 346. In some cases, fastener 348 is considered to be fully installed when a desired interference fit is formed between fastener 348 and fastener hole 346. In other embodiments, fastener 348 is considered to be fully installed only after fastener 348 has been inserted into fastener hole 346 and fastener retaining hardware has been installed on fastener 348. Fastener retaining hardware may include, for example, a collar, a nut, some other type of hardware, or a combination thereof. In other embodiments, fastener 348 may be considered to be fully installed after one or more other operations have been performed.

[0238] Once the fastener 348 has been fully installed, suction 349 is no longer needed to maintain the clamp. In other words, the fastener 348 is used to maintain the clamp 341 after the suction has stopped.

[0239] Figure 1 The illustration of manufacturing environment 100 in the example embodiment is not meant to imply physical or architectural limitations on the manner in which the example embodiments can be implemented. Other components other than the components shown or other components that replace the components shown can be used. Some components may be optional. In addition, these square blocks are presented to illustrate functional components. When implemented in the example embodiments, one or more of these square blocks can be combined, divided, or combined and divided into different square blocks.

[0240] For example, in some cases, drilling of fastener hole 346 may be part of a different process before components 308 and 310 are brought together to form clamp 341. For example, first hole 343 may be drilled into component 308 and hole 345 may be drilled into component 310 before the components are clamped.

[0241] Then, component 308 and component 310 can be positioned relative to each other. In these embodiments, component 308 and component 310 are positioned to align hole 343 and hole 345 in at least one of concentric and coaxial ways. The size of hole 343 and hole 345 can be set so that when hole 343 and hole 345 are aligned together, they form fastener hole 346. In other embodiments, hole 343 and hole 345 can be determined assembly (DA) holes. When hole 343 and hole 345 are determined assembly holes and are coaxially aligned, they form indexing holes (not shown). Component 308 and component 310 can be temporarily matched using temporary fasteners installed, such as through the indexing holes. Indexing holes can also be referred to as reference holes, guide holes, tool holes or through holes.

[0242] In one or more embodiments, after the holes 343 and 345 are coaxially aligned, suction 349 is used to establish and maintain the clamp 341 of the components 308 and 310. The suction is formed at one side 311, so that the clamp 341 is a one-sided clamp. In some cases, when temporary fasteners are used to connect the components 308 and 310, the suction 349 is applied while the temporary fasteners are removed, thereby establishing and maintaining the clamp 341.

[0243] Reference Figures 4 to 15 , an illustration of an assembly system for performing fastener installation operations is described in accordance with example embodiments. In some demonstrative embodiments, the assembly system may be referred to as a fastener installation system.

[0244] Figure 4 is an illustration of an end view of a single function end effector positioned relative to an overlapping joint according to an example embodiment. The overlapping joint 400 is Figure 3 304 or a panel joint in the assembly 304. In addition to the overlapping splices 400, the example embodiments may also be applied to other types of splices not shown.

[0245] The overlapping joint 400 includes a first component 402 and a second component 404, which can be Figure 3 4. In other embodiments, overlapping joint 400 may include a third component (not shown) or some other number of components. In one illustrative embodiment, first component 402 and second component 404 take the form of fuselage panels. Figures 4 to 15 The sizes and ratios of the first component 402 and the second component 404 in FIG. 4 are shown for illustration purposes only. In other illustrative embodiments, the sizes of the first component 402 and the second component 404 may be smaller or much larger than Figures 4 to 15 Dimensions shown in .

[0246] Overlap splice 400 has a first side 406 and a second side 408. In this illustrative embodiment, first side 406 is formed by surface 410 of first component 402, and second side 408 is formed by surface 412 of second component 404. When first component 402 and second component 404 take the form of fuselage panels of a fuselage assembly, surface 410 of first component 402 may be facing the interior of the fuselage assembly, while surface 412 of second component 404 may be facing the exterior of the fuselage assembly (when the process is complete, the head of the fastener will be mounted on exterior surface 412).

[0247] In this illustrative example, assembly system 413 is positioned relative to component 409. Assembly system 413 includes end effector 414, end effector 416, robotic device 418, and robotic device 419.

[0248] End effector 414 and end effector 416 are coupled to robotic device 418 and robotic device 419, respectively. End effector 414 and end effector 416 may be Figure 3 The end effector 414 is positioned relative to the first side 406 of the overlapping joint 400, while the end effector 416 is positioned relative to the second side 408 of the overlapping joint 400.

[0249] End effector 414 and end effector 416 may be single-function end effectors. End effector 414 includes at least nozzle 420 and suction device 422, which are respectively Figure 3 The end effector 416 includes a tool 424 and a drilling tool 426. For illustration purposes only, the tool 424 is Figure 4 The tool 424 and the drilling tool 426 are respectively Figure 3 An embodiment of an implementation of tool 336 and drilling tool 338 in FIG.

[0250] In this illustrative embodiment, tool 424 includes element 428 and element 430. Element 428 takes the form of, for example, but not limited to, a first cylindrical member surrounding drilling tool 426. Element 430 takes the form of, for example, but not limited to, a second cylindrical member having a smaller diameter than the first cylindrical member, but large enough to allow a drill bit 432 of drilling tool 426 to pass through the second cylindrical member. In some illustrative embodiments, element 430 is large enough to allow for collection of drill cuttings or debris during drilling.

[0251] Figure 5is an illustration of an enlarged side view of end effector 414 and end effector 416 positioned relative to lap splice 400 in accordance with an example embodiment. In this illustrative embodiment, end effector 414 and end effector 416 have been positioned to align with a reference axis 500 passing through lap splice 400. Reference axis 500 may be an axis substantially perpendicular to lap splice 400 passing through lap splice 400 at a location where a hole is to be drilled and a fastener is to be installed.

[0252] Figure 6 406 is an illustration of a side view of end effector 414 and end effector 416 applying a force to overlapping joint 400 according to an example embodiment. As depicted, at least one of end effector 414 or robotic device 418 has been used to move nozzle 420 into contact with first side 406 of overlapping joint 400. Nozzle 420 pushes against first side 406 to apply first force 600 to first side 406. First force 600 is Figure 3 An embodiment of the first force 342 in FIG. The first force 600 is a mechanical force.

[0253] Similarly, at least one of the end effector 416 or the robotic device 419 has been used to move the element 430 into contact with the second side 408 of the overlapping splice 400. In particular, the element 430 pushes against the second side 408 to apply the second force 602 to the second side 408.

[0254] The nozzle 420 and the element 430 push against the first component 402 and the second component 404, respectively, until a desired static balance of forces is achieved between the first force 600 and the second force 602 applied to the overlapping splice 400. Once this desired static balance of forces is achieved, clamping 604 of the first component 402 and the second component 404 is achieved. In other words, the first component 402 and the second component 404 can be held in place such that each of these components is maintained in a specific position relative to the other.

[0255] Although nozzle 420 and element 430 are no longer pushed against first component 402 and second component 404, respectively, they remain fixed in a position that achieves a desired static balance of forces to maintain clamping 604. In some cases, a sealant may be present between first component 402 and second component 404.

[0256] Figure 76 is an illustration of a side view of a drilling operation according to an example embodiment. Once the clamping 604 of the first component 402 and the second component 404 has been established, the drilling tool 426 of the end effector 416 is operated to drill a fastener hole 700 extending through the overlapping splice 400. The fastener hole 700 can extend from the second side 408 of the second component 404 all the way to the first side 406 of the first component 402. In some cases, the fastener hole 700 can be a countersunk hole. The fastener hole 700 is Figure 3 An implementation example of a fastener hole 346 in.

[0257] Figure 8 428. FIG. 429 is an illustration of a side view of a suction operation according to an example embodiment. After the fastener hole 700 is drilled, the drill bit 432 is moved away from the second component 404. For example, the drill bit 432 may be retracted into the element 428.

[0258] The suction device 422 of the end effector 414 is operated to draw air from the first side 406 of the overlapping splice 400 through the fastener hole 700. The air is drawn from the second side 408 of the overlapping splice 400 through the fastener hole 700 toward the first side 406 of the overlapping splice 400 in the direction of arrow 800. The air is drawn through the fastener hole 700 into the nozzle 420.

[0259] The suction generates a force applied to the second component 404, which may be a suction force 802. The suction force 802 pulls the second component 404 toward the first component 402. By positioning the nozzle 420 in contact with the first component 402, a reaction force 804 is generated in response to the suction force 802. The suction is performed until a desired static balance of forces is achieved between the suction force 802 and the reaction force 804. For example, the suction power may be increased until a desired static balance of forces is achieved and sufficient suction power is generated to allow the clamping 604 to be maintained via the suction independently of the first force 600 and the second force 602.

[0260] In these illustrative embodiments, suction device 422 can be operated to continue to suck air via fastener hole 700 until the fastener installation operation has been completed. In some embodiments, each or both of element 430 and nozzle 420 can have at least one of notch, groove, port, opening or some other type of vent to allow air to enter and exit. This ventilation helps to ensure that the suction power is not greater than the desired suction power. For example, element 430 can have one or more notches along the edge of the element 430 that contacts with second component 404, to help move element 430 away from second component 404 while making suction easier.

[0261] Fig. 94 is an illustration of an enlarged cross-sectional side view of first component 402 and second component 404 according to an example embodiment. This view allows a clearer view of fastener hole 700 and wall 900 defining the portion of fastener hole 700 formed within second component 404. Wall 900 may also be referred to as a hole wall.

[0262] As depicted, suction force 802 may be a clamping force that clamps wall 900 defining a portion of fastener hole 700 formed within second component 404, thereby pulling second component 404 toward first component 402 and ultimately toward nozzle 420. Nozzle 420 applies reaction force 804 to first component 402.

[0263] The suction force 802 and the reaction force 804 together can be used to independently maintain the clamp 604, even after the element 430 moves away and out of contact with the second component 404. By allowing the clamp 604 to be maintained independently of the first force 600 and the second force 602, the end effector 416 can be switched out with a different end effector. For example, at least one of the end effector 416 or the robotic device 419 can be operated to move the element 430 of the tool 424 away from the overlapping joint 400. Then, the robotic device 419 can be switched out with a different robotic device, and the different effector can be positioned relative to the overlapping joint 400.

[0264] Fig.10 80 is an illustration of an enlarged side view of a single-sided clamp according to an example embodiment. As described, the element 430 shown in the previous figures has been moved out of contact with the first component 402. However, even without the first force 600 and the second force 602, the suction force 802 and the reaction force 804 can independently maintain the clamp.

[0265] Thus, a one-sided clamp is achieved. This type of one-sided clamp at the first side 406 of the overlapping splice 400 frees up space around the fastener hole 700 at the second side 408 of the overlapping splice 400 to allow for simpler and easier switching out of the end effector. No special tools are required to maintain the clamp 604 at the second side 408 of the overlapping splice 400.

[0266] Fig.11 According to an example implementation Fig.10 As described, the end effector 1100 coupled to the robotic device 1102 has been switched out. Figures 4 to 9 End effector 416. End effector 1100 and robotic device 1102 are part of assembly system 413.

[0267] In this illustrative embodiment, robotic device 419 having end effector 416 is moved to allow robotic device 1102 having end effector 1100 to be positioned relative to second side 408 of lap splice 400. In other illustrative embodiments, end effector 416 may be swapped with end effector 1100, and end effector 1100 then coupled to robotic device 419. As described, the switching of end effectors occurs after fastener holes 700 have been drilled through lap splice 400 and single-sided clamping has been achieved.

[0268] In this illustrative embodiment, the end effector 1100 includes a fastener insertion tool 1104. At least one of the end effector 1100 or the robotic device 1102 can be used to move and position the fastener insertion tool 1104 relative to the fastener hole 700 that has been drilled through the lap splice 400. The fastener insertion tool 1104 is used to insert a fastener 1106 into the fastener hole 700. In one or more embodiments, the fastener insertion tool 1104 installs the fastener 1106 by forming a desired interference fit between the fastener 1106 and the fastener hole 700.

[0269] Fig.12 is an illustration of a perspective view of end effector 1100 positioned relative to second side 408 of lap splice 400 according to an example embodiment. As depicted, fastener hole 700 is one of a plurality of fastener holes through lap splice 400 in which fastener 1200 has been installed.

[0270] Fig.13 is a method for attaching a fastener 1106 ( Fig.11 and Fig.12 ) into the fastener hole 700 ( Fig.11 106. The fastener insertion tool 1104 inserts the fastener 1106 into the fastener hole 700 while the suction device 422 continues to draw air through the fastener hole 700.

[0271] Fig.14 is an illustration of a cross-sectional view of a fastener 1106 installed in an lap splice 400 in accordance with an example embodiment. In this particular illustrative embodiment, the fastener 1106 is a countersunk fastener and the fastener hole 700 is a countersunk hole.

[0272] Fig.151 is an illustration of the completion of a fastener installation operation according to an example embodiment. As depicted, fastener 1106 has been installed in lap splice 400. Once fastener 1106 has been installed, suction is no longer required to maintain clamp 504 from the previous figure. Fastener 1106 is able to independently maintain clamp 604 relative to the portion of lap splice 400 to which fastener 1106 is installed.

[0273] In one or more illustrative embodiments, once the desired interference fit is formed between the fastener 1106 and the fastener hole 700, the installation of the fastener 1106 is completed. Once this interference fit is formed, the suction is discontinued. In other illustrative embodiments, the fastener 1106 is considered to be fully installed when the fastener retaining hardware is installed on the fastener 1106. The suction continues until all operations required to complete the installation of the fastener 1106 have been completed to ensure that the fastener installation is satisfactory.

[0274] After the fastener 1106 is fully installed, the end effector 414 can be moved away from the overlapping joint 400 and repositioned relative to the next location on the overlapping joint 400 where the fastener is to be installed. Figures 11 to 13 The end effector 1100 in the embodiment of the present invention can be removed and the end effector 416 can be repositioned relative to the next location on the overlapping splice 400 where a new fastener is to be installed.

[0275] Figures 4 to 15 The illustration of end effectors, tools, devices, and other components in the drawings is not meant to imply physical or architectural limitations to the manner in which the example embodiments may be implemented. Other components in addition to or in place of the components shown may be used. Some components may be optional. Figures 4 to 15 The different components shown in can be Figure 3 1 and 2 are illustrative examples of how the components shown in block form may be implemented as physical structures. Figures 4 to 15 Some of the components can be used with Figure 3 Combined with the components in Figure 3 Use together with the components in, or a combination of the two.

[0276] Fig.16 is a flow chart of a method for performing fastener installation according to an example implementation. Fig.16 The process 1600 shown in FIG. Figure 3 Assembly system 302 or Figures 4 to 15 It is implemented by the assembly system 413 in.

[0277] The process can begin by applying a first mechanical force to a first component and a second mechanical force to a second component to form a clamp of the first component and the second component (operation 1602). The assembly includes a first component and a second component positioned in contact with each other. The first component forms a first side of the clamp and the second component forms a second side of the clamp.

[0278] Optionally, a clamped fastener hole is drilled through the first component and the second component from the second side of the clamp (operation 1604). The fastener hole extends from the second side of the assembly to the first side. The fastener hole can be formed by a first hole drilled through the first component and a second hole drilled through the second component. In these illustrative embodiments, the first hole and the second hole are coaxial.

[0279] Air is drawn from the first side of the clamp through the fastener holes through the first and second components to pull the second component toward the first component, thereby maintaining the clamping of the first and second components even after the second mechanical force has been removed (operation 1606). In other words, drawing air through the fastener holes maintains the "clamping" of the first and second components without requiring the use of the second mechanical force on the second side of the clamp.

[0280] Specifically, in operation 1606, suction is performed at a volume flow rate sufficient to maintain the clamp only from a first side of the clamp without using additional force on a second side of the clamp. Air is drawn through the fastener hole to clamp the wall of the second hole in the second component, thereby pulling the second component toward the first component.

[0281] In these embodiments, air is drawn through the fastener hole from the clamped first side in a direction toward the first component and at a volume flow rate sufficient to maintain clamping of the wall of the second hole while overcoming the lost suction volume at the clamped second side. For example, some suction volume or suction may be lost due to the open end of the fastener hole at the second side.

[0282] In some embodiments, depending on the implementation, operation 1606 may begin after operation 1604 has been completed or during operation 1604. In other words, suction may be performed only after the fastener hole has been drilled or while the fastener hole is being drilled.

[0283] The first and second mechanical forces are removed (operation 1608). Operation 1608 includes, for example, switching out the end effector that performs the drilling of operation 1604 with a new end effector. The suction performed in operation 1606 continues to maintain the clamping of the first and second parts during the switching out of the end effector.

[0284] Thereafter, the fastener is installed in the fastener hole while continuing to draw air through the fastener hole to maintain clamping of the first component and the second component (operation 1610). In one or more illustrative embodiments, operation 1610 includes inserting the fastener into the fastener hole and forming a desired interference fit. In other illustrative examples, operation 1610 includes inserting the fastener into the fastener hole and installing fastener retaining hardware around an elongated portion of the fastener extending through the fastener hole.

[0285] Continuing the air extraction in operation 1606 while performing operation 1610 ensures that the clamping of the first component and the second component is maintained throughout the insertion process of the fastener. Air can continue to be extracted through the hole until the entire fastener installation operation is completed. For example, the extraction can continue to maintain the clamping until a desired interference fit is formed between the fastener and the fastener hole.

[0286] Fig.17 is a flow chart of a process for maintaining clamping according to an example implementation. Fig.17 The process 1700 shown in FIG. 1 may be performed using, for example, Figure 3 Assembly system 302 or Figures 4 to 15 The assembly system 413 in is executed.

[0287] Process 1700 may begin by applying a first mechanical force to a first panel and applying a second mechanical force to a second panel to form a clamp of the first panel and the second panel (operation 1702). The first panel and the second panel are fuselage panels.

[0288] Operation 1702 may be performed by applying a first force using a tool coupled to a first end effector, such as Figure 4 The end effector 414 in the embodiment of the present invention. The tool may be, for example, a nozzle such as Figure 4 In other illustrative embodiments, however, the tool may be some other type of member, component, or structural component. Figure 4 A second force is applied by a tool (the end effector 416) in the embodiment of the present invention.

[0289] Air is drawn from a first side of the clamp through fastener holes through the first and second panels to provide a clamping force that clamps a wall defining a portion of the fastener hole in the second component, thereby pulling the second component toward the first component (operation 1704). In operation 1704, a partial vacuum is drawn through the fastener hole and through a nozzle positioned at the first side of the clamp relative to the first panel to maintain the clamp.

[0290] In some illustrative embodiments, the fastener hole can be drilled as part of process 1700. For example, the hole can be drilled between performing operation 1702 and operation 1704. In other illustrative embodiments, the drilling of the fastener hole is part of a different process or is performed before process 1700. For example, the first hole can be drilled in the first panel before the panels are "clamped" and the second hole can be drilled in the second panel. Then, before operation 1702, the first panel and the second panel can be positioned relative to each other so that the holes are aligned to form a single coaxial fastener hole. Then, operation 1702 can be performed to start process 1700.

[0291] Referring again to operation 1704, suction of air is performed with sufficient suction power (e.g., sufficient volume flow rate) to maintain clamping of the first panel and the second panel without requiring a second mechanical force. The suction maintains the clamping when the clamping force provided by the suction is opposite and equal to the applied first mechanical force. When the second panel is pulled toward the first panel, the first mechanical force causes the first panel to apply an equal reaction force to the second panel, thereby maintaining the clamping.

[0292] Thereafter, the second mechanical force is removed while continuing to draw air through the fastener hole to maintain clamping (operation 1706). In some illustrative embodiments, process 1700 terminates. In other illustrative embodiments, process 1700 includes installing the fastener through the fastener hole from a second side of the clamping while continuing to draw air through the fastener hole from the first side to maintain clamping during fastener installation.

[0293] Fig.18 is a flow chart of a process for establishing clamping according to an example implementation. Fig.18 The process 1800 shown in FIG. 1 may be performed using, for example, Figure 3 Assembly system 302 or Figures 4 to 15 The assembly system 413 in is executed.

[0294] Process 1800 begins by aligning a first hole in a first panel with a second hole in a second panel to define a through hole (operation 1802). In these illustrative examples, operation 1802 is performed to align the first hole and the second hole in at least one of concentric and coaxial manner to define the through hole. As an illustrative example, the first panel and the second panel are positioned relative to each other so that the first hole is coaxially aligned with the second hole.

[0295] In some embodiments, the through-holes take the form of fastener holes, such as Figure 3346 in the fastener hole. In other embodiments, the through hole takes the form of a graduated hole. For example, the first hole and the second hole aligned in operation 1802 can be a determined assembly hole. In operation 1802, the first hole and the second hole can be coaxially aligned to form a graduated hole. In one or more illustrative embodiments, in operation 1802, the first panel and the second panel can be a fuselage panel, a wing panel, or some other type of panel.

[0296] In other illustrative embodiments, aligning the first hole in the first panel with the second hole in the second panel in operation 1802 includes drilling the first hole in the first panel and drilling the second hole in the second panel in such a manner that the two holes are coaxially aligned and form a through hole through the first panel and the second panel.

[0297] Thereafter, the hole wall defining the second hole is clamped from within the through hole to pull the second panel toward the first panel, thereby establishing the clamping of the first panel and the second panel (operation 1804). The clamping established in operation 1804 is a one-sided clamping. Operation 1804 can be performed using, for example, suction to clamp the wall of the second hole. Air is sucked through the through hole so that the suction provides a clamping force to clamp the wall of the second hole. In particular, a partial vacuum is extracted through the through hole, thereby providing a clamping force to clamp the wall of the second hole. Although the end facing outward of the second hole is an open end, a partial vacuum is still generated.

[0298] The clamping formed in operation 1804 may be maintained until one or more operations are performed with respect to the through hole. For example, the clamping may be maintained until a temporary fastener has been installed to maintain the clamping or until a drilling operation has been performed to enlarge the through hole to form a fastener hole. In some cases, the clamping is maintained until a fastener installation operation has been performed to install the fastener in the through hole, wherein the diameter of the hole is within the tolerance for fastener installation. In some cases, the clamping may be maintained until the drilling operation and the fastener installation operation have been performed. In yet other embodiments, the clamping is maintained until a fastener installation operation has been performed, which includes inserting the fastener through the through hole and securing a nut or collar to the fastener.

[0299] Single-sided clamping allows various tools and devices to be moved around relative to the position of the through hole from the opposite side where the partial vacuum is drawn. Single-sided clamping increases the efficiency of the assembly process.

[0300] Fig.19 is a flow chart of a process for maintaining single-sided clamping according to an example implementation. Fig.19 The process 1900 shown may be performed using, for example, Figure 3 Assembly system 302 or Figures 4 to 15 In particular, process 1900 may be performed using assembly system 413. Figure 3The end effector 324 or Figures 4 to 15 The end effector 414 is used to perform the operation.

[0301] Process 1900 includes drawing air from a clamped first side of a first component and a second component through a fastener hole formed by a first hole in the first component and a second hole in the second component to pull the second component toward the first component and thereby maintain the clamping of the first component and the second component (operation 1902). In one or more illustrative embodiments, operation 1902 includes drawing air from the clamped first side through the fastener hole to clamp a wall defining the second hole in the second component to pull the second component toward the first component.

[0302] Optionally, process 1900 also includes removing the first mechanical force and the second mechanical force after establishing a static balance of forces by the suction force generated by the suction and the reaction force generated by the contact surface of the first tool at the first side of the clamp (operation 1904), after which the process terminates. The first mechanical force can be applied by the first tool at the first side of the clamp. During suction, the second mechanical force can be applied by the second tool at the second side of the clamp.

[0303] The suction force and the reaction force maintain the clamping of the first component and the second component in the absence of the first mechanical force and the second mechanical force. In these illustrative embodiments, the first mechanical force and the second mechanical force are applied at least until a static balance of forces is established by the suction force generated by the suction and the reaction force generated by the contact surface of the first tool at the first side of the clamping.

[0304] Optionally, process 1900 also includes installing a fastener through the fastener hole while continuing to draw air through the fastener hole (operation 1906). In operation 1906, the drawing may be performed at least until the fastener is fully installed.

[0305] Fig. 20 is a flow chart of a process for maintaining single-sided clamping according to an example implementation. Fig. 20 The process 2000 shown in FIG. 2000 may be performed using, for example, Figure 3 Assembly system 302 or Figures 4 to 15 The assembly system 413 in is executed.

[0306] Process 2000 begins by applying a first mechanical force and a second mechanical force to a first component and a second component, respectively, to form a clamp (operation 2002). The first component forms a first side of the clamp and the second component forms a second side of the clamp. Next, air is drawn from the first side of the clamp through fastener holes extending through the first component and the second component to pull the second component toward the first component (operation 2004). While continuing to draw air, the first mechanical force and the second mechanical force are simultaneously removed, such that after the first mechanical force and the second mechanical force are removed, the drawing independently maintains the clamp (operation 2006), after which the process terminates.

[0307] Fig.21 is a flow chart of a process for maintaining single-sided clamping according to an example implementation. Fig.21 The process 2100 shown in FIG. 2 can be used, for example, Figure 3 Assembly system 302 or Figures 4 to 15 The assembly system 413 is executed.

[0308] Process 2100 includes applying a first force by a first end effector at a first side of the panel joint via contact with the first side of the panel joint (operation 2102). Process 2100 includes applying a second force equal to and opposite to the first force by a second end effector at a second side of the panel joint via contact with the second side of the panel joint to establish a clamp (operation 2104). Additionally, process 2100 includes maintaining the clamp by the first end effector at the first side of the panel joint after removing contact of the second end effector with the second side (operation 2106), with the process terminating thereafter.

[0309] Fig. 22 is a flow chart of a process for maintaining single-sided clamping according to an example implementation. Fig. 22 The process 2200 shown in FIG. 2200 may be performed using, for example, Figure 3 Assembly system 302 or Figures 4 to 15 The assembly system 413 in is executed.

[0310] Process 2200 includes applying a first force to a first panel of the panel joint by a single-function end effector positioned at a first side of the panel joint (operation 2202). Process 2200 also includes applying a second force equal to and opposite to the first force to a second panel of the panel joint by the single-function end effector to provide single-sided clamping of the first panel and the second panel (operation 2204), with the process terminating thereafter.

[0311] In some illustrative embodiments, one or more operations may be performed prior to operation 2202. For example, in some cases, holes are created in the first panel and the second panel prior to operation 2202. These holes may be formed via drilling, punching through the panels, or by some other hole-making operation. These holes may be drilled while the initial clamping of the panels has been established so that the holes are aligned in at least one of concentric and coaxial ways to form through holes (fastener holes). In other illustrative embodiments, the determined assembly holes may be formed separately in the panels, and then the panels are subsequently brought together to align the holes.

[0312] Fig.23 is a flow chart of a process for providing single-sided clamping according to an example implementation. Fig.23 The process 2300 shown may be performed using a single-function end effector, e.g. Figure 3 The end effector 324 or Figures 4 to 15 The end effector 414 described in .

[0313] Process 2300 includes optionally aligning a first hole in a first component with a second hole in a second component in at least one of concentric and coaxial ways (operation 2302). In some embodiments, operation 2302 includes drilling with a clamp formed by the first component and the second component to form the first hole and the second hole aligned in at least one of concentric and coaxial ways. In one or more illustrative embodiments, operation 2302 includes simply aligning a first component that already has a first hole with a second component that already has a second hole (e.g., a determined assembly hole) to align the first hole with the second hole.

[0314] Next, process 2300 includes clamping a wall defining a second hole in the second component through the first hole in the first component to pull the second component against the first component (operation 2304), with the process terminating thereafter. In some embodiments, operation 2304 includes generating a pressure differential acting on the wall of the second hole in the second component to pull the second component against the first component. In one or more embodiments, operation 2304 includes drawing air through the first hole and the second hole with a suction device positioned relative to the first component to pull the second component toward the first component.

[0315] In this manner, process 2300 provides a method for establishing and maintaining clamping. In particular, a one-sided clamping is provided.

[0316] Now go to Fig.24 , depicts an illustration of a data processing system in block diagram form according to an exemplary embodiment. Data processing system 2400 may be used to implement Figure 3As depicted, data processing system 2400 includes communications framework 2402, which provides communications between processor unit 2404, storage device 2406, communications unit 2408, input / output unit 2410, and display 2412. In some cases, communications framework 2402 may be implemented as a bus system.

[0317] Processor unit 2404 is configured to execute instructions for software to perform a plurality of operations. Processor unit 2404 may include a plurality of processors, a multi-processor core, and / or some other type of processor, depending on the implementation. In some cases, processor unit 2404 may take the form of a hardware unit, such as a circuit system, an application specific integrated circuit (ASIC), a programmable logic device, or some other suitable type of hardware unit.

[0318] Instructions for the operating system, applications, and / or programs executed by processor unit 2404 may be located in storage device 2406. Storage device 2406 may communicate with processor unit 2404 via communication framework 2402. As used herein, a storage device, also referred to as a computer-readable storage device, is any hardware capable of storing information temporarily and / or permanently. The information may include, but is not limited to, data, program code, and / or other information.

[0319] Memory 2414 and persistent storage 2416 are embodiments of storage 2406. Memory 2414 may take the form of, for example, random access memory or some type of volatile or non-volatile storage. Persistent storage 2416 may include any number of components or devices. For example, persistent storage 2416 may include a hard drive, flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination of the above. The media used by persistent storage 2416 may or may not be removable.

[0320] Communications unit 2408 allows data processing system 2400 to communicate with other data processing systems and / or devices. Communications unit 2408 may provide communications using physical and / or wireless communications links.

[0321] Input / output unit 2410 allows input to be received from other devices connected to data processing system 2400 and output to be sent to other devices connected to data processing system 2400. For example, input / output unit 2410 may allow user input to be received through a keyboard, a mouse, and / or some other type of input device. As another example, input / output unit 2410 may allow output to be sent to a printer connected to data processing system 2400.

[0322] Display 2412 is configured to display information to a user. Display 2412 may include, for example but not limited to, a monitor, a touch screen, a laser display, a holographic display, a virtual display device, and / or some other type of display device.

[0323] In this illustrative example, the processes of the different example embodiments may be performed using computer-implemented instructions by processor unit 2404. These instructions may be referred to as program code, computer usable program code, or computer readable program code, and may be read and executed by one or more processors in processor unit 2404.

[0324] In these embodiments, program code 2418 is located in functional form on a selectively removable computer readable medium 2420 and may be loaded or transferred to data processing system 2400 for execution by processor unit 2404. Program code 2418 and computer readable medium 2420 together form computer program product 2422. In this illustrative embodiment, computer readable medium 2420 may be computer readable storage medium 2424 or computer readable signal medium 2426.

[0325] Computer readable storage media 2424 is a physical or tangible storage device used to store program code 2418 rather than a medium that propagates or transmits program code 2418. Computer readable storage media 2424 may be, for example, but not limited to, an optical or magnetic disk connected to data processing system 2400 or a persistent storage device.

[0326] Alternatively, program code 2418 may be transferred to data processing system 2400 using computer readable signal media 2426. Computer readable signal media 2426 may be, for example, a propagated data signal containing program code 2418. The data signal may be an electromagnetic signal, an optical signal, and / or some other type of signal that may be transmitted over a physical and / or wireless communication link.

[0327] Fig.24 The illustration of data processing system 2400 in is not meant to provide architectural limitations to the manner in which the example embodiments may be implemented. Different example embodiments may be implemented in a data processing system that includes components in addition to or in place of those components illustrated for data processing system 2400. Furthermore, Fig.24 The components shown in FIG. 5 may be varied from the illustrative embodiments shown.

[0328] Example implementations of the present disclosure may be implemented in Fig.25 Aircraft manufacturing and service method 2500 and the like are shown Fig.26 The aircraft 2600 is shown in the context of FIG. Fig.25, an illustration of an aircraft manufacturing and service method is depicted according to an example embodiment. During pre-production, aircraft manufacturing and service method 2500 may include Fig.26 Specification and design 2502 of aircraft 2600 and material procurement 2504.

[0329] During production, Fig.26 Component and subassembly manufacturing 2506 and system integration 2508 of aircraft 2600 in FIG. Thereafter, Fig.26 Aircraft 2600 in may undergo certification and delivery 2510 to be placed in service 2512. While in service 2512 by a customer, Fig.26 Aircraft 2600 is scheduled for routine maintenance check 2514, which may include modification, rebuild, refurbishment, and other maintenance or repair.

[0330] Each of the processes of aircraft manufacturing and service method 2500 may be performed or carried out by a system integrator, a third party, and / or an operator. In these embodiments, the operator may be a customer. For purposes of this specification, 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 vendors, subcontractors, and suppliers; and an operator may be an airline, a leasing company, a military entity, a maintenance organization, etc.

[0331] Reference now Fig.26 , depicts a diagram of an aircraft in which an example embodiment may be implemented. In this example, aircraft 2600 is composed of Fig.25 2604 and may include airframe 2602 having a plurality of systems 2604 and interior 2606. Embodiments of system 2604 include one or more of propulsion system 2608, electrical system 2610, hydraulic system 2612, and environmental system 2614. Any number of other systems may be included. Although an aerospace embodiment is shown, different example embodiments may be applied to other industries, such as the automotive industry.

[0332] exist Fig.25 The apparatus and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service method 2500. In particular, the apparatus and methods embodied herein may be employed during any of the stages of aircraft manufacturing and service method 2500. Figure 3 Component 304 or Figure 1 For example, but not limited to, during at least one of component and subassembly manufacturing 2506, system integration 2508, routine maintenance overhaul 2514, or some other phase of aircraft manufacturing and service method 2500, Figure 3 Assembly system 302 or Figure 4The assembly system 413 can be used to combine Figure 3 Component 304 or Figure 4 Component 304 or overlapping splice 400 may be used to form at least one of fuselage 2602 or interior 2606 of aircraft 2600.

[0333] In one illustrative embodiment, Fig.25 The components or subassemblies produced in component and subassembly manufacturing 2506 may be manufactured in a manner similar to that when aircraft 2600 is manufactured in Fig.25 As another example, one or more apparatus embodiments, method embodiments, or a combination thereof may be used during the production phase, such as Fig.25 Component and subassembly manufacturing 2506 and system integration 2508 in the aircraft 2600. One or more apparatus embodiments, method embodiments, or a combination thereof may be performed while the aircraft 2600 is in service 2512 and / or during Fig.25 Used during maintenance and repair 2514. Using a number of different example embodiments, assembly of aircraft 2600 may be substantially accelerated and / or its cost reduced.

[0334] Thus, example embodiments provide a method and apparatus for easily and efficiently performing automated fastener installation operations.Example embodiments describe single-function end effectors that provide a unilateral (one-sided) clamping solution to maintain clamping of a component while other single-function end effectors are swapped out on the opposite side.

[0335] Using single-function end effectors that perform different, specialized tasks can provide smaller, lighter, and less complex end effectors. The simplicity of these single-function end effectors can improve the efficiency, reliability, and maintenance requirements of these end effectors, and can reduce the overall size of the supporting robotic device to which these end effectors are coupled.

[0336] In one example embodiment, a method for performing fastener installation is provided. A first mechanical force is applied to a first component and a second mechanical force is applied to a second component to form a clamping of the first component and the second component. Air is drawn through a fastener hole formed by alignment of a first hole in the first component with a second hole in the second component to pull the second component toward the first component, thereby maintaining the clamping of the first component and the second component.

[0337] In yet another example embodiment, a method for aligning a first hole in a first panel with a second hole in a second panel to define a through hole is provided. A wall defining the second hole is clamped from within the through hole to pull the second panel toward the first panel, thereby establishing clamping of the first panel and the second panel.

[0338] In another example embodiment, a method for maintaining a clamp is provided. A first mechanical force and a second mechanical force are applied to a first component and a second component, respectively, to form a clamp. The first component forms a first side of the clamp and the second component forms a second side of the clamp. Air is drawn from the first side of the clamp through fastener holes extending through the first component and the second component to pull the second component toward the first component. While continuing to draw suction, the first mechanical force and the second mechanical force are simultaneously removed, so that after the first mechanical force and the second mechanical force are removed, the suction independently maintains the clamp.

[0339] In another example embodiment, a method for maintaining a clamp is provided. Air is drawn from a first side of a clamp of a first component and a second component through a fastener hole formed by a first hole in the first component and a second hole in the second component to pull the second component toward the first component, thereby providing a clamp of the first component and the second component.

[0340] In yet another example embodiment, a method for maintaining clamping is provided. A first end effector at a first side of a panel joint applies a first force via contact with the first side of the panel joint. A second end effector at a second side of the panel joint applies a second force equal to and opposite to the first force via contact with the second side of the panel joint to establish clamping. After removing contact of the second end effector with the second side, the first end effector at the first side of the panel joint maintains clamping.

[0341] In yet another example embodiment, a method for single-sided clamping is provided. A single-function end effector positioned at a first side of a panel joint applies a first force to a first panel of the panel joint. The single-function end effector applies a second force equal to and opposite to the first force to a second panel of the panel joint, thereby providing single-sided clamping of the first panel and the second panel.

[0342] In another example embodiment, a method of providing clamping is provided. The method includes clamping a wall defining a second hole in a second component via a first hole in a first component, thereby drawing the second component against the first component.

[0343] In an example embodiment, an apparatus for maintaining clamping includes a nozzle and a suction device. The nozzle has a nozzle diameter that is greater than a hole diameter of a first hole in the first component. The nozzle is used to apply a first mechanical force to a first side of the clamping when engaged with the first component. The suction device is used to draw air from the first side of the clamping through a fastener hole formed by a first hole in the first component and a second hole in the second component and with the aid of the nozzle. Air is drawn from the first side at a volume flow rate sufficient to maintain the clamping of the first component and the second component without requiring additional force at the second side of the clamping.

[0344] In another example embodiment, an apparatus for forming a clamp includes an end effector positioned at a first side of a panel joint and applying a first clamping force to a first panel of the panel joint and applying an equal and opposite second clamping force to a second panel of the panel joint to provide the clamp.

[0345] The flowcharts and block diagrams in the different embodiments described show the architecture, functions and operations of some possible implementations of the devices and methods in the example embodiments. In this regard, each box in the flowchart or block diagram may represent a module, segment, function and / or a part of an operation or step.

[0346] In some alternative implementations of the example embodiments, one or more functions indicated in the blocks may not occur in the order indicated in the figure. For example, in some cases, two blocks shown in succession may be performed substantially simultaneously, or the blocks may sometimes be performed in reverse order, depending on the functions involved. In addition, other blocks may be added in addition to the blocks shown in the flow chart or block diagram.

[0347] As used herein, when used with a list of items, the phrase "at least one" means that different combinations of one or more of the listed items can be used, and only one of the items in the list may be required. The item can be a specific object, thing, step, operation, process, or category. In other words, "at least one" means that any combination or multiple items of the items in the list can be used, but all items in the list may not be required. For example, but not limited to, "at least one of item A, item B, or item C" or "at least one of item A, item B, and item C" may refer to item A; item A and item B; item B; item A, item B, and item C; item B and item C; or item A and item C. In some cases, "at least one of item A, item B, or item C" or "at least one of item A, item B, and item C" may represent, but not limited to, two of item A, one of item B, and ten of item C; four of item B and seven of item C; or some other suitable combination.

[0348] Descriptions of different example embodiments have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the embodiments in the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. In addition, different example embodiments may provide different features compared to other desired embodiments. The selected one or more embodiments are selected and described in order to best explain the principles of the embodiments, the practical application, and to enable others of ordinary skill in the art to understand the disclosure of various embodiments with various modifications suitable for the particular purpose contemplated.

Claims

1. A method for performing fastener installation, the method comprising: applying (1602) a first mechanical force (342) to a first component (308) and a second mechanical force (344) to a second component (310) to form a clamp (341) of the first component (308) and the second component (310), the first component (308) forming a first side (311) of the clamp (341) and the second component (310) forming a second side (312) of the clamp (341); drawing (1606) air from the first side (311) of the clamp (341) through fastener holes (346) through the first component (308) and the second component (310) to pull the second component (310) toward the first component (308) and thereby maintain the clamp (341) of the first component (308) and the second component (310); and The first mechanical force (342) and the second mechanical force (344) are removed (1608) while continuing to draw air through the fastener hole (346), so that the clamping (341) of the first component (308) and the second component (310) is maintained even after the first mechanical force (342) and the second mechanical force (344) have been removed.

2. The method according to claim 1, further comprising: A first hole (343) in the first component (308) and a second hole (345) in the second component (310) are aligned (1802) to form the fastener hole (346).

3. The method according to claim 2, wherein: Alignment includes: aligning (2302) the first hole (343) with the second hole (345) such that the first hole (343) and the second hole (345) are concentrically aligned, or Among them, alignment includes: The first hole (343) is aligned (2302) with the second hole (345) such that the first hole (343) and the second hole (345) are coaxially aligned.

4. The method according to claim 2, wherein: Drawing (1606) air through the fastener hole (346) includes one or more of the following: drawing air through the fastener hole (346) to clamp the wall (347) defining the second hole (345) and thereby pull the second component (310) toward the first component (308), drawing air from the first side (311) of the clamp (341) through the fastener hole (346) in a direction toward the first component (308) and at a volume flow rate sufficient to maintain clamping of the wall (347) defining the second hole (345) while overcoming the loss of suction volume at the second side (312) of the clamp (341), A partial vacuum strong enough to clamp the wall (347) defining the second aperture (345) is maintained to pull the second component (310) toward the first component (308) regardless of any loss of suction at the second side (312) of the clamp (341).

5. The method according to claim 1, further comprising: After forming the clamping (341) of the first component (308) and the second component (310) by the first mechanical force (342) and the second mechanical force (344), respectively, the fastener hole (346) is drilled (1604) by a drilling tool (338) positioned at the second side (312), wherein the fastener hole (346) is formed by a first hole (343) in the first component (308) and a second hole (345) in the second component (310).

6. The method according to claim 5, further comprising: A fastener (348) is inserted into the fastener hole (346) while continuing to draw air through the fastener hole (346), thereby maintaining the clamping (341) of the first component (308) and the second component (310) during the insertion of the fastener (348).

7. The method according to claim 5 or 6, wherein: Drawing (1606) air through the fastener hole (346) includes: Air is drawn from the first side (311) of the clamp (341) through the fastener hole (346) during at least a portion of the drilling of the fastener hole (346).

8. The method according to claim 5 or 6, wherein: Drawing (1606) air through the fastener hole (346) includes: After the fastener hole (346) has been drilled, air is drawn from the first side (311) of the clamp (341) through the fastener hole (346).

9. The method according to claim 1 or 2, wherein: Drawing (1606) air through the fastener hole (346) includes: drawing air through the fastener hole (346) at a volume flow rate sufficient to maintain the clamping (341) of the first component (308) and the second component (310) relative to each other without requiring the use of the second mechanical force (344), and / or Wherein applying (1602) the first mechanical force (342) to the first component (308) and applying the second mechanical force (344) to the second component (310) includes: applying the first mechanical force (342) to the first component (308) using a first tool coupled to a first end effector (324); and The second mechanical force (344) is applied to the second component (310) using a second tool (336) coupled to a second end effector (326), wherein the second mechanical force (344) is equal and opposite to the first mechanical force (342) until the clamp (341) is first established.

10. The method according to claim 9, wherein: The first tool is a nozzle (332) of a suction device (330) coupled to the first end effector (324).

11. The method according to claim 9, further comprising: The fastener hole (346) is drilled (1604) by drilling a first hole (343) through the first component (308) and a second hole (345) through the second component (310), wherein the first hole (343) and the second hole (345) are coaxially or concentrically aligned, and wherein application of the second mechanical force (344) continues at least until after drilling of the fastener hole (346).

12. The method according to claim 1 or 2, further comprising: removing the second mechanical force (344) after the fastener hole (346) has been drilled and after air has been drawn through the fastener hole (346), and / or The fastener hole (346) is drilled (1604) using a drilling tool (338) of a first end effector (324) positioned relative to the second side (312) of the clamp (341), wherein the fastener hole (346) is a coaxial hole formed by a first hole (343) through the first component (308) and a second hole (345) through the second component (310).

13. The method according to claim 12, further comprising: moving the first end effector (324) away from the clamp (341); positioning a second end effector (326) relative to the second side (312) of the clamp (341); and A fastener (348) is installed in the fastener hole (346) using the second end effector (326) while continuing to draw air through the fastener hole (346) to maintain the positioning of the first component (308) and the second component (310) relative to each other.

14. The method according to claim 1 or 2, wherein: Drawing (1606) air through the fastener hole (346) includes: A partial vacuum is drawn through the fastener hole (346) and by means of a nozzle (332) positioned at the first side (311) of the clamp (341) relative to the first component (308) to maintain the clamp (341).

15. The method of claim 1 or 2, used for assembling a part of an aircraft.

16. A method for performing fastener installation, the method comprising: aligning (1802) a first hole (343) in the first panel (402) with a second hole (345) in the second panel (404) to define a through hole; and clamping (1804) a wall (347) defining the second hole (345) from within the through hole to pull the second panel (404) towards the first panel (402) and thereby establish a clamping (341) of the first panel (402) and the second panel (404), Wherein, clamping (1804) the wall (347) comprises: Suction is used to clamp the wall (347) of the second hole (345) from within the through hole to pull the second panel (404) towards the first panel (402) and thereby provide the clamping (341) of the first panel (402) and the second panel (404).

Images