High density robotic system

Abstract

The present invention relates to high-density robotic systems. Methods and apparatuses for automated operations using high-density robotic cells are provided. The apparatuses include a first plurality of robotic devices, a second plurality of robotic devices, and a control system. Each robotic device of the second plurality of robotic devices is coupled to a single-function end effector. The control system controls the second plurality of robotic devices to perform tasks synchronously at a plurality of locations on an assembly while the first plurality of robotic devices independently maintain a clamping at each of a plurality of locations.

Description

Technical Field

[0001] This disclosure generally relates to the assembly of components, and more specifically to methods and apparatus for performing multiple operations using a high-density robotic unit comprising multiple single-function end effectors. Background Technology

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

[0003] Currently, some fastener installation operations are automated using robots with multi-functional end effectors. A multi-functional end effector can 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 the parts together (e.g., clamping) so that fasteners can be inserted through them. Some currently available systems for maintaining part clamping may be more complex and less efficient than the systems required for certain types of assembly operations.

[0004] Furthermore, some currently available systems, robotic systems, and end effectors are larger, more complex, and therefore require more space and maintenance than expected. Consequently, lower-density robotic units are placed close together in small volumes, potentially limiting the number of operations that can be performed simultaneously. Additionally, the downtime required for routine maintenance or repairs of multi-functional end effectors may be longer than expected, which in turn can slow down productivity more than anticipated. In some cases, the use of lower-density robotic units may result in longer cycle times and lower-than-expected productivity. Summary of the Invention

[0005] In one exemplary embodiment, a method for automating tasks on a component is provided. A first plurality of robotic devices are positioned relative to a first side of the component. A second plurality of robotic devices are positioned relative to a second side of the component, each of the second plurality of robotic devices being used to perform a corresponding task. Multiple tasks are performed at each of a plurality of locations on the component using the first plurality of robotic devices and the second plurality of robotic devices. While the first plurality of robotic devices independently maintain clamping at each of the plurality of locations, the second plurality of robotic devices perform tasks synchronously at the plurality of locations.

[0006] In another exemplary embodiment, a method for constructing a fuselage assembly of an aircraft is provided. A plurality of units are positioned relative to corresponding portions of the fuselage assembly, each unit including: a first plurality of robotic devices positioned relative to a first side of the fuselage assembly; and a second plurality of robotic devices positioned relative to a second side of the fuselage assembly. Automated operations are performed synchronously at each of a plurality of locations in each corresponding portion of the fuselage assembly using the plurality of units, wherein the robotic devices of each unit are interchangeable to perform different tasks of automated operation according to a predetermined task sequence.

[0007] In yet another exemplary embodiment, an apparatus includes: a first plurality of robotic devices; a second plurality of robotic devices; and a control system. Each of the second plurality of robotic devices is coupled to a single-function end effector. The control system controls the second plurality of robotic devices to perform tasks synchronously at multiple locations on an assembly while the first plurality of robotic devices independently maintain clamping at each of a plurality of locations.

[0008] Features and functions may be implemented independently in various embodiments of this disclosure, or these features and functions may be combined in other embodiments, more details of which can be seen with reference to the following description and drawings.

[0009] This disclosure also includes the following paragraphs:

[0010] 1. A method for automating tasks for component 304, the method comprising:

[0011] Positioning 3002 of the first plurality of robotic devices 2406 relative to the first side 2409 of component 304;

[0012] A second plurality of robotic devices 2408 are positioned relative to the second side 2411 of component 304, each of the second plurality of robotic devices 2408 being used to perform a corresponding task; and

[0013] Using a first plurality of robotic devices 2406 and a second plurality of robotic devices 2408, 3006 multiple tasks are performed at each of a plurality of locations 2436 on component 304.

[0014] While the first plurality of robotic devices 2406 independently maintain clamping 341 at each of the plurality of positions 2436, the second plurality of robotic devices 2408 perform tasks synchronously at the plurality of positions 2436.

[0015] 2. According to the method in paragraph 1, the positioning 3002 first plurality of robotic devices 2406 includes:

[0016] Three robotic devices 2410, 2412, and 2414 are positioned relative to the first side 2409 of component 304. These three robotic devices have end effectors 2422, 2424, and 2426 capable of providing unilateral clamping 341.

[0017] 3. According to the method in paragraph 1, the second plurality of robot devices 2408 for positioning 3004 includes:

[0018] Three robotic devices 2416, 2418, and 2420 are positioned relative to the second side 2411 of component 304. Each of these three robotic devices 2416, 2418, and 2420 is connected to a single-function end effector 2428, 2430, and 2432 to perform a specialized task that is different from the other two robotic devices.

[0019] 4. According to the method in paragraph 3, the positioning of the three robot devices includes:

[0020] A first robot device 2416 having drilling end effectors 2428 and 2802, a second robot device 2418 having inspection end effectors 2430 and 2804, and a third robot device 2420 having fastener insertion end effectors 2432 and 2806 are positioned relative to the second side 2411 of component 304.

[0021] 5. According to the method in paragraph 1, the more than 3006 tasks include:

[0022] The first plurality of robotic devices 2406 independently provide single-sided clamping 341 for the first panels 308, 402 and the second panels 310, 404 of the assembly 304, while the second plurality of robotic devices 2408 are interchanged at the second side 2411 of the assembly 304.

[0023] 6. According to the method in paragraph 5, wherein independently providing the unilateral clamping 341 includes:

[0024] An end effector 414, 2422, 2424, 2426, coupled to one of the first plurality of robotic devices 2406, draws air from the first side 2409 of assembly 304 via fastener holes 700 extending through the first panels 308, 402 and the second panels 310, 404 to provide a clamping force 802 that clamps the wall 900 that defines the portion of the fastener holes 700 in the second panels 310, 404, thereby pulling the second panels 310, 404 toward the first panels 308, 402.

[0025] 7. According to the method in paragraph 1, the more than 3006 tasks include:

[0026] The first plurality of robotic devices 2406 independently provides single-sided clamping 341 for the first panels 308, 402 and the second panels 310, 404 of the component 304, while the second plurality of robotic devices 2408 performs multiple tasks at each of the plurality of positions 2436 according to a predetermined task sequence 2438.

[0027] 8. According to the method in paragraph 1, performing more than 3006 tasks includes:

[0028] Using the first end effector and the drilling end effectors 2428, 2802, a clamping procedure 3206 is performed at the first position of a plurality of positions 2436 on the assembly 304, the first end effector being coupled to a corresponding one of a first plurality of robot devices 2406, and the drilling end effectors 2428, 2802 being coupled to a corresponding one of a second plurality of robot devices 2408.

[0029] 9. According to the method in paragraph 8, the procedure for clamping 3206 and 341 includes:

[0030] Using end effectors 2428 and 2802, a first hole is drilled through component 304 at a first position on component 304; and

[0031] Air is drawn through the first hole to maintain clamping at the first position 341, wherein the drawing continues at least until the first fastener is installed in the first hole.

[0032] 10. According to the method in paragraph 8, performing more than 3006 tasks also includes:

[0033] The borehole end effector 2428, 2802 is moved and positioned relative to the second position among multiple positions 2436 on component 304; and

[0034] While the first end effector continues to independently maintain the clamping 341 at the first position, the end effector 2430, 2804 is moved and positioned 3210 at the first position to check the end effector 2430, 2804, wherein the end effector 2430, 2804 is connected to a corresponding one of the second plurality of robot devices 2408.

[0035] 11. According to the method in paragraph 10, performing more than 3006 tasks also includes:

[0036] While the first end effector independently maintains the clamping 341 at the first position, the inspection end effectors 2430 and 2804 are used to inspect the first hole 3214 at the first position; and

[0037] The drilling end effectors 2428 and 2802, and the second end effector positioned relative to the first side 2409 of the assembly 304, perform the clamping procedure 3212 in the second position.

[0038] The clamping procedure 341 and the inspection of the first hole are performed simultaneously, and

[0039] The second end effector is connected to one of the first plurality of robotic devices 2406.

[0040] 12. According to the method in paragraph 11, performing more than 3006 tasks also includes:

[0041] The drill end effector 2428, 2802 is moved and positioned relative to the third position among multiple positions 2436 on component 304;

[0042] While the second end effector continues to independently maintain the clamping 341 at the first position, the end effectors 2430 and 2804 are moved and positioned 3218 at the second position to inspect them, wherein the inspection of end effectors 2430 and 2804 is connected to a corresponding one of the second plurality of robotic devices 2408; and

[0043] While the first end effector continues to independently maintain the clamping 341 at the first position, the fastener insertion end effector 2432, 2806 is moved and positioned at the first position 3220, wherein the fastener insertion end effector 2432, 2806 is coupled to a corresponding one of the second plurality of robot devices 2408.

[0044] 13. According to the method in paragraph 12, performing more than 3006 tasks also includes:

[0045] While the first end effector independently maintains the clamping 341 at the first position, fasteners are inserted into end effectors 2432 and 2806 to install fasteners 3226 in the first hole; while the second end effector independently maintains the clamping 341 at the second position, inspection end effectors 2430 and 2804 are used to inspect the second hole at the second position 3224; and

[0046] The drilling end effectors 2428 and 2802, and the third end effector positioned at the third position relative to the first side 2409 of the assembly 304, perform the clamping procedure 3222 in the third position.

[0047] The third end effector is connected to a corresponding one of the first plurality of robotic devices 2406, and

[0048] The installation of the fastener in the first position, the inspection of the second hole in the second position, and the clamping in the third position are performed simultaneously in procedure 341.

[0049] 14. According to the method in paragraph 1, it also includes:

[0050] Customize the interchangeability of multiple robot units 2408 to meet selected cycle times and production requirements.

[0051] 15. According to the method in paragraph 1, it also includes:

[0052] The first plurality of robotic devices 2406 are supported on a platform 2440, which is positioned so that the first plurality of robotic devices 2406 can perform tasks on one side facing the internal profile of the fuselage assembly 313 of the aircraft 314.

[0053] 16. According to the method in paragraph 1, it also includes:

[0054] The second plurality of robotic devices 2408 are supported on a platform 2442, which is positioned so that the first plurality of robotic devices 2406 can perform tasks on one side facing the external profile of the fuselage assembly 313 of the aircraft 314.

[0055] 17. According to the method in paragraph 16, the more than 3006 tasks include:

[0056] While the platform 2442 remains stationary, the second plurality of robot devices 2408 are interchanged by moving the robot devices in the second plurality of robot devices 2408 on the platform 2442.

[0057] 18. A method for constructing a fuselage assembly 313 of an aircraft 314, the method comprising: positioning 3102 a plurality of units 2402 relative to corresponding portions of the fuselage assembly 313, each of the plurality of units 2402 comprising:

[0058] The first plurality of robotic devices 2406 are positioned relative to the first side 2409 of the body assembly 313; and

[0059] The second plurality of robot devices 2408 are positioned relative to the second side 2411 of the body assembly 313; and

[0060] Multiple units 2402 are used to perform automated operations 2434 synchronously at each of the multiple positions 2436 in each corresponding part of the body assembly 313, wherein the robotic devices 2406, 2408 of each unit are interchangeable to perform different tasks of automated operations 2434 according to a predetermined task sequence 2438.

[0061] 19. According to the method in paragraph 18, wherein locating 3102 multiple units 2402 includes:

[0062] The platform 2442 is positioned inside the fuselage assembly 313 at the first side 2409;

[0063] The second or more robotic devices 2408 are supported 3304 on platform 2442; and

[0064] The second plurality of robotic devices 2408 are positioned on platform 2442 3304 relative to the first side 2409 of component 304.

[0065] 20. According to the method in paragraph 18, wherein locating 3102 multiple units 2402 includes:

[0066] The second side 2411 relative to the fuselage assembly 313 positions the automatically guided vehicle 2528;

[0067] The first plurality of robotic devices 2406 are supported 3302 on a platform 2440 connected to an automated guided vehicle 2528; and

[0068] The first plurality of robotic devices 2406 are positioned 3302 on the platform 2440 on the second side 2411 relative to the body assembly 313.

[0069] 21. According to the method in paragraph 18, it also includes:

[0070] Customize the interchangeability of multiple robot units 2408 to meet selected cycle times and production requirements.

[0071] 22. An apparatus comprising:

[0072] The first multiple robotic devices 2406;

[0073] A second plurality of robotic devices 2408, each of which is connected to a single-function end effector; and

[0074] The control system 315 is used to control the second plurality of robot devices 2408 to perform tasks synchronously at the plurality of positions 2436 on the assembly 304 while the first plurality of robot devices 2406 independently maintain the clamping 341 at each of the plurality of positions 2436.

[0075] 23. The device according to paragraph 22, wherein the second plurality of robotic devices 2408 includes:

[0076] The first robot device 2416 is connected to the drilling end effectors 2428 and 2802;

[0077] The second robotic device 2418 is connected to inspect end effectors 2430 and 2804; and

[0078] The third robot device 2420 is connected to the fastener insertion end effector 2432, 2806.

[0079] 24. The device according to paragraph 22 also includes:

[0080] Platform 2440, which is used to support the first plurality of robotic devices 2406.

[0081] 25. The device according to paragraph 24, wherein the dimensions of each of the second plurality of robot devices 2408 are configured such that the second plurality of robot devices 2408 are mounted on the platform 2442, while still leaving sufficient space for the robot devices of the second plurality of robot devices 2408 to be interchanged.

[0082] 26. According to the equipment in paragraph 25, wherein the control system 315 controls the interchange of the second plurality of robot devices 2408 to meet the selected cycle time and production requirements.

[0083] 27. The apparatus according to paragraph 22, wherein each of the first plurality of robotic devices 2406 includes:

[0084] Nozzle 332, the size of which is determined based on the selected hole diameter to be drilled within component 304; and

[0085] A suction device 330 is used to provide unilateral clamping 341.

[0086] 28. The device according to paragraph 22, wherein each of the first plurality of robotic devices 2406 and each of the second plurality of robotic devices 2408 are sized to be mountable on platforms 2440, 2442, which are connected to an automated guided vehicle 2528.

[0087] 29. According to the device in paragraph 22, wherein component 304 is fuselage component 313 of aircraft 314.

[0088] 30. A method for constructing component 304 of aircraft 314 using the device of paragraph 22.

[0089] 31. A high-density robot system 2400, comprising:

[0090] The first plurality of robotic devices 2406, each of which is capable of providing unilateral clamping 341;

[0091] The second plurality of robot devices 2408 includes:

[0092] The first robot device 2416 is connected to the drilling end effectors 2428 and 2802;

[0093] The second robotic device 2418 is connected to inspect end effectors 2430 and 2804; and

[0094] The third robot device 2420 is connected to fastener insertion end effectors 2432 and 2806;

[0095] A first platform 2440 supports a first plurality of robotic devices 2406. The first platform 2440 is sized to be fitted into and move within the interior 114 of the body components 102, 313.

[0096] The second platform 2442 supports a second plurality of robotic devices 2408 and is sized to be positioned and movable along the exterior 110 of the body components 102, 313.

[0097] 32. The high-density robotic system 2400 according to paragraph 31, wherein a second platform 2442 is coupled to an automated guided vehicle 2528 to allow the second platform 2442 to move relative to the exterior 110 of the body assemblies 102, 313.

[0098] 33. The high-density robotic system 2400 according to paragraph 31 also includes:

[0099] The control system 315 is used to control the first plurality of robot devices 2406 and the second plurality of robot devices 2408 to perform automated operations 2434 at each of the plurality of positions 2436 on the body components 102, 313 simultaneously, and to control the interchange of the second plurality of robot devices 2408 to perform different tasks of automated operations 2434 according to a predetermined task sequence 2438.

[0100] 34. A method for constructing fuselage components 102, 313 of an aircraft 314 using the system described in paragraph 31.

[0101] 35. A method for automatically installing fasteners along fuselage components 102, 313 of an aircraft 314, the method comprising:

[0102] The first platform 2440 is positioned 3302 relative to a selected portion of the body assembly 102, 313, and the first platform 2440 supports a first plurality of robot devices 2406 of the robot unit 2404 within the interior 114 of the body assembly 102, 313.

[0103] A second platform 2442, positioned relative to a selected portion of the fuselage along the exterior 110 of fuselage assemblies 102 and 313, is provided. This second platform supports a second plurality of robotic devices 2408 of the robotic unit 2404.

[0104] Using a first plurality of end effectors connected to a first plurality of robot devices 2406 and a second plurality of end effectors connected to a second plurality of robot devices 2408, an automated fastener installation operation 3306 is performed at selected fastener mounting points in selected portions of body assemblies 102, 313, wherein the first plurality of end effectors are used to provide unilateral clamping 341 at the selected fastener mounting points.

[0105] 36. A method for automating operations using a high-density robot cell 2404, the method comprising:

[0106] Multiple robotic devices perform 3404 different tasks at each of multiple locations 2436 along component 304 according to a predetermined task sequence 2438. The multiple robotic devices are used to perform at least two of the multiple different tasks for at least two different locations of the multiple locations 2436 synchronously within a high-density robotic zone during at least one phase of the predetermined task sequence 2438.

[0107] 37. According to the method in paragraph 36, the 3404+ tasks include:

[0108] Drilling tasks are performed at a first position using drilling end effectors 2428 and 2802 connected to the first robot device 2416, and inspection tasks are performed synchronously at a second position among multiple positions 2436 using inspection end effectors 2430 and 2804 connected to the second robot device. The first robot device 2416 and the second robot device are positioned with high density and perform drilling and inspection tasks simultaneously.

[0109] 38. According to the method in paragraph 36, the 3404+ tasks include:

[0110] Drilling end effectors 2428 and 2802, connected to the first robot device 2416, are used to perform drilling tasks at a first position, and fastener insertion end effectors 2432 and 2806, connected to the second robot device, are used to perform fastener insertion tasks at multiple second positions 2436. The first robot device 2416 and the second robot device are positioned with high density and perform drilling and fastener insertion tasks simultaneously.

[0111] 39. According to the method in paragraph 36, the 3404 multi-tasks include:

[0112] Multiple unilateral clamps 341 are provided synchronously from the first side 2409 of component 304, while multiple tasks are performed on the second side 2411 of component 304.

[0113] 40. According to the method in paragraph 36, where 3404 performs multiple tasks, including:

[0114] Multiple robotic devices are used to perform three different tasks at each of three different locations along component 304 according to a predetermined task sequence 2438. The multiple robotic devices are used to perform one of the three tasks synchronously at the three different locations during at least two phases of the predetermined task sequence 2438.

[0115] 41. According to the method in paragraph 36, the 3404 multiple tasks include:

[0116] Using multiple robotic devices, two different tasks are performed at each of two different locations along component 304 according to a predetermined task sequence 2438. The multiple robotic devices are used to perform one of the two different tasks synchronously at the two different locations during at least two phases of the predetermined task sequence 2438.

[0117] 42. A method of installing fasteners at a plurality of locations 2436 along a joint 2901, the method comprising:

[0118] Multiple single-function end effectors positioned in a high-density configuration relative to a selected location are used to perform multiple different tasks of fastener installation operations 3504 simultaneously at selected locations 2436.

[0119] 43. According to the method in paragraph 42, wherein the selected positions are not adjacent.

[0120] 44. According to the method of paragraph 42, the various tasks include: a drilling task for drilling a hole 700; an inspection task for inspecting the hole 700; and a fastener insertion task 700 for installing fasteners in the hole.

[0121] 45. According to the method in paragraph 42, the more than 3504 different tasks include:

[0122] Multiple different tasks are performed at every n-1 positions in a plurality of positions 2436, where every n-1 positions is selected from one of every two positions, every three positions, and every four positions.

[0123] 46. ​​According to the method of paragraph 42, wherein the selected position is horizontally spaced apart by at least two of a plurality of positions 2436.

[0124] 47. According to the method in paragraph 42, wherein the selected positions are spaced apart in the vertical direction.

[0125] 48. According to the method described in paragraph 42, performing more than 3504 different tasks includes:

[0126] The clamping procedure is performed at the first selected position among the selected positions;

[0127] A one-sided clamping 341 is provided at a second selected position in the selected positions of the first side 2920 of the connector 2901;

[0128] The inspection task is performed synchronously with the clamping procedure at the second selected position on the second side 2921 of the connector 2901.

[0129] 49. According to the method in paragraph 42, the more than 3504 different tasks include:

[0130] The inspection task is performed at the first selected location among the selected locations;

[0131] Maintain a unilateral clamping 341 at the second selected position in the selected position of the second side 2921 of the connector 2901;

[0132] The fastener insertion task is performed at the second selected position on the second side 2921 of the connector 2901 in sync with the inspection procedure.

[0133] 50. A method 341 for providing multiple unilateral clamps, the method comprising:

[0134] A double-sided clamping 3602 is established at the first fastener mounting point 2915 using a first robot device 2914 located at the first side 2920 of the connector 2901 and a second robot device 2922 located at the second side 2921 of the connector 2901.

[0135] The first robot device 2914 is used to convert the double-sided clamping at the first fastener mounting point 2915 into a single-sided clamping 341 using the first robot device 2914.

[0136] While maintaining the unilateral clamping 341 at the first fastener mounting point 2915, the second robot device 2922 is moved 3606 to the second fastener mounting point 2917 along the second side 2921 of the joint 2901; and

[0137] While maintaining the unilateral clamping 341 at the first fastener mounting point 2915, the third robot device 2424 is moved 3608 to the first fastener mounting point 2915 along the second side 2921 of the joint 2901.

[0138] 51. According to the method in paragraph 50, it also includes:

[0139] A double-sided clamping mechanism 3610 is established at the second fastener mounting point 2917 using a fourth robot device 2916 located at the first side 2920 of the connector 2901 and a second robot device 2922 located at the second side 2921 of the connector 2901; and

[0140] The fourth robot device 2916 is used to convert the double-sided clamping 3612 at the second fastener mounting point 2917 into a single-sided clamping 341.

[0141] 52. According to the method in paragraph 51, it also includes:

[0142] While maintaining the unilateral clamping 341 at the second fastener mounting point 2917, the second robot device 2916 is removed from the second fastener mounting point 2917; and

[0143] While maintaining the unilateral clamping 341 at the second fastener mounting point 2917, the third robot device 2924 is moved along the second side 2921 of the connector 2901 to the second fastener mounting point 2917.

[0144] 53. A method for installing fasteners on splicing parts 400, 2901, the method comprising:

[0145] Determine the sequence of operations to be performed by multiple units 2402 on splicing sections 400 and 2901; and

[0146] Multiple units 2402 are used to perform an operation sequence 3704 on the splicing sections 400 and 2901. Each of the multiple units 2402 includes a first plurality of robot devices 2406 located in a first high-density robot zone on the first side 406 and 2920 of the splicing sections 400 and 2901, and a second plurality of robot devices 2408 located in a second high-density robot zone on the second side 408 and 2921 of the splicing sections 400 and 2901.

[0147] 54. According to the method in paragraph 53, the first unit of the plurality of units 2402 performs fastener installation operations at every n-1 positions along the length of the splice portion 400, 2901, and the second unit of the plurality of units 2402 performs fastener installation operations at every m-1 positions along the length of the joint 400, 2901.

[0148] 55. According to the method in paragraph 54, wherein the first unit begins fastener installation operation at a first position along the splice 400, 2901, and wherein after a period of time, the second unit begins fastener installation operation at a second position along the splice.

[0149] 56. According to the method in paragraph 53, wherein the first plurality of robot devices 2406 and the second plurality of robot devices 2408 of the first unit of the plurality of units 2402 perform all fastener installation operations along a portion of the splicing portions 400, 2901, wherein the first plurality of robot devices 2406 and the second plurality of robot devices 2408 of the second unit of the plurality of units 2402 perform all fastener installation operations along different portions of the splicing portions 400, 2901.

[0150] This disclosure also includes the following paragraphs:

[0151] 1. A method for automating tasks for component 304, the method comprising:

[0152] Positioning 3002 of the first plurality of robotic devices 2406 relative to the first side 2409 of component 304;

[0153] A second plurality of robotic devices 2408 are positioned relative to the second side 2411 of component 304, each of the second plurality of robotic devices 2408 being used to perform a corresponding task; and

[0154] Using a first plurality of robotic devices 2406 and a second plurality of robotic devices 2408, 3006 multiple tasks are performed at each of a plurality of locations 2436 on component 304.

[0155] While the first plurality of robotic devices 2406 independently maintain clamping 341 at each of the plurality of positions 2436, the second plurality of robotic devices 2408 perform tasks synchronously at the plurality of positions 2436.

[0156] 2. According to the method in paragraph 1, the positioning 3002 first plurality of robotic devices 2406 includes:

[0157] Three robotic devices 2410, 2412, and 2414 are positioned relative to the first side 2409 of component 304. These three robotic devices have end effectors 2422, 2424, and 2426 capable of providing unilateral clamping 341.

[0158] 3. According to the method in paragraph 1 or 2, wherein the positioning 3004 second plurality of robotic devices 2408 includes:

[0159] Three robotic devices 2416, 2418, and 2420 are positioned relative to the second side 2411 of component 304. Each of these three robotic devices 2416, 2418, and 2420 is connected to a single-function end effector 2428, 2430, and 2432 to perform a specialized task that is different from the other two robotic devices.

[0160] 4. According to the method in paragraph 3, the positioning of the three robot devices includes:

[0161] A first robot device 2416 having drilling end effectors 2428 and 2802, a second robot device 2418 having inspection end effectors 2430 and 2804, and a third robot device 2420 having fastener insertion end effectors 2432 and 2806 are positioned relative to the second side 2411 of component 304.

[0162] 5. According to any of the methods in the preceding paragraphs, performing more than 3006 tasks includes:

[0163] The first plurality of robotic devices 2406 independently provide single-sided clamping 341 for the first panels 308, 402 and the second panels 310, 404 of the assembly 304, while the second plurality of robotic devices 2408 are interchanged at the second side 2411 of the assembly 304.

[0164] 6. According to the method in paragraph 5, wherein independently providing the unilateral clamping 341 includes:

[0165] An end effector 414, 2422, 2424, 2426, coupled to one of the first plurality of robotic devices 2406, draws air from the first side 2409 of assembly 304 via fastener holes 700 extending through the first panels 308, 402 and the second panels 310, 404 to provide a clamping force 802 that clamps the wall 900 that defines the portion of the fastener holes 700 in the second panels 310, 404, thereby pulling the second panels 310, 404 toward the first panels 308, 402.

[0166] 7. According to any of the methods in paragraphs 1 to 4, performing more than 3006 tasks includes:

[0167] The first plurality of robotic devices 2406 independently provides single-sided clamping 341 for the first panels 308, 402 and the second panels 310, 404 of the component 304, while the second plurality of robotic devices 2408 performs multiple tasks at each of the plurality of positions 2436 according to a predetermined task sequence 2438.

[0168] 8. According to any of the methods in the preceding paragraphs, performing more than 3006 tasks includes:

[0169] Using the first end effector and the drilling end effectors 2428, 2802, a clamping procedure 3206 is performed at the first position of a plurality of positions 2436 on the assembly 304, the first end effector being coupled to a corresponding one of a first plurality of robot devices 2406, and the drilling end effectors 2428, 2802 being coupled to a corresponding one of a second plurality of robot devices 2408.

[0170] 9. According to the method in paragraph 8, the procedure for clamping 3206 and 341 includes:

[0171] Using end effectors 2428 and 2802, a first hole is drilled through component 304 at a first position on component 304; and

[0172] Air is drawn through the first hole to maintain clamping at the first position 341, wherein the drawing continues at least until the first fastener is installed in the first hole.

[0173] 10. According to the method in paragraph 8 or 9, performing more than 3006 tasks also includes:

[0174] The borehole end effector 2428, 2802 is moved and positioned relative to the second position among multiple positions 2436 on component 304; and

[0175] While the first end effector continues to independently maintain the clamping 341 at the first position, the end effector 2430, 2804 is moved and positioned 3210 at the first position to check the end effector 2430, 2804, wherein the end effector 2430, 2804 is connected to a corresponding one of the second plurality of robot devices 2408.

[0176] 11. According to the method in paragraph 10, performing more than 3006 tasks also includes:

[0177] While the first end effector independently maintains the clamping 341 at the first position, the inspection end effectors 2430 and 2804 are used to inspect the first hole 3214 at the first position; and

[0178] The drilling end effectors 2428 and 2802, and the second end effector positioned relative to the first side 2409 of the assembly 304, perform the clamping procedure 3212 in the second position.

[0179] The clamping procedure 341 and the inspection of the first hole are performed simultaneously, and

[0180] The second end effector is connected to one of the first plurality of robotic devices 2406.

[0181] 12. According to the method in paragraphs 10 or 11, performing more than 3006 tasks also includes:

[0182] The drill end effector 2428, 2802 is moved and positioned relative to the third position among multiple positions 2436 on component 304;

[0183] While the second end effector continues to independently maintain the clamping 341 at the first position, the end effectors 2430 and 2804 are moved and positioned 3218 at the second position to inspect them, wherein the inspection of end effectors 2430 and 2804 is connected to a corresponding one of the second plurality of robotic devices 2408; and

[0184] While the first end effector continues to independently maintain the clamping 341 at the first position, the fastener insertion end effector 2432, 2806 is moved and positioned at the first position 3220, wherein the fastener insertion end effector 2432, 2806 is coupled to a corresponding one of the second plurality of robot devices 2408.

[0185] 13. According to the method in paragraph 12, performing more than 3006 tasks also includes:

[0186] While the first end effector independently maintains the clamping 341 at the first position, fasteners are inserted into end effectors 2432 and 2806 to install fasteners 3226 in the first hole; while the second end effector independently maintains the clamping 341 at the second position, inspection end effectors 2430 and 2804 are used to inspect the second hole at the second position 3224; and

[0187] The drilling end effectors 2428 and 2802, and the third end effector positioned at the third position relative to the first side 2409 of the assembly 304, perform the clamping procedure 3222 in the third position.

[0188] The third end effector is connected to a corresponding one of the first plurality of robotic devices 2406, and

[0189] The installation of fasteners at the first position, the inspection of the second hole at the second position, and the clamping at the third position are performed simultaneously in procedure 341.

[0190] 14. The method according to any of the preceding paragraphs also includes:

[0191] Customize the interchangeability of multiple robot units 2408 to meet selected cycle times and production requirements.

[0192] 15. The method according to any of the preceding paragraphs also includes:

[0193] The first plurality of robotic devices 2406 are supported on a platform 2440, which is positioned so that the first plurality of robotic devices 2406 can perform tasks on one side facing the internal profile of the fuselage assembly 313 of the aircraft 314.

[0194] 16. The method according to any of the preceding paragraphs also includes:

[0195] The second plurality of robotic devices 2408 are supported on a platform 2442, which is positioned so that the first plurality of robotic devices 2406 can perform tasks on one side facing the external profile of the fuselage assembly 313 of the aircraft 314.

[0196] 17. According to the method in paragraph 16, the more than 3006 tasks include:

[0197] While the platform 2442 remains stationary, the second plurality of robot devices 2408 are interchanged by moving the robot devices in the second plurality of robot devices 2408 on the platform 2442.

[0198] 18. The use of any of the methods described in the preceding paragraphs in the construction of component 304 of aircraft 314.

[0199] 19. According to the purpose of the method in paragraph 18, the method includes:

[0200] Relative to the corresponding portion of the fuselage assembly 313, a plurality of units 2402 are positioned, each of the plurality of units 2402 including:

[0201] The first plurality of robotic devices 2406 are positioned relative to the first side 2409 of the body assembly 313.

[0202] 20. An apparatus comprising:

[0203] The first multiple robotic devices 2406;

[0204] A second plurality of robotic devices 2408, each of which is connected to a single-function end effector; and

[0205] The control system 315 is used to control the second plurality of robot devices 2408 to perform tasks synchronously at the plurality of positions 2436 on the assembly 304 while the first plurality of robot devices 2406 independently maintain the clamping 341 at each of the plurality of positions 2436.

[0206] 21. The device according to paragraph 20, wherein the second plurality of robotic devices 2408 includes:

[0207] The first robot device 2416 is connected to the drilling end effectors 2428 and 2802;

[0208] The second robotic device 2418 is connected to inspect end effectors 2430 and 2804; and

[0209] The third robot device 2420 is connected to the fastener insertion end effector 2432, 2806.

[0210] 22. The device according to any one of paragraphs 20 to 21 further includes:

[0211] Platform 2440, which is used to support the first plurality of robotic devices 2406.

[0212] 23. The device according to paragraph 22, wherein the dimensions of each of the second plurality of robot devices 2408 are configured such that the second plurality of robot devices 2408 are mounted on the platform 2442, while still leaving sufficient space for the robot devices of the second plurality of robot devices 2408 to be interchanged.

[0213] 24. The device according to any one of paragraphs 20 to 23, wherein the control system 315 controls the interchange of the second plurality of robot devices 2408 to meet the selected cycle time and production requirements.

[0214] 25. The device according to any one of paragraphs 20 to 24, wherein each of the first plurality of robotic devices 2406 comprises:

[0215] Nozzle 332, the size of which is determined based on the selected hole diameter to be drilled within component 304; and

[0216] A suction device 330 is used to provide unilateral clamping 341.

[0217] 26. The device according to any one of paragraphs 20 to 25 above, wherein each of the first plurality of robotic devices 2406 and each of the second plurality of robotic devices 2408 are sized to be mountable on platforms 2440, 2442, which are connected to an automated guided vehicle 2528.

[0218] 27. The device according to any one of paragraphs 20 to 26 above, wherein component 304 is fuselage component 313 of aircraft 314.

[0219] 28. The use of the device according to any one of paragraphs 20 to 27 above in constructing component 304 of aircraft 314. Attached Figure Description

[0220] The claims set forth novel features that are considered characteristic of the exemplary embodiments. However, the exemplary embodiments and their preferred modes of use (and their further purposes and features) will be best understood by referring to the following detailed description of the exemplary embodiments of this disclosure when read in conjunction with the accompanying drawings.

[0221] Figure 1 This is a perspective view of a manufacturing environment 100 according to an exemplary embodiment.

[0222] Figure 2 It is constructed according to an exemplary implementation. Figure 1 An illustration of an end view of the fuselage components.

[0223] Figure 3 This is a block diagram of a manufacturing environment according to an exemplary embodiment.

[0224] Figure 4 This is an illustration of a side view of a robotic device with a single-function end effector positioned relative to a component, according to an exemplary embodiment.

[0225] Figure 5 It is relative to the exemplary implementation method Figure 4 The positioning of the interlocking splice section Figure 4 An illustration of an enlarged side view of the end effector.

[0226] Figure 6 According to the exemplary implementation method Figure 4 Applying force to the interlocking splice Figure 4 A side view illustration of the end effector.

[0227] Figure 7 This is a side view illustration of a drilling operation according to an exemplary embodiment.

[0228] Figure 8 This is a side view illustration of a suction operation according to an exemplary embodiment.

[0229] Figure 9 According to an exemplary implementation Figure 8 An illustration of an enlarged cross-sectional side view of the component.

[0230] Figure 10 This is an illustration of an enlarged side view of a single-sided clamping according to an exemplary embodiment.

[0231] Figure 11 According to an exemplary implementation Figure 10 An illustration of the other side view of the clamped side.

[0232] Figure 12 According to an exemplary implementation method, relative to Figure 11A perspective view of the end effector positioned on the second side of the interlocking splice section.

[0233] Figure 13 This is a method for fastening fasteners (such as...) according to an exemplary embodiment. Figure 11 and Figure 12 (As shown) Insert into the fastener hole ( Figure 11 An illustration of a side view of the fastener insertion tool shown in the figure.

[0234] Figure 14 It is an illustration of a cross-sectional view of a fastener installed in an interlocking joint according to an exemplary embodiment.

[0235] Figure 15 This is an illustration of the completion of a fastener installation operation according to an exemplary embodiment.

[0236] Figure 16 This is a flowchart of a method for installing fasteners according to an exemplary embodiment.

[0237] Figure 17 This is a flowchart of a process for maintaining clamping according to an exemplary embodiment.

[0238] Figure 18 This is a flowchart of a process for maintaining clamping according to an exemplary embodiment.

[0239] Figure 19 This is a flowchart of a process for maintaining unilateral clamping according to an exemplary embodiment.

[0240] Figure 20 This is a flowchart of a process for maintaining unilateral clamping according to an exemplary embodiment.

[0241] Figure 21 This is a flowchart of a process for maintaining unilateral clamping according to an exemplary embodiment.

[0242] Figure 22 This is a flowchart of a process for maintaining unilateral clamping according to an exemplary embodiment.

[0243] Figure 23 This is a flowchart of a clamping process according to an exemplary embodiment.

[0244] Figure 24 This is a block diagram of a manufacturing environment according to an exemplary embodiment.

[0245] Figure 25 According to an exemplary implementation Figure 1 Another three-dimensional illustration of the manufacturing environment.

[0246] Figure 26This is an illustration of an enlarged end view of a fuselage assembly constructed according to an exemplary embodiment.

[0247] Figure 27 It is based on an exemplary implementation and is linked to Figures 25 to 26 An enlarged 3D view of the end effector of a robotic device.

[0248] Figure 28 It is based on an exemplary implementation and is linked to Figures 25 to 26 An enlarged 3D view of the end effector of a robotic device.

[0249] Figure 29 This is a representative sequence diagram of the various stages involved in a unit that performs automated fastener installation operations at multiple fastener mounting points along an assembly, according to an exemplary embodiment.

[0250] Figure 30 This is a flowchart of a process for automating the operation of a component according to an exemplary implementation.

[0251] Figure 31 This is a flowchart of a process for automating operations to construct fuselage components of an aircraft, according to an exemplary embodiment.

[0252] Figures 32A to 32C This is a flowchart of a process for automating fastener installation along a joint, according to an exemplary embodiment.

[0253] Figure 33 This is a flowchart of a process for automating fastener installation along the fuselage components of an aircraft, according to an exemplary embodiment.

[0254] Figure 34 This is a flowchart of a process for automating operations using high-density robotic units, according to an exemplary embodiment.

[0255] Figure 35 This is a flowchart of a process for installing fasteners at multiple locations along a joint, according to an exemplary embodiment.

[0256] Figure 36 This is a flowchart of a process for providing multiple unilateral clamps according to an exemplary embodiment.

[0257] Figure 37 This is a flowchart of a process for installing fasteners on a splice according to an exemplary embodiment.

[0258] Figure 38 This is a block diagram of a data processing system according to an exemplary embodiment.

[0259] Figure 39This is an illustration of an aircraft manufacturing and maintenance method according to an exemplary embodiment.

[0260] Figure 40 This is a block diagram of an aircraft according to an exemplary embodiment. Detailed Implementation

[0261] The exemplary embodiments described below provide methods and apparatus for improving efficiency and ease of joining components together. For example, the methods and apparatus described below can improve efficiency and ease of use, and reduce the complexity of installing fasteners to join components together. The exemplary embodiments recognize and take into account that single-function end effectors allow for the separation of various tasks (e.g., drilling, inspection, fastener insertion) of fastener installation operations. By using different single-function end effectors for different tasks, end effectors can be made smaller, lighter, and simpler than multi-function end effectors.

[0262] The simplicity of single-function end effectors can help improve the overall efficiency and reliability of automating fastener installation operations using end effectors. Furthermore, the simplicity of single-function end effectors can reduce the amount of maintenance required and decrease the overall size of the supporting robot and related structures, or both.

[0263] In particular, exemplary embodiments recognize and consider that when a single-function end effector is switched out to perform various tasks, the components of the assembly, through which fasteners are installed, need to be held together (e.g., clamped together). Exemplary embodiments provide methods and apparatus for holding these components together from one side of the assembly to enable switching out of a single-function end effector on the other side of the assembly.

[0264] In one exemplary 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 clamp the first and second components. A first hole in the first component, aligned with a second hole in the second component, forms a fastener hole through which air is drawn 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 is removed.

[0265] In another exemplary embodiment, a method is provided for aligning a first hole in a first panel with a second hole in a second panel to define a through hole. A wall defining the second hole is clamped from within the through hole to pull the second panel toward the first panel, thereby establishing a clamping relationship between the first and second panels.

[0266] In yet another exemplary embodiment, a method for maintaining clamping using a single-function end effector is provided. The single-function end effector is positioned on one side of a panel connector and applies a first force on a first panel of the panel connector and a second force on a second panel of the panel connector 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 way, unilateral clamping is achieved.

[0267] Therefore, exemplary embodiments provide methods and systems for establishing, maintaining, or both of clamping a first panel and a second panel. These methods and systems include clamping a wall defining an opening in a second panel from within an opening in the first panel to pull the second panel toward the first panel. The first and second openings form through-holes extending through both the first and second panels.

[0268] For example, this clamping can be achieved by drawing a partial vacuum (e.g., suction) through fastener holes (e.g., through holes) in the direction from the second panel toward the first panel. This clamping force is combined with a counterforce (e.g., reaction force) generated by a single-function end effector positioned to contact the first panel. In this way, unilateral clamping is achieved. Clamping is formed from the first panel side to allow movement of tools and devices and to provide space for any number of operations to be performed on the second panel side.

[0269] In some cases, one or more panels may be present between the first panel and the second panel. Fastener holes extend through the first panel, the second panel, and any number of panels between the first and second panels. In other cases, sealant is applied to the mating surface of one or both of the first and second panels.

[0270] Now refer to the attached diagram, Figure 1 This is an illustration of a perspective view of a manufacturing environment 100 according to an exemplary embodiment. Within the manufacturing environment 100, a fuselage assembly 102 is being constructed. In this illustrative embodiment, a plurality of assembly systems 104 are positioned relative to the fuselage assembly 102.

[0271] Assembly system 106 is an embodiment of one of a plurality of assembly systems 104. Assembly system 106 includes: a robot device 108 positioned relative to the exterior 110 of the fuselage assembly 102; and a robot device 112 positioned relative to the interior 114 of the fuselage assembly 102. Robot device 108 and robot device 112 work together to perform fastener installation operations for constructing fuselage assembly 102.

[0272] Figure 2This is an illustration of an end view of a fuselage assembly 102 constructed according to an exemplary embodiment. As depicted, robot device 108 is supported by platform 200, and robot device 112 is supported by platform 202. Robot devices 108 and 112 work together to install fasteners that connect the fuselage panels together, thereby constructing fuselage assembly 102.

[0273] In this illustrative embodiment, the robot device 108 is coupled to end effectors to perform drilling, inspection, and fastener insertion tasks. These end effectors are single-function end effectors, which can be switched out to perform their individual tasks by moving around, for example, relative to fastener mounting point 113. A single-function end effector is an end effector used to perform a single function on each robot device at each fastener mounting point. In some cases, the robot device 108 moves around on platform 200 to position the end effector for a specific task relative to fastener mounting point 113. In other cases, the robot device 108 may remain stationary on platform 200 but may be used to move its end effectors around to position the appropriate end effector for a given task relative to fastener mounting point 113.

[0274] Each robotic device 112 is coupled to an end effector that holds the body panel together from the inside of the body assembly 102 during switching out of a 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, that end effector can be removed from fastener mounting point 113 to make room for another end effector. The end effector coupled to one of the robotic devices 112 is used to maintain clamping of the body panel only from the inside of the body assembly 102, while the aforementioned end effectors are switched around on the outside of the body assembly 102.

[0275] Figure 3 This is a block diagram of a manufacturing environment 300 according to an exemplary embodiment. Figure 1 Manufacturing environment 100 is one embodiment of manufacturing environment 300. Within manufacturing environment 300, assembly system 302 is used to construct component 304.

[0276] Component 304 includes part 308 and part 310. Parts 308 and 310 are mated to form a connector (not shown) in component 304. The first side 311 of part 308 forming the connector faces the opposite part 310. The second side 312 of part 310 forming the connector faces the opposite part 308.

[0277] Although component 304 is described as having only two parts in these exemplary embodiments, in other cases, component 304 may include more than two parts. In one illustrative embodiment, component 304 takes the form of fuselage component 313 of aircraft 314. In one embodiment, components 308 and 310 take the form of fuselage panels. In other embodiments, components 308 and 310 take the form of other types of aircraft components, such as wing panels. When components 308 and 310 take the form of panels, they together form a panel joint.

[0278] Figure 1 Assembly system 106 is one embodiment of assembly system 302. Assembly system 302 includes control system 315 and multiple robotic devices 316. Control system 315 controls the operation of robotic devices 316. Control system 315 is implemented using software, hardware, firmware, or a combination thereof.

[0279] When using software, operations performed by the control system 315 can be implemented using, for example, but not limited to, program code configured to run on a processor unit. When using firmware, operations performed by the control system 315 can be implemented using, for example, but not limited to, program code and data stored in persistent memory to run on a processor unit.

[0280] When hardware is used, it may include one or more circuits that operate to perform 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. The programmable logic device may be configured to perform certain operations. The device may be permanently configured to perform these operations or may be reconfigurable. The 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.

[0281] In these illustrative embodiments, the control system 315 may be implemented using a computer system. This computer system may include a single computer or multiple computers communicating with each other.

[0282] Multiple robotic devices 316 include, but are not limited to, robotic devices 318, 320, and 322. Robotic devices 318, 320, and 322 are respectively coupled to end effectors 324, 326, and 328. Each of these end effectors can be considered a single-function end effector. In some illustrative embodiments, end effectors 324, 326, and 328 are considered as part of robotic devices 318, 320, and 322, respectively. In other illustrative embodiments, end effectors 324, 326, and 328 are considered detachable from, but can be attached to and detached from, robotic devices 318, 320, and 322.

[0283] In one exemplary embodiment, the end effector 324 includes a suction device 330 and a tool coupled to the suction device 330, which may be a nozzle 332. The nozzle 332 is coupled directly or indirectly to the suction device 330. In these illustrative embodiments, the nozzle 332 may be an elongated member having a channel 334 extending through the nozzle 332. The suction device 330 generates a suction with sufficient power to draw air into the channel 334 within the nozzle 332 and to force air through the channel 334.

[0284] End effector 326 includes a tool 336 and a drilling tool 338. In some illustrative embodiments, tool 336 is a cylindrical member surrounding drilling tool 338. End effector 328 includes a fastener insertion tool 340.

[0285] For fastener installation, end effectors 324 and 326 are positioned on opposite sides of component 304. These end effectors are used to apply equal and opposite forces (e.g., a first force 342 and a second force 344 applied to components 308 and 310, respectively) to form a clamping 341. Specifically, end effectors 324 and 326 are operated to apply equal and opposite forces to side 311 of component 308 and side 312 of component 310, respectively, to form the clamping 341.

[0286] For example, at least one of the robot device 318 or the end effector 324 can be operated to apply a first force 342 to the side 311 of the component 308 using a nozzle 332. The first force 342 is a first mechanical force, which in some cases may also be referred to as a clamping force. 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. Furthermore, at least one of the robot device 320 or the end effector 326 can be operated to apply a second force 344 to the other side of the component 304 using a tool 336. The second force 344 is a second mechanical force, which in some cases may also be referred to as a clamping force. 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.

[0287] In one embodiment, nozzle 332 and tool 336 simultaneously extend toward and press against components 308 and 310, respectively, to apply a first force 342 to component 308 and a second force 344 to component 310. Nozzle 332 and tool 336 press against components 308 and 310 until a desired static force balance is achieved between the first force 342 and the second force 344. In other words, nozzle 332 and tool 336 press or push against components 308 and 310 until equal and opposite first and second forces 342 and 344 are sufficient to establish a clamping 341 between components 308 and 310.

[0288] Once clamping 341 is completed, the nozzle 332 and tool 336 are held in a fixed position relative to the reference coordinate system. Therefore, by means of the static balance of forces generated by the positioning of the nozzle 332 and tool 336 relative to the reference coordinate system, clamping 341 is maintained in a fixed position relative to the reference coordinate system.

[0289] In some illustrative embodiments, clamp 341 includes components 308 and 310, both having a sealant applied to the mating surfaces of these components. In other words, clamping may include a sealant that seals these components together. This type of clamp 341 of components 308 and 310 can be used for "one-up" assembly.

[0290] In some illustrative embodiments, a drilling tool 338 is used to drill a hole 343 through component 308 and a hole 345 through component 310, while suction 349 maintains the clamping 341 of these components. The drilling tool 338 is positioned on a side 312 such that holes 343 and 345 are drilled from the side 312. In this way, hole 345 is formed prior to hole 343. In one or more embodiments, the drilling tool 338 includes a suction device or some other type of cleaning device for assisting in the removal of component shavings or waste generated during the drilling process.

[0291] Maintaining clamping of these components during drilling 341 ensures that holes 343 and 345 are aligned during and after drilling to form fastener holes 346. Furthermore, maintaining clamping of these components during drilling 341 can also help maintain the clamping of sealant (not shown) between components 308 and 310; prevent gaps between components 308 and 310; prevent drill chips, shavings, or waste from falling into or otherwise entering one or more gaps between components 308 and 310; reduce or eliminate the need for deburring the edges of holes 343 and 345 after drilling; or combinations thereof.

[0292] Hole 343 in component 308 and hole 345 in component 310 are concentric and coaxially formed. Fastener hole 346 may also be referred to as a channel 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 these two or more components.

[0293] Before fastener 348 can be installed in 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 used to hold clamp 341, an additional mechanism is needed to maintain clamp 341 before end effector 328 can be switched out. For example, without an additional mechanism to maintain clamp 341, removal of tool 336 from part 310 or removal of nozzle 332 from part 308 may release clamp 341. Therefore, a mechanism is needed to maintain clamp 341 while still allowing end effector 326 to be switched out with end effector 328.

[0294] The suction device 330 of the end effector 324 is used to maintain the clamp 341 only from the side 311, thereby allowing the end effector 326 at the side 312 to be switched out with the end effector 328. Specifically, the suction device 330 generates suction 349 to draw air from the side 311 through the fastener hole 346. Suction occurs while maintaining a static force balance between the first force 342 and the second force 344.

[0295] The suction volumetric flow rate is sufficient to pull component 310 toward component 308 to maintain clamping 341. Specifically, this volumetric flow rate is sufficient to provide a clamping force that grips the wall 347 defining the orifice 345 to pull component 310 toward component 308. In other illustrative embodiments, wall 347 may also be referred to as the orifice wall. This suction is sufficient to independently maintain the clamping 341 of components 308 and 310 relative to each other.

[0296] By using suction to clamp the wall 347 defining the orifice 345 in component 310, suction device 330 applies a suction force to component 310. This suction force pulls component 310 toward component 308 and ultimately toward end effector 324. The nozzle 332 of end effector 324, in response to the suction force, generates a reaction force in its positioning relative to component 308 and relative to a reference coordinate system. This reaction force is equal to and opposite to the suction force.

[0297] The suction is performed until the desired static force balance is achieved between the suction force and the reaction force. Once the desired static force balance is achieved, the clamping 341 can be maintained independently by suction, even when the tool 336 is removed from the clamping 341.

[0298] In this way, even after the second force 344 is removed (e.g., when tool 336 is removed and end effector 326 is switched to another end effector), suction device 330 still generates suction 349 sufficient to hold parts 308 and 310 in place relative to each other. In other words, when tool 336 is removed and disengaged from part 310, thereby removing the second force 344, suction of air through fastener hole 346 and into channel 334 of nozzle 332 maintains clamping 341 of parts 308 and 310.

[0299] In one or more illustrative embodiments, the control system 315 is used to control the operation of end effectors 324, 326, and 328. The control system 315 ensures that the desired static force balance is established, so that when the end effector 328 for fastener mounting is switched out of the end effector 326 for drilling, clamping 341 can be maintained and any undesirable displacement of component 308 relative to component 310 can be prevented.

[0300] Specifically, an end effector 326 with a drilling tool 338 can be switched out of an end effector 328 with a fastener insertion tool 340. The fastener insertion tool 340 is used to insert the fastener 348 into the fastener hole 346, while the suction device 330 continues to draw air from the opposite side 311 of the assembly 304 through the fastener hole 346. In this way, the assembly system 302 can allow the fastener 348 to be installed in a simple, easy, and efficient manner.

[0301] The suction device 330 provides sufficient suction force to maintain the clamp 341 in combination with the reaction force provided by the nozzle 332 without requiring additional force at the 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 one side of the clamp 341.

[0302] Fastener 348 is installed while clamping 341 is maintained by suction 349. In these illustrative embodiments, suction continues until fastener 348 is fully installed within fastener hole 346. In some cases, fastener 348 is considered fully installed when the desired interference fit is formed between fastener 348 and fastener hole 346. In other embodiments, fastener 348 is considered 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 fully installed after one or more other operations.

[0303] Once fastener 348 has been fully installed, suction 349 is no longer needed to maintain clamping. In other words, fastener 348 is used to maintain clamping 341 after suction stops.

[0304] Figure 1 The illustration of manufacturing environment 100 is not intended to imply physical or architectural limitations on the manner in which the exemplary embodiments may be implemented. Other components may be used in addition to those shown, or other components may be used instead of those shown. Some components may be optional. Furthermore, boxes are presented to illustrate functional components. When implemented in the exemplary embodiments, one or more of these boxes may be combined, divided, or combined and divided into different boxes.

[0305] For example, in some cases, drilling the fastener hole 346 may be part of a different process before the components 308 and 310 are put together to form the clamp 341. For example, a first hole 343 may be drilled in component 308 and a hole 345 may be drilled in component 310 before the components 308 and 310 are clamped.

[0306] Components 308 and 310 can then be positioned relative to each other. In these embodiments, components 308 and 310 are positioned such that holes 343 and 345 are concentrically or coaxially or concentrically and coaxially aligned. Holes 343 and 345 can be sized such that when aligned together, they form fastener holes 346. In other embodiments, holes 343 and 345 can be defined assembly (DA) holes. When holes 343 and 345 are defined assembly holes and coaxially aligned, they form indexing holes (not shown). Components 308 and 310 can be temporarily fitted using temporary fasteners, for example, installed via indexing holes. Indexing holes can also be referred to as reference holes, guide holes, tool holes, or through holes.

[0307] In one or more embodiments, after the holes 343 and 345 are coaxially aligned, suction 349 is used to establish and maintain a clamping 341 between components 308 and 310. Suction is formed at the side 311 so that clamping 341 is a unilateral clamping. In some cases, when components 308 and 310 are connected using temporary fasteners, suction 349 is applied while the temporary fasteners are being removed, thereby establishing and maintaining clamping 341.

[0308] refer to Figures 4 to 15 The illustration depicts an assembly system for performing fastener installation operations according to an exemplary embodiment. In some illustrative embodiments, the assembly system may be referred to as a fastener installation system.

[0309] Figure 4 This is an illustration of an end view of a single-function end effector positioned relative to the interlocking splice section according to an exemplary embodiment. The interlocking splice section 400 is... Figure 3 One embodiment of component 304 or panel connector in component 304. In addition to the interlocking splice 400, the exemplary embodiment can also be applied to other types of splices not shown.

[0310] The interlocking joint 400 includes a first component 402 and a second component 404, which can be respectively Figure 3 Examples of implementations of components 308 and 310. In other embodiments, the interlocking joint 400 may include a third component (not shown) or several other components. In one illustrative embodiment, the first component 402 and the second component 404 take the form of a fuselage panel. Figures 4 to 15 The dimensions and proportions of the first component 402 and the second component 404 are shown for illustrative purposes only. In other illustrative embodiments, the dimensions of the first component 402 and the second component 404 may be smaller or much larger. Figures 4 to 15 The dimensions shown.

[0311] The interlocking joint 400 has a first side surface 406 and a second side surface 408. In this illustrative embodiment, the first side surface 406 is formed by the surface 410 of the first component 402, and the second side surface 408 is formed by the surface 412 of the second component 404. When the first component 402 and the second component 404 take the form of a fuselage panel of a fuselage assembly, the surface 410 of the first component 402 can face the interior of the fuselage assembly, and the surface 412 of the second component 404 can face the exterior of the fuselage assembly (when the process is completed 412, the head of the fastener will be mounted on the outer surface).

[0312] In this illustrative embodiment, the assembly system 413 is positioned relative to component 409. The assembly system 413 includes end effectors 414 and 416, a robot device 418, and a robot device 419.

[0313] End effectors 414 and 416 are respectively connected to robot device 418 and robot device 419. End effectors 414 and 416 can be respectively... Figure 3 An embodiment of the implementation of end effectors 324 and 326. End effector 414 is positioned relative to a first side 406 of the interlocking splice 400, and end effector 416 is positioned relative to a second side 408 of the interlocking splice 400.

[0314] End effectors 414 and 416 can be single-function end effectors. End effector 414 includes at least a nozzle 420 and a suction device 422, wherein the nozzle 420 and the suction device 422 are respectively... Figure 3 An embodiment of the nozzle 332 and suction device 330 is described. The end effector 416 includes a tool 424 and a drilling tool 426. For illustrative purposes only, the tool 424 is shown in... Figure 4 The middle part is depicted as transparent. Tool 424 and drilling tool 426 are respectively... Figure 3 Examples of the implementation of tool 336 and drilling tool 338.

[0315] In this illustrative embodiment, tool 424 includes elements 428 and 430. Element 428 takes the form, for example, but not limited to, a first cylindrical member surrounding drilling tool 426. Element 430 takes the form, for example, but not limited to, a second cylindrical member with a diameter smaller than that of the first cylindrical member, but with a diameter large enough to allow the drill bit 432 of drilling tool 426 to pass through it. In some illustrative embodiments, element 430 is large enough to allow the collection of drill shavings or chips during drilling.

[0316] Figure 5This is an enlarged side view illustration of end effectors 414 and 416 positioned relative to the interlocking joint 400 according to an exemplary embodiment. In this illustrative embodiment, end effectors 414 and 416 have been positioned aligned with a reference axis 500 passing through the interlocking joint 400. The reference axis 500 may be an axis substantially perpendicular to the interlocking joint 400 that passes through the interlocking joint 400 at the location where a hole is to be drilled and a fastener to be installed.

[0317] Figure 6 This is an illustration of a side view of end effectors 414 and 416 applying force to the interlocking joint 400 according to an exemplary embodiment. As depicted, at least one of the end effectors 414 or the robotic device 418 has been used to move the nozzle 420 into contact with a first side 406 of the interlocking joint 400. The nozzle 420 pushes against the first side 406 to apply a first force 600 to the first side 406. The first force 600 is... Figure 3 An embodiment of the first force 342. The first force 600 is a mechanical force.

[0318] Similarly, at least one of the end effector 416 or the robotic device 419 is used to move the element 430 into contact with the second side 408 of the interlocking joint 400. In particular, the element 430 pushes against the second side 408 to apply a second force 602 to the second side 408.

[0319] Nozzle 420 and element 430 push against first component 402 and second component 404 respectively until a desired static force balance is achieved between the first force 600 and the second force 602 applied to the interlocking joint 400. Once this desired static force balance is achieved, clamping 604 of the first component 402 and second component 404 is achieved. In other words, the first component 402 and second component 404 can be held in place such that each of these components is held in a specific position relative to each other.

[0320] Although nozzle 420 and element 430 no longer push against first component 402 and second component 404 respectively, they remain fixed in positions that achieve the desired static force balance to maintain clamping 604. In some cases, a sealant may be present between first component 402 and second component 404.

[0321] Figure 7This is a side view illustration of a drilling operation according to an exemplary embodiment. Once the clamping 604 between the first component 402 and the second component 404 is established, the drilling tool 426 of the end effector 416 is operated to drill a fastener hole 700 extending through the interlocking joint 400. The fastener hole 700 can extend from the second side 408 of the second component 404 to the first side 406 of the first component 402. In some cases, the fastener hole 700 may be countersunk. The fastener 700 is Figure 3 One embodiment of the fastener hole 346 in the middle.

[0322] Figure 8 This is an illustration of a side view of the suction operation according to an exemplary embodiment. After drilling the fastener hole 700, the drill bit 432 is removed from the second component 404. For example, the drill bit 432 may retract into the component 428.

[0323] The suction device 422 of the end effector 414 operates to draw air from the first side 406 of the interlocking joint 400 via the fastener hole 700. Air is drawn from the second side 408 of the interlocking joint 400 towards the first side 406 of the interlocking joint 400 via the fastener hole 700, in the direction of arrow 800. The air is drawn through the fastener hole 700 and into the nozzle 420.

[0324] The suction generates a force applied to the second component 404, which can be a suction force 802. The suction force 802 pulls the second component 404 toward the first component 402. A reaction force 804 is generated in response to the suction force 802 by positioning the nozzle 420 in contact with the first component 402. Suction continues until a desired static force balance is achieved between the suction force 802 and the reaction force 804. For example, the suction power can be increased until the desired static force balance is achieved and sufficient suction work is generated to allow clamping 604 to be maintained independently of the first force 600 and the second force 602 via suction.

[0325] In these illustrative embodiments, the suction device 422 can be operated to continuously draw air through the fastener hole 700 until the fastener installation operation is completed. In some embodiments, each or both of element 430 and nozzle 420 may have at least one of a notch, groove, port, opening, or some other type of vent to allow air to enter and exit. This ventilation helps ensure that the suction power does not exceed the desired power. For example, element 430 may have one or more notches along the edge of element 430 that contacts the second component 404 to allow the moving element 430 to be removed from the second component 404 while making suction easy to continue.

[0326] Figure 9This is an illustration of an enlarged cross-sectional side view of the first component 402 and the second component 404 according to an exemplary embodiment. This view allows for a clearer view of the fastener hole 700 and the wall 900, which defines the portion of the fastener hole 700 formed within the second component 404. The wall 900 may also be referred to as a hole wall.

[0327] As depicted, the suction force 802 can be a clamping force that clamps the wall 900 of the portion of the fastener hole 700 formed within the second component 404, thereby pulling the second component 404 toward the first component 402 and ultimately toward the nozzle 420. The nozzle 420 applies a reaction force 804 to the first component 402.

[0328] Even after element 430 is removed and disengaged from the second component 404, the suction force 802 and the reaction force 804 can still be used together to independently maintain clamping 604. By allowing clamping 604 to be maintained independently of the first force 600 and the second force 602, end effector 416 can be switched out with another end effector. For example, at least one of end effector 416 or robot device 419 can be operated to remove element 430 of tool 424 from interlocking joint 400. Robot device 419 can then be switched out with another robot device, and the other actuator can be positioned relative to interlocking joint 400.

[0329] Figure 10 This is an enlarged side view illustration of a unilateral clamping according to an exemplary embodiment. As depicted, element 430 shown in the previous figure has been moved to disengage from 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 are able to maintain the clamping independently.

[0330] Therefore, unilateral clamping is achieved. This type of unilateral clamping at the first side 406 of the interlocking splice 400 frees up space around the fastener hole 700 at the second side 408 of the interlocking splice 400, allowing for simpler and easier switching out of the end effector. No special tools are required at the second side 408 of the interlocking splice 400 to maintain the clamp 604.

[0331] Figure 11 According to an exemplary implementation Figure 10 An illustration of the other side view of the single-sided clamping. As depicted, it has been switched out using the end effector 1100. Figures 4 to 9 The end effector 416 and the end effector 1100 are coupled to the robot device 1102. The end effector 1100 and the robot device 1102 are part of the assembly system 413.

[0332] In this illustrative embodiment, the robot device 419 with end effector 416 is moved to allow the robot device 1102 with end effector 1100 to be positioned relative to the second side 408 of the interlocking joint 400. In other illustrative embodiments, end effector 416 can be exchanged with end effector 1100, and then end effector 1100 is coupled to robot device 419. As depicted, the end effector switching occurs after fastener holes 700 have been drilled through the interlocking joint 400 and one-sided clamping has been achieved.

[0333] 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 a fastener hole 700 drilled through the interlocking joint 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.

[0334] Figure 12 This is an illustration of a perspective view of an end effector 1100 positioned relative to a second side 408 of an interlocking splice 400 according to an exemplary embodiment. As depicted, a fastener hole 700 is one of a plurality of fastener holes passing through the interlocking splice 400 in which fasteners 1200 have been installed.

[0335] Figure 13 This is an illustration of a side view of a fastener insertion tool 1104 according to an exemplary embodiment, the fastener insertion tool 1104 being used to insert fasteners 1106 (such as...) Figure 11 and Figure 12 (As shown) Insert into fastener hole 700 (as shown) Figure 11 As shown in the diagram, 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.

[0336] Figure 14 This is an illustration of a cross-sectional view of a fastener 1106 installed in the interlocking joint 400 according to an exemplary embodiment. In this particular illustrative embodiment, the fastener 1106 is a countersunk fastener, and the fastener hole 700 is a countersunk hole.

[0337] Figure 15This is an illustration of the completion of a fastener installation operation according to an exemplary embodiment. As depicted, fastener 1106 has been installed in the interlocking joint 400. Once fastener 1106 is installed, suction is no longer required to maintain the clamping 504 as shown in the previous figure. Fastener 1106 is capable of independently maintaining clamping 604 relative to the portion of the interlocking joint 400 in which fastener 1106 is installed.

[0338] In one or more illustrative embodiments, the installation of fastener 1106 is completed once the desired interference fit is formed between fastener 1106 and fastener hole 700. Once this interference fit is formed, suction is stopped. In other illustrative embodiments, fastener 1106 is considered fully installed when the fastener holding hardware is mounted on it. Suction continues until all operations necessary to complete the installation of fastener 1106 have been completed to ensure that the fastener installation meets requirements.

[0339] After fastener 1106 is fully installed, end effector 414 can be removed from interlocking joint 400 and repositioned relative to the next position of the fastener to be installed on interlocking joint 400. Furthermore, end effector 416 can be used to switch out... Figures 11 to 13 The end effector 1100 is in the middle, and the end effector 416 can be repositioned relative to the next position on the interlocking splice 400 where a new fastener is to be installed.

[0340] Figures 4 to 15 The illustrations of end effectors, tools, devices, and other components are not intended to imply physical or architectural limitations on the manner in which exemplary embodiments may be implemented. Other components may be used in addition to those shown, or may be used in place of the shown components. Some components may be optional. Figures 4 to 15 The different components shown can be Figure 3 The illustrated embodiments show how the components shown in boxes can be implemented in terms of physical structure. Additionally, Figures 4 to 15 Some components can be with Figure 3 The combination of components; with Figure 3 Use the components together; or combine the two.

[0341] Figure 16 This is a flowchart of a method for installing fasteners according to an exemplary embodiment. It can be used... Figure 3 Assembly system 302 or Figures 4 to 15 The assembly system 413 is used to implement this. Figure 16 The process shown is 1600.

[0342] The process can be initiated (operation 1602) by applying a first mechanical force to the first component and a second mechanical force to the second component to form a clamping of the first and second components. 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 clamping, and the second component forms a second side of the clamping.

[0343] Optionally, a fastener hole is drilled from the second clamped side by means of the clamping of the first and second components (operation 1604). The fastener hole extends from the second side of the assembly to the first side. The fastener hole may 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 and second holes are coaxial.

[0344] Air is drawn from the first clamping side through fastener holes passing 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 is removed (operation 1606). In other words, air suction through the fastener holes maintains the "clamping" of the first and second components without the need for a second mechanical force at the second clamping side.

[0345] Specifically, in operation 1606, suction is performed at a volumetric flow rate sufficient to maintain clamping only from the first clamping side, without requiring additional force at the second clamping side. Air is suctioned 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.

[0346] In these embodiments, air is drawn from the first clamping side via the fastener hole in the direction toward the first component and at a volumetric flow rate sufficient to maintain clamping of the wall of the second hole while overcoming the suction loss at the second clamping side. For example, a certain amount of suction or suction force may be lost due to the open end of the fastener hole at the second side.

[0347] In some embodiments, depending on the implementation, operation 1606 can begin after operation 1604 has been completed or during operation 1604. In other words, suction can be performed only after the fastener hole has been drilled or while the fastener hole is being drilled.

[0348] Remove the first and second mechanical forces (operation 1608). Operation 1608 includes, for example, switching out the end effector used in drilling operation 1604 with a new end effector. Suction continues in operation 1606 to maintain the clamping of the first and second components during the switching out of the end effector.

[0349] Subsequently, while continuing to evacuate air through the fastener hole to maintain the clamping of the first and second components, the fastener is installed within the fastener hole (operation 1610). In one or more illustrative embodiments, operation 1610 includes inserting the fastener into the fastener hole and forming the desired interference fit. In other illustrative embodiments, operation 1610 includes inserting the fastener into the fastener hole and mounting the fastener holding hardware around an elongated portion of the fastener's extension through the fastener hole.

[0350] While performing operation 1610, the air suction in operation 1606 continues, ensuring that the clamping of the first and second components is maintained throughout the fastener insertion process. Air suction can continue through the hole until the entire fastener installation operation is completed. For example, suction can continue to maintain clamping until the desired interference fit is formed between the fastener and the fastener hole.

[0351] Figure 17 This is a flowchart illustrating a process for maintaining clamping according to an exemplary embodiment. For example, it can be used... Figure 3 Assembly system 302 or Figures 4 to 15 Assembly system 413 is used for Figure 17 The process shown is 1700.

[0352] Process 1700 (operation 1702) can be started by applying a first mechanical force to the first panel and a second mechanical force to the second panel to form a clamping clamp between the first and second panels. The first and second panels are fuselage panels.

[0353] This can be achieved by using a coupling to a first end effector (e.g., Figure 4 The tool of the end effector 414 in the middle applies a first force to perform operation 1702. This tool can be, for example, a nozzle, etc. Figure 4 The nozzle 420 is used. However, in other illustrative embodiments, the tool may be some other type of component, element, or structural part. It is used by coupling to a second end effector (e.g., Figure 4 The tool of the end effector 416 in the middle applies a second force.

[0354] Air is drawn from the first clamping side through fastener holes passing through the first and second panels to provide a clamping force that holds the wall defining the portion of the fastener hole located 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 holes and through nozzles positioned relative to the first panel at the first clamping side to maintain clamping.

[0355] In some illustrative embodiments, the fastener hole may be drilled as part of process 1700. For example, the hole may be drilled between operations 1702 and 1704. In other illustrative embodiments, drilling the fastener hole is part of a separate process or performed before process 1700. For example, a first hole may be drilled in the first panel and a second hole in the second panel before the panels are “clamped”. The first and second panels may then be positioned relative to each other before operation 1702 such that the holes are aligned to form a single coaxial fastener hole. Afterward, operation 1702 may be performed to initiate process 1700.

[0356] Referring again to operation 1704, air is suctioned with sufficient suction power (e.g., sufficient volumetric flow rate) to maintain the clamping of the first and second panels without the need for a second mechanical force. Suction maintains the clamping when the clamping force provided by suction is opposite to 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 exert an equal reaction force on the second panel, thereby maintaining the clamping.

[0357] Subsequently, the second mechanical force is removed while air continues to be drawn 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 the clamped second side while air continues to be drawn from the first side through the fastener hole to maintain clamping during fastener installation.

[0358] Figure 18 This is a flowchart illustrating a clamping process according to an exemplary embodiment. For example, it can be used... Figure 3 Assembly system 302 or Figures 4 to 15 Assembly system 413 is used for Figure 18 The process shown is 1800.

[0359] Process 1800 (operation 1802) begins by aligning a first hole in the first panel with a second hole in the second panel to define a through hole. In these illustrative embodiments, operation 1802 is performed to concentrically or coaxially or concentrically and coaxially align the first and second holes to define the through hole. As an illustrative embodiment, the first and second panels are positioned relative to each other so that the first hole and the second hole are coaxially aligned.

[0360] In some embodiments, the through hole takes the form of a fastener hole, for example... Figure 3Fastener hole 346. In other embodiments, the through hole takes the form of an indexing hole. For example, the first and second holes aligned in operation 1802 can be defined assembly holes. In operation 1802, the first and second holes can be coaxially aligned to form an indexing hole. In one or more illustrative embodiments, in operation 1802, the first and second panels can be fuselage panels, wing panels, or some other type of panel.

[0361] In other illustrative embodiments, in operation 1802, aligning the first hole in the first panel with the second hole in the second panel includes drilling the first hole in the first panel and drilling the second hole in the second panel such that the two holes are coaxially aligned and form a through hole through the first panel and the second panel.

[0362] Subsequently, the wall defining the second hole is clamped through the through-hole to pull the second panel toward the first panel, thereby establishing a clamping between the first and second panels (operation 1804). The clamping established in operation 1804 is a unilateral clamping. Operation 1804 can be performed, for example, by suction to clamp the wall of the second hole. Air is drawn through the through-hole, such that the suction force provides a clamping force to clamp the wall of the second hole. In particular, a partial vacuum is drawn through the through-hole, thereby providing a clamping force to clamp the wall of the second hole. Although the outward-facing end of the second hole is an open end, a partial vacuum is still created.

[0363] The clamping formed in operation 1804 may be maintained until one or more operations are performed on the through-hole. For example, the clamping may be maintained until a temporary fastener is installed to maintain the clamping or until a drilling operation is performed to enlarge the through-hole to form a fastener hole. In some cases, the clamping is maintained until a fastener installation operation is performed to install the fastener within the through-hole, wherein the diameter of the hole is within the fastener installation tolerance. In some cases, the clamping may be maintained until both the drilling operation and the fastener installation operation are performed. In other embodiments, the clamping is maintained until a fastener installation operation is performed, which includes inserting the fastener through the through-hole and securing a nut or collar to the fastener.

[0364] Single-sided clamping allows various tools and devices to move around from the opposite side of the partially evacuated area relative to the through-hole. Single-sided clamping improves the efficiency of the assembly process.

[0365] Figure 19 This is a flowchart illustrating a process for maintaining a unilateral clamping according to an exemplary embodiment. For example, [the following can be used]. Figure 3 Assembly system 302 or Figures 4 to 15 Assembly system 413 is used for Figure 19 The process shown is 1900. Specifically, it can be used... Figure 3 The end effector 324 or Figures 4 to 15The end effector 414 in the process 1900 is used to perform the process.

[0366] Process 1900 includes drawing air from a first side of the clamping of the first and second components via 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 maintaining the clamping of the first and second components (operation 1902). In one or more illustrative embodiments, operation 1902 includes drawing air from the first side of the clamping via the fastener hole to clamp the wall defining the second hole in the second component, thereby pulling the second component toward the first component.

[0367] Optionally, process 1900 further includes removing the first and second mechanical forces (operation 1904) after a static force equilibrium has been established by means of the suction force generated by the suction and the reaction force generated by the contact surface of the first tool at the first clamping side, after which the process terminates. The first mechanical force may be applied by the first tool at the first clamping side. During suction, the second mechanical force may be applied by the second tool at the second clamping side.

[0368] The suction force and reaction force maintain the clamping of the first and second components in the absence of the first and second mechanical forces. In these illustrative embodiments, at least the first and second mechanical forces are applied until a static force equilibrium is established by means of the suction force generated by the suction and the reaction force generated by the contact surface of the first tool at the first clamping side.

[0369] Optionally, process 1900 also includes installing the fastener through the fastener hole while continuing to evacuate air via the fastener hole (operation 1906). In operation 1906, evacuation may continue at least until the fastener is fully installed.

[0370] Figure 20 This is a flowchart illustrating a process for maintaining a unilateral clamping according to an exemplary embodiment. For example, it can be used... Figure 3 Assembly system 302 or Figures 4 to 15 Assembly system 413 is used for Figure 20 The process shown is 2000.

[0371] Process 2000 can begin by applying a first mechanical force and a second mechanical force to the first component and the 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 and second components to pull the second component toward the first component (operation 2004). While continuing to draw air, the first and second mechanical forces are removed, such that after the removal of the first and second mechanical forces, the suction independently maintains the clamp (operation 2006), after which the process terminates.

[0372] Figure 21 This is a flowchart illustrating a process for maintaining a unilateral clamping according to an exemplary embodiment. For example, it can be used... Figure 3 Assembly system 302 or Figures 4 to 15 Assembly system 413 is used for Figure 21 The process 2100 shown is illustrated.

[0373] Process 2100 includes: applying a first force by contacting the first side of the panel connector with a first end actuator (operation 2102). Process 2100 includes: applying a second force equal to and opposite to the first force by contacting the second side of the panel connector with a second end actuator (operation 2104) and establishing clamping. Furthermore, process 2100 includes: maintaining clamping by the first end actuator on the first side of the panel connector after removing contact with the second side (operation 2106), after which the process terminates.

[0374] Figure 22 This is a flowchart illustrating a process for maintaining a unilateral clamping according to an exemplary embodiment. For example, it can be used... Figure 3 Assembly system 302 or Figures 4 to 15 Assembly system 413 is used for Figure 22 The process 2200 is shown in the figure.

[0375] Process 2200 includes applying a first force to a first panel of the panel connector by a single-function end effector located on a first side of the panel connector (operation 2202). Process 2200 further includes applying a second force equal to and opposite to the first force to a second panel of the panel connector by the single-function end effector, thereby providing unilateral clamping of the first and second panels (operation 2204), after which the process terminates.

[0376] 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 and second panels prior to operation 2202. These holes may be formed by drilling, punching holes in the panels, or by other hole-making operations. These holes may be drilled during the initial clamping of the panels, such that the holes are concentric or coaxial or concentrically and coaxially aligned to form through holes (fastener holes). In other illustrative embodiments, defined assembly holes may be formed individually in the panels, and then the panels are placed together to align the holes.

[0377] Figure 23 This is a flowchart illustrating a process for providing unilateral clamping according to an exemplary embodiment. A single-function end effector (e.g., [missing information]) can be used. Figure 3 The end effector 324 or Figures 4 to 15The end effector 414 described in the text is used to perform... Figure 23 The process shown is 2300.

[0378] Process 2300 may optionally include aligning a first hole in a first component with a second hole in a second component concentrically, coaxially, or both concentrically and coaxially (operation 2302). In some embodiments, operation 2302 includes drilling by means of a clamping action formed by the first and second components to form a first hole and a second hole that are concentrically, coaxially, or both concentrically and coaxially aligned. 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 defined assembly hole) to align the first and second holes.

[0379] Next, process 2300 includes clamping the wall of the second hole in the second component via the first hole in the first component, thereby pulling the second component toward the first component (operation 2304), after which the process terminates. In some embodiments, operation 2304 includes creating a pressure differential acting on the wall of the second hole in the second component to pull the second component toward the first component. In one or more embodiments, operation 2304 includes drawing air via the first and second holes using a suction device positioned relative to the first component to pull the second component toward the first component.

[0380] In this way, process 2300 provides a method for establishing and maintaining clamping. In particular, unilateral clamping is provided.

[0381] Various exemplary embodiments recognize and consider it desirable to have methods and systems for improving the efficiency and production time of component construction. For example, exemplary embodiments recognize the desire for fully automated methods and systems for simultaneously performing multiple fastener installation operations along a component such as a fuselage assembly. Furthermore, exemplary embodiments recognize that using multiple end effectors to provide unilateral clamping at multiple locations on a first side of the component allows a single-function end effector to move around on opposite sides of the component. This movement and interchangeability of the single-function end effector on opposite sides of the component enables multiple tasks to be performed simultaneously in a manner that meets desired cycle times and production times.

[0382] Furthermore, there is a desire to reduce the complexity of end effectors, as complexity can lead to more maintenance and lower productivity than desired. For example, highly complex multi-functional end effectors, which are typically heavy, may require more maintenance and may be more difficult to repair and / or replace compared to less complex single-function end effectors. Additionally, because multi-functional end effectors are often very large and heavy, these types of end effectors require large robots to move them around, making them less flexible (i.e., less easily manipulated) than desired. Therefore, single-function end effectors may require less downtime, which can improve productivity.

[0383] In some cases, switching between multifunctional end effectors with different functions can be more complex or time-consuming than expected, potentially leading to lower productivity. However, exemplary embodiments recognize and consider that, due to the smaller size and scale required for these robotic devices, it is possible to easily and quickly replace a robotic device with a much lighter single-function end effector with another robotic device that has a single-function end effector. In this way, productivity can be improved. Because single-function end effectors are much lighter and smaller than multifunctional end effectors, smaller robotic devices with greater flexibility than the large robotic devices required for multifunctional end effectors can be used to move single-function end effectors around.

[0384] Now for reference Figure 24 It depicts a block diagram of a manufacturing environment according to an exemplary embodiment. Figure 24 The manufacturing environment 300 in the middle is similar to Figure 3 The manufacturing environment is 300. The high-density robot system 2400 comprises multiple units 2402. Each unit 2402 is... Figure 3 One embodiment of the assembly system 302 described herein.

[0385] Unit 2402, also referred to as a robotic unit or high-density robotic unit, is used to construct component 304. As previously described, in some embodiments, component 304 takes the form of fuselage component 313. In other embodiments, component 304 may take the form of a wing component or some other component for aircraft 314. Each unit 2402 includes robotic means for performing various operations along the location of component 304.

[0386] Unit 2404 is an embodiment of one of a plurality of units 2402. Unit 2404 includes robot devices 2406 and 2408, which may also be referred to as a first plurality of robot devices and a second plurality of robot devices, respectively. Each robot device 2406 can be configured in a manner similar to Figure 3The robotic device 318 described herein is implemented in a manner similar to that described above. Furthermore, each robotic device 2408 can be implemented in a manner similar to... Figure 3 Robot device 320 in Figure 3 Implemented by means of robot device 322 or other types of robot devices.

[0387] In these illustrative embodiments, robot device 2406 is located at and used on a first side 2409 of component 304, while robot device 2408 is located at and used on a second side 2411 of component 304. When component 304 takes the form of a body component 313, the first side 2409 can be accessed from inside the body component 313, while the second side 2411 can be accessed from outside the body component 313. For example, the first side 2409 may be at or near the inner profile line (IML) of the body component 313 (e.g., on the side facing the inner profile line), while the second side 2411 may be at or near the outer profile line (OML) of the body component 313 (e.g., on the side facing the outer profile line). Therefore, in some embodiments, robot device 2406 may be referred to as an IML robot device, and robot device 2408 may be referred to as an OML robot device.

[0388] In these illustrative embodiments, robot device 2406 includes robot device 2410, second robot device 2412, and third robot device 2414, which may be referred to as first robot device, second robot device, and third robot device, respectively. Similarly, robot device 2408 includes robot device 2416, robot device 2418, and robot device 2420, which may be referred to as first robot device, second robot device, and third robot device, respectively.

[0389] End effectors 2422, 2424, and 2426 are respectively coupled to robot devices 2410, 2412, and 2414. End effectors 2422, 2424, and 2426 may also be referred to as a first end effector, a second end effector, and a third end effector, respectively. These end effectors are single-function end effectors. In one or more illustrative embodiments, each of end effectors 2422, 2424, and 2426 is configured in a manner similar to... Figure 3 The end effector 324 described herein is implemented in such a manner. For example, each of the end effectors 2422, 2424, and 2426 may include components similar to those described above. Figure 3 The nozzle 332 and the suction device 330 are the nozzle and suction device.

[0390] End effectors 2428, 2430, and 2432 are respectively connected to robot devices 2416, 2418, and 2420. End effectors 2428, 2430, and 2432 can also be referred to as the first end effector, the second end effector, and the third end effector, respectively. These end effectors are single-function end effectors.

[0391] In one or more illustrative embodiments, end effector 2428 is implemented in a manner similar to end effector 326. For example, end effector 2428 may include components respectively similar to... Figure 3 Tools 336 and 338, and drilling tools (not shown). The end effector 2430 may include an inspection device (not shown) for inspecting the hole. In these embodiments, similar to... Figure 3 The end effector 2432 is implemented in a manner similar to the end effector 328 in the diagram. For example, the end effector 2432 may include components similar to... Figure 3 Fastener insertion tool 340 (not shown).

[0392] Unit 2404 is used to perform automated operations 2434 at each of a plurality of locations 2436 along component 304. In these illustrative embodiments, the automated operations 2434 take the form of fastener installation. Therefore, each of the locations 2436 can also be referred to as a fastener installation point. In one illustrative embodiment, fastener installation includes multiple tasks (operations or sub-operations), such as, but not limited to, clamping tasks, drilling tasks, fastener insertion tasks, and inspection tasks. Unit 2404 is used to perform these various tasks according to a predetermined task sequence 2438.

[0393] In these illustrative embodiments, the predetermined task sequence 2438 requires that at any given location 2436, a drilling task be performed before an inspection task and an inspection test be performed before a fastener insertion task. Depending on the implementation, the predetermined task sequence 2438 may include zero, one, two, or some other number of tasks performed before a drilling task, between a drilling task and an inspection task, between an inspection task and a fastener insertion task, after a fastener insertion task, or a combination thereof.

[0394] The control system 315, according to a predetermined task sequence 2438, enables the control unit 2404 to perform automated operations 2434 rapidly, accurately, and efficiently at each location 2436 along selected portions of component 304. The predetermined task sequence 2438 requires the aforementioned tasks to be performed synchronously at each location 2436. As used herein, "synchronous" means simultaneously or generally at the same time. For example, two tasks that start simultaneously, end simultaneously, or start and end simultaneously can be considered to be performing synchronously. Furthermore, when a task is performed within a duration that overlaps with the performance of another task, the two tasks can be considered to be performing synchronously. In other embodiments, two tasks performed within a given time interval can be considered to be performing synchronously, regardless of whether the actual durations of the tasks themselves overlap.

[0395] For example, control system 315 can control unit 2404 to perform a drilling task at one location of position 2436 simultaneously (or within the same time interval) with an inspection task at another location of position 2436. Furthermore, control system 315 can control unit 2404 to perform a drilling task at one location of position 2436 simultaneously (or within the same time interval) with an inspection task at another location of position 2436 and a fastener insertion task at yet another location of position 2436. The inspection task can be a hole inspection task.

[0396] Therefore, the control system 315 performs multiple fastener installation operations synchronously by performing specialized tasks that consist of these multiple fastener installation operations in a sequential manner but simultaneously at multiple locations. Furthermore, the control system 315 can control all units 2402 to perform automated operations 2434 synchronously, quickly, accurately, and efficiently at each of multiple locations along different parts of the assembly 304.

[0397] In some illustrative embodiments, robot device 2406 of unit 2404 is supported by platform 2440, while robot device 2408 of unit 2404 is supported by platform 2442. In these embodiments, the dimensions of robot device 2406 and its corresponding end effector are configured to allow interchangeability of robot device 2406. In other words, robot device 2406 can move on platform 2440 while platform 2440 remains stationary, allowing robot device 2406 to switch positions on platform 2440 without any assistance from platform 2440. This interchangeability allows for the rapid, accurate, and efficient execution of the predetermined task sequence 2438.

[0398] As used herein, robot devices are considered interchangeable when one robot device is replaced by another. For example, control system 315 can control robot device 2408 such that when robot device 2416 has performed its personalized specialized task at position A on component 304 and moved to position B, robot device 2418 moves to position A to perform its personalized specialized task. Similarly, when robot device 2416 has performed its personalized specialized task at position B and moved to position C, and when robot device 2418 has performed its personalized specialized task at position A and moved to position B, robot device 2420 moves to position A to perform its personalized specialized task. In this way, robot device 2408 is interchangeable at position 2436, enabling automated operation 2434 to be performed according to a predetermined task sequence 2438.

[0399] In these embodiments, the robot device 2408 and its corresponding end effector are sized to allow for interchangeability of the robot device 2408. In other words, the robot device 2408 can move on the platform 2442 while the platform 2442 remains stationary, allowing the robot device 2408 to switch positions on the platform 2442 without any assistance from the platform 2442. This interchangeability allows for the rapid, accurate, and efficient execution of the predetermined task sequence 2438.

[0400] Figure 25 According to an exemplary implementation Figure 1 Another perspective view of the manufacturing environment 100 is shown. The multiple assembly systems 104 can also be referred to as multiple units 2500. In other words, each of the multiple assembly systems 104 can be... Figure 24 One embodiment of unit 2404 in the example.

[0401] As previously described, multiple assembly systems 104 are positioned relative to fuselage assembly 102. The multiple assembly systems 104 include assembly system 106, assembly system 2502, and assembly system 2504, each of which may be referred to as a unit.

[0402] As discussed above, the assembly system 106 includes a robotic device 108 positioned relative to the exterior 110 of the fuselage assembly 102 (e.g., to perform tasks along the outer profile line side of the fuselage assembly 102) and a robotic device 112 positioned relative to the interior 114 of the fuselage assembly 102 (e.g., to perform tasks along the inner profile line side of the fuselage assembly 102). Robotic devices 108 and 112 work together to perform automated fastener installation operations for assembling the fuselage assembly 102. Robotic device 108 is... Figure 24An embodiment of the implementation of robot device 2408, and robot device 112 is Figure 24 An embodiment of the implementation of the robot device 2406.

[0403] Furthermore, the assembly system 2502 includes a robot device 2506 positioned relative to the interior 114 of the body assembly 102 and a robot device 2508 positioned relative to the exterior 110 of the body assembly 102. Robot devices 2506 and 2508 work together to perform automated fastener installation operations. Robot devices 2506 and 2508 are respectively... Figure 24 Examples of implementations of robot devices 2406 and 2408.

[0404] Assembly system 2504 includes a robot device 2510 positioned relative to the interior 114 of body assembly 102 and a robot device 2512 positioned relative to the exterior 110 of body assembly 102. Robot devices 2510 and 2512 work together to perform automated fastener installation operations. Each of these robot devices performs a different specialized task on the interior 114 or exterior 110 of body assembly 102. Robot devices 2510 and 2512 are respectively... Figure 24 Examples of implementations of robot devices 2406 and 2408. Each of robot devices 2510 and 2512 is coupled to a single-function end effector.

[0405] Robotic devices 112, 2506, and 2510 are supported by platforms 202, 2516, and 2518, respectively. In some illustrative embodiments, these platforms are mobile platforms. As an illustrative embodiment, each of platforms 202, 2516, and 2518 may be integrated with or otherwise coupled to a corresponding mobile device (e.g., an automated guided vehicle (AGV)).

[0406] In one illustrative embodiment, platform 202 includes a mobility system (not shown); or is part of or coupled to the mobility system, which allows platform 202 to move along the interior of body assembly 102. For example, platform 202 may move along the floor inside body assembly 102, thereby moving robot device 112 relative to body assembly 102.

[0407] Furthermore, robot devices 108, 2508, and 2512 are supported by platforms 200, 2522, and 2524, respectively. In some illustrative embodiments, these platforms are mobile platforms. As an illustrative embodiment, each of platforms 200, 2522, and 2524 may be integrated with or otherwise coupled to a corresponding mobile device (e.g., an automated guided vehicle (AGV)).

[0408] In some embodiments, platforms 200, 2522, and 2524 are integrated with or coupled to a tower, which may be a movable tower. As an illustrative example, the robotic device 108 is supported by platform 200 coupled to tower 2526. Platform 200 is vertically movable along tower 2526 (e.g., up and down along tower 2526). Furthermore, tower 2526 includes, is part of, or is coupled to an automated guided vehicle 2528, which allows platform 200 and thus allows robotic device 108 to be positioned along the length of body assembly 102.

[0409] Because each robotic device in the multiple assembly systems 104 is coupled to a single-function end effector, the multiple robotic devices can be supported on the platform and moved around the platform in a precise and efficient manner to operate on the body assembly 102. In particular, each robotic device in the multiple assembly systems 104 performs its specialized task according to a predetermined task sequence.

[0410] Figure 26 This is an illustration of an enlarged end view of a fuselage assembly 102 under construction according to an exemplary embodiment. From Figure 25 The viewpoint along lines 26-26′ shows this enlarged end view. Robotic devices 108 and 112 work together to install fasteners that connect the fuselage panels together, thereby constructing fuselage assembly 102.

[0411] In this illustrative embodiment, the robot device 108 is coupled to single-function end effectors for drilling, inspection, and fastener insertion tasks. These single-function end effectors can be switched out by moving around, for example, relative to fastener mounting point 113, to perform their respective tasks. As previously described, a single-function end effector is an end effector for performing a single function on each robot device at each fastener mounting point. In this way, multiple single-function end effectors can be controlled and coordinated to perform personalized specialized tasks in a predetermined sequence. Therefore, automated operations including multiple such specialized tasks can be performed by these single-function end effectors operating in a coordinated, sequential manner.

[0412] In some cases, each robot device 108 moves around on platform 200 to position its corresponding end effector for a specific task relative to fastener mounting point 113. In other cases, robot device 108 may remain stationary on platform 200 but may be used to move and position its end effector relative to the next position in order to position the appropriate end effector for a given task relative to fastener mounting point 113.

[0413] Figure 27 It is a connection according to an exemplary implementation. Figures 25 to 26 An enlarged perspective view of the end effector 2700 of the robotic device 112. (Compared to...) Figure 26 Arrows 27-27 shown depict this view of end effector 2700. End effector 2700 includes end effectors 2702, 2704, and 2706. End effectors 2702, 2704, and 2706 are embodiments of implementations of end effectors 2422, 2424, and 2426, respectively.

[0414] In addition, it can be similar to Figure 3 The end effector 324 described in the document and Figures 4 to 15 Each of end effectors 2702, 2704, and 2706 is implemented in the manner described in the illustrative embodiment of end effector 414. In this embodiment, end effector 2702 includes a nozzle 2708 and a suction device 2710. End effector 2704 includes a nozzle 2712 and a suction device 2714. End effector 2706 includes a nozzle 2716 and a suction device 2718.

[0415] End effectors 2702, 2704, and 2706 are used to provide unilateral clamping from inside 114 of the body assembly 102, which allows Figures 25 to 26 The robotic device 108 facilitates the simultaneous performance of multiple tasks at multiple locations, enabling fastener installation operations to be performed sequentially at these locations. Specifically, the robotic device 2408 can... Figures 25 to 26 The platform 200 moves around and exchanges to perform various tasks simultaneously at multiple fastener mounting points according to a predetermined task sequence.

[0416] Each end effector 2700 may include a sensor system for guiding each end effector to a specific fastener mounting point. The sensor system may include at least one of, for example, a laser distance sensor, an imaging device, or some other type of sensor.

[0417] As depicted, end effectors 2702, 2704, and 2706 are positioned relative to fastener mounting points 2720, 2722, and 2724, respectively. In this illustrative embodiment, these fastener mounting points are close to each other. The end effectors 2702, 2704, and 2706 are positioned very close to each other, which allows the end effectors 2702, 2704, and 2706 to be positioned relative to fastener mounting points 2720, 2722, and 2724, respectively. Such a positioning of end effectors can be referred to as a high-density arrangement.

[0418] In some illustrative embodiments, these fastener mounting points performing different tasks simultaneously may be adjacent to each other. In other embodiments, there may be one or more locations between the fastener mounting points where different tasks are performed simultaneously.

[0419] The size and shape of these end effectors allow them to be positioned in such a high-density configuration and allow the robot device 108 on platform 200 to be easily and efficiently interchanged. In other words, the robot device 108 can easily and quickly move around on platform 200 to switch the positioning of end effectors 2702, 2704, and 2706 relative to fastener mounting points 2720, 2722, and 2724, respectively.

[0420] Figure 28 It is a connection according to an exemplary implementation. Figures 25 to 26 An enlarged perspective view of the end effector 2800 of the robotic device 108. (Relative to...) Figure 26 Arrows 28-28 in the diagram depict this view of end effector 2800. End effector 2800 includes end effectors 2802, 2804, and 2806. End effectors 2802, 2804, and 2806 are positioned along the exterior 110 of the fuselage assembly 102, opposite to end effectors 2702, 2704, and 2706, respectively. End effectors 2802, 2804, and 2806 are examples of implementations of end effectors 2428, 2430, and 2432, respectively.

[0421] It can be similar to Figure 3 The end effector 326 and Figures 4 to 9 The end effector 2802 is implemented in a manner similar to the end effector 416 in the diagram. For example, the end effector 2802 includes a tool 2808 and a drilling tool 2810, which can be respectively similar to... Figures 4 to 9 The tool 424 and drilling tool 426 of the end effector 416 are used to implement this.

[0422] The end effector 2804 includes an inspection device 2812. The inspection device 2812 can be used to inspect holes drilled, for example, using a drilling tool 426 drilled with the end effector 2802. The inspection device 2812 ensures that the drilled holes meet the tolerances and requirements for holes used in fastener installation. Hole tolerances and requirements define the quality of the hole. For example, the inspection device 2812 can be used to inspect at least one of the following: hole diameter, hole roundness, hole angle relative to a surface, countersunk hole depth, countersunk hole size, countersunk hole angle, or certain other types of hole characteristics.

[0423] The inspection device 2812 can take many different forms. For example, but not limited to, the inspection device 2812 may include at least one of a laser sensor, an imaging device, or some other type of sensor.

[0424] The end effector 2806 can be similar to Figure 3 The end effector 328 described in the document and Figures 11 to 13 The end effector 1100 described herein is implemented in a manner similar to that described above. For example, the end effector 2806 includes a fastener insertion tool 2814, which may be similar to... Figures 11 to 13 The fastener insertion tool 1104 in the middle is used to implement this.

[0425] Each end effector 2800 may include a sensor system for guiding each end effector to a specific fastener mounting point. The sensor system may include at least one of, for example, a laser distance sensor, an imaging device, or some other type of sensor.

[0426] As depicted, end effectors 2802, 2804, and 2806 are positioned relative to fastener mounting points 2720, 2722, and 2724, respectively. In this illustrative embodiment, these fastener mounting points are close to each other but spaced apart (e.g., not adjacent). For example, fastener mounting points 2720, 2722, and 2724 are separated by three fastener mounting points. This type of spacing can be used to ensure that end effectors 2802, 2804, and 2806 do not collide. The very close positions of end effectors 2802, 2804, and 2806 allow them to be positioned relative to fastener mounting points 2816, 2818, and 2820, respectively, which can be referred to as a high-density setup. This type of setup allows for the simultaneous execution of multiple different specialized tasks. The size and shape of these end effectors allow them to be positioned in this high-density setup and allow the robot device 108 to be easily and efficiently interchanged on platform 200. In other words, the robot device 108 can move easily and quickly around on the platform 200 to switch the positioning of the end effectors 2802, 2804 and 2806 relative to multiple fastener mounting points, thereby switching the function performed at the fastener mounting points.

[0427] Each robot device 112 is coupled to an end effector that holds the body panels together from the inside of the body assembly 102 during switching out of a single-function end effector coupled to robot device 108. In other words, each of the robot devices 112 includes a single-function end effector that provides unilateral clamping. For example, after an end effector on one of the robot devices 108 has been used to perform its designated task, it can be removed from fastener mounting point 113 (e.g., moved to another mounting point) to make room for another end effector. The end effector coupled to one of the robot devices 112 is used to maintain the clamping of the body panels only from the inside of the body assembly 102, while the end effector of robot device 108 is efficiently switched and used within the high-density robot zone of the outer 110 of the body assembly 102.

[0428] Figure 29 This is a representative sequence diagram of the various stages involved in a unit that performs automated fastener installation operations at multiple fastener mounting points along an assembly, according to an exemplary embodiment. Unit 2900 is... Figure 24 One embodiment of unit 2404 is described. Unit 2900 is used for automated fastener installation operations on connector 2901. Specifically, unit 2900 is used according to a predetermined task sequence (e.g., Figure 24 These automated fastener installation operations are performed in the predetermined task sequence 2438.

[0429] Depending on the implementation, connector 2901 may also be referred to as a component, interlocking joint, fuselage joint, or some other type of skin joint. In one illustrative embodiment, connector 2901 comprises two mating parts. In some embodiments, these parts may be panels, such as fuselage panels or wing panels.

[0430] Unit 2900 is used to install fasteners along joint 2901 according to a predetermined task sequence, which includes a first stage 2902, a second stage 2904, a third stage 2906, a fourth stage 2908, a fifth stage 2910, and a sixth stage 2912. The number and order of these stages is only one embodiment of the predetermined task sequence that can be performed using unit 2900.

[0431] Unit 2900 includes end effectors 2914, 2916, and 2918, which are coupled to a robotic device (not shown) at a first side 2920 of connector 2901. End effectors 2914, 2916, and 2918 may be respectively similar to... Figure 24End effectors 2422, 2424, and 2426 are implemented. Additionally, unit 2900 includes a drilling end effector 2922, which is coupled to a robotic device (not shown) at a second side 2921 of connector 2901. The drilling end effector 2922 can be similar to... Figure 24 The end effector 2428 is implemented.

[0432] Unit 2900 is used to perform automated fastener installation operations at fastener mounting points 2915, 2917, and 2919. These fastener mounting points can be adjacent fastener mounting points as shown in the figure, with no other fastener mounting points between them. Alternatively, one or more other fastener mounting points may exist between fastener mounting points 2915 and 2917, between fastener mounting points 2917 and 2919, or between fastener mounting points 2915 and 2917, and between fastener mounting points 2917 and 2919. This spacing between fastener mounting points is similar to... Figure 28 The intervals shown.

[0433] As further described below, the robotic device, coupled to the various end effectors of unit 2900, is moved and positioned relative to these different fastener mounting points. Furthermore, in some illustrative embodiments, the operation and movement of the end effectors and the robotic device, as described below, are controlled by a control system (e.g., Figure 3 and 24 The control system 315) in the middle.

[0434] In the first stage 2902, end effectors 2914, 2916, and 2918 are positioned relative to fastener mounting points 2915, 2917, and 2919, respectively. Furthermore, the drilling end effector 2922 moves and positions relative to fastener mounting point 2915 for a specific task at that point.

[0435] In this illustrative embodiment, in the first stage 2902, the end effector 2914 is aligned with the drilling end effector 2922. Furthermore, in the first stage 2902, the end effector 2914 and the drilling end effector 2922 are used to establish a clamping of the joint 2901 at the fastener mounting point 2915 and to drill a hole at the fastener mounting point 2915. These tasks can be performed in any of the various methods described above.

[0436] In one illustrative embodiment, end effector 2914 and drilling end effector 2922 first establish clamping of connector 2901. Then, drilling end effector 2922 drills a hole at fastener mounting point 2915. Once the hole is drilled, end effector 2914 establishes a unilateral clamping using any of the methods described above. For example, end effector 2914 can use suction to establish and maintain a unilateral clamping. In other words, once a unilateral clamping is established, end effector 2914 can maintain this clamping of connector 2901 at fastener mounting point 2915 without further assistance from drilling end effector 2922.

[0437] In the second stage 2904, the drilling end effector 2922 is replaced with an inspection end effector 2924, while the end effector 2914 remains clamped at the fastener mounting point 2915. As an illustrative embodiment, in the second stage 2904, the drilling end effector 2922 is removed from the fastener mounting point 2915 and positioned relative to the fastener mounting point 2917.

[0438] As previously described, fastener mounting point 2917 may be adjacent to fastener mounting point 2915, with no other fastener mounting points in between. Alternatively, fastener mounting points 2917 and 2915 may be non-adjacent (i.e., with one or more other fastener mounting points in between). In this way, the end-drilling actuator 2922 may be configured to skip one or more fastener mounting points to reach fastener mounting point 2917. For example, the end-drilling actuator 2922 may be controlled to drill only at every other fastener mounting point, every other two, every other three, or every n-1 fastener mounting points. In some cases, fastener mounting points may be located in different horizontal rows along joint 2901.

[0439] Furthermore, in the second stage 2904, the inspection end effector 2924 is moved and positioned relative to the fastener mounting point 2915 to perform the next specialized task at the fastener mounting point 2915. While the end effector 2914 maintains clamping at the fastener mounting point 2915, the inspection end effector 2924 is used to inspect the hole drilled at the fastener mounting point 2915. Simultaneously, the end effector 2916 and the drilling end effector 2922 establish clamping at the fastener mounting point 2917. Additionally, the drilling end effector 2922 drills a hole at the fastener mounting point 2917. Once the hole is drilled, the end effector 2916 is used to establish and independently maintain a unilateral clamping of the connector 2901 at the fastener mounting point 2917. This unilateral clamping allows the drilling end effector 2922 to be replaced by the inspection end effector 2924 at the fastener mounting point 2917 in the next stage.

[0440] In the third stage 2906, the drill bit end effector 2922 is moved away from the fastener mounting point 2917 and positioned relative to the fastener mounting point 2919; the inspection end effector 2924 is moved and positioned relative to the fastener mounting point 2917 to perform the next specialized task at the fastener mounting point 2917; and the fastener insertion end effector 2926 is moved and positioned relative to the fastener mounting point 2915 to perform the next specialized task at the fastener mounting point 2915.

[0441] Fastener insertion end effector 2926 is used to install a fastener at fastener mounting point 2915. In some illustrative embodiments, fastener insertion end effector 2926 is capable of self-installing the fastener. For example, installing the fastener may include inserting the fastener into a hole drilled at fastener mounting point 2915 until the desired interference fit is formed. In other embodiments, fastener insertion end effector 2926 is used to insert the fastener into a hole drilled at fastener mounting point 2915, while end effector 2914 is used to complete the installation of the fastener. End effector 2914 maintains clamping at fastener mounting point 2915 until the fastener is fully installed at fastener mounting point 2915, after which it is no longer necessary for end effector 2914 to maintain clamping at fastener mounting point 2915.

[0442] Simultaneously with the installation of the fastener at fastener mounting point 2915, the inspection end effector 2924 inspects the hole drilled at fastener mounting point 2917. Furthermore, simultaneously with the installation of the fastener at fastener mounting point 2915 and the inspection of the hole at fastener mounting point 2917, end effectors 2918 and drilling end effector 2922 are used to establish a clamp at fastener mounting point 2919. Additionally, drilling end effector 2922 drills a hole at fastener mounting point 2919. Once the hole is drilled, end effector 2918 is used to establish and maintain a unilateral clamp on joint 2901 at fastener mounting point 2919. This unilateral clamp allows the drilling end effector 2922 to be replaced with the inspection end effector 2924 at fastener mounting point 2919 in the next stage.

[0443] In the fourth stage 2908, the drilling end effector 2922 is moved and positioned relative to the new fastener mounting point 2928; the end effector 2924 is moved and positioned relative to the fastener mounting point 2919; and the fastener insertion end effector 2926 is moved and positioned relative to the fastener mounting point 2917. Additionally, the end effector 2914 is moved and positioned relative to the fastener mounting point 2928.

[0444] In the fourth stage 2908, end effector 2914 and drilling end effector 2922 establish clamping at fastener mounting point 2928. Drilling end effector 2922 drills a hole at fastener mounting point 2928. Then, end effector 2914 establishes and maintains a unilateral clamping at fastener mounting point 2928. Synchronously with the tasks performed by end effectors 2914 and drilling end effector 2922, inspection end effector 2924 inspects the hole drilled at fastener mounting point 2919, while fastener insertion end effector 2926 installs the fastener into the hole drilled at fastener mounting point 2917. Once the fastener is installed at fastener mounting point 2917, end effector 2918 no longer needs to maintain clamping at fastener mounting point 2917.

[0445] In this illustrative embodiment, fastener mounting point 2928 may be the final location along joint 2901 where a fastener will be installed. However, in other illustrative embodiments, any other number of fastener mounting points may exist between or after fastener mounting point 2917 and fastener mounting point 2928.

[0446] In the fifth stage 2910, the drilling end effector 2922 is removed from the connector 2901; the inspection end effector 2924 is moved and positioned relative to the fastener mounting point 2928; and the fastener insertion end effector 2926 is moved and positioned relative to the fastener mounting point 2919.

[0447] The end effector 2924 inspects the hole drilled at the fastener mounting point 2928, while the fastener insertion end effector 2926 simultaneously installs the fastener at the fastener mounting point 2919. Once the fastener is installed at the fastener mounting point 2919, the end effector 2918 is no longer needed to maintain clamping at the fastener mounting point 2919.

[0448] In other illustrative embodiments, connector 2901 may include a number of other locations for the fastener to be installed, following fastener mounting point 2928. In these embodiments, the drill end effector 2922 is removed from connector 2901 only after it has been used to drill at each of these locations.

[0449] For example, any number of other stages may exist between stage 4 2908 and stage 5 2910. The drilling end effector 2922, the inspection end effector 2924, and the fastener insertion end effector 2426 may continue to move in the order shown to perform tasks synchronously at other fastener mounting points.

[0450] In stage 6, 2912, the inspection end effector 2924 is removed from the connector 2901, and the fastener insertion end effector 2926 is moved and positioned relative to the fastener mounting point 2928. The fastener insertion end effector 2926 installs the fastener at the fastener mounting point 2928. Once the fastener is installed at the fastener mounting point 2928, it is no longer necessary for the end effector 2914 to maintain clamping at the fastener mounting point 2928.

[0451] In this way, unit 2900 can automate fastener installation at fastener mounting points 2915, 2916, 2918, and 2928. Due to the interchangeability of the end effectors of unit 2900, unit 2900 can perform these automated fastener installation operations quickly, accurately, and efficiently.

[0452] As described above, through Figure 29 As shown in the various stages, unit 2900 is used to perform different tasks of fastener installation operations (e.g., drilling, inspection, fastener insertion, and installation) simultaneously at multiple locations, while still ensuring that the tasks are performed at any given fastener installation point in the proper order of the fastener installation operations. Unit 2900 is a high-density robotic unit that allows for the performance of different tasks of fastener installation operations within a small volume space.

[0453] In these illustrative embodiments, various end effectors are interchangeable to meet selected cycle times and production requirements. In other words, the movement and repositioning of the end effectors can be controlled and timed based on the selected cycle times and production requirements. Furthermore, the movement of these end effectors via the robotic device coupled thereto can be controlled by a control system (e.g., Figure 3 and 24 The control system 315) controls and coordinates to prevent collisions of the end effector or robotic device during movement.

[0454] Figure 30 This is a flowchart illustrating a process for automating the operation of a component according to an exemplary embodiment. Units, such as [e.g., ...], can be used. Figure 24 Unit 2404 described in the text is used for... Figure 30 The process shown is 3000. Process 3000 is a fully automated process.

[0455] Process 3000 can be initiated by positioning a first plurality of robotic devices relative to a first side of a component of the aircraft (operation 3002). In operation 3002, the first plurality of robotic devices can be, for example... Figure 24 The robot device 2406 is described above. In one illustrative embodiment, the component is a body assembly, and the first region is a first volumetric region located within the body assembly.

[0456] Next, a second plurality of robotic devices are positioned relative to the second side of the component (operation 3004). In operation 3004, the second plurality of robotic devices may be, for example... Figure 24 The robot device 2408 is described above. In one illustrative embodiment, the second region is a second volume region located outside the body assembly. Furthermore, each of the second plurality of robot devices is used to perform a corresponding task.

[0457] Multiple tasks are performed at each of a plurality of locations on the component using a first plurality of robotic devices and a second plurality of robotic devices. While the first plurality of robotic devices independently maintain clamping at each of the plurality of locations, the second plurality of robotic devices synchronously perform tasks at the plurality of locations (operation 3006), after which the process terminates. In operation 3006, the multiple tasks are automated tasks. In these illustrative embodiments, the multiple tasks include drilling tasks, inspection tasks (e.g., hole inspection tasks), and fastener installation tasks.

[0458] Figure 31 This is a flowchart illustrating a process for automating operations to construct fuselage components for an aircraft, according to an exemplary embodiment. For example, [the following can be used]. Figure 24 The high-density robot system 2400 described in the article is used for... Figure 31 The process 3100 shown is illustrated. Specifically, it can be used... Figure 24 The high-density robotic system 2400 utilizes multiple units 2402 to perform process 3100. Process 3100 is a fully automated process. Process 3100 begins by positioning multiple units relative to corresponding parts of the aircraft's fuselage assembly (operation 3102). In operation 3102, the multiple units are multiple robotic units. Each of the multiple units includes a first plurality of robotic devices positioned internally relative to the fuselage assembly and a second plurality of robotic devices positioned externally relative to the fuselage assembly.

[0459] Subsequently, automated operations are performed synchronously at each of multiple locations in each corresponding part of the body assembly using multiple units, wherein the robotic devices of each unit are interchangeable to perform different tasks automated according to a predetermined task sequence (operation 3104), after which the process terminates. This coordinated operation of multiple units and the robotic devices within each of the multiple units ensures efficiency and improves overall production time.

[0460] Figures 32A to 32C This is a flowchart illustrating a process for automating fastener installation along a joint, according to an exemplary embodiment. Methods such as... Figure 24 Units such as unit 2404 described in the text are used for this purpose. Figures 32A to 32CThe process 3200 shown is a fully automated process. Furthermore, process 3200 is a process that can be customized according to... Figure 24 An embodiment of the manner in which the predetermined task sequence 2438 described herein performs multiple automated operations (e.g., automated operation 2434).

[0461] Process 3200 begins by positioning a first end effector at a first position along the joint on a first side of the joint, positioning a second end effector at a second position along the joint, and positioning a third end effector at a third position along the joint (operation 3202). The joint includes a first component and a second component, which may be, for example, a skin panel. For example, the joint may be an interlocking joint composed of fuselage or wing skin panels. In one embodiment, the joint includes a first panel forming a first side of the joint and a second panel forming a second side of the joint. The first position is a first fastener mounting point.

[0462] In these illustrative embodiments, operation 3202 includes aligning the nozzle of the first end effector substantially with the first position. For example, the nozzle may be aligned relative to the axis of a connector extending through the first position.

[0463] In one illustrative embodiment, the first, second, and third end effectors are simultaneously positioned at the first, second, and third positions, respectively. In other illustrative embodiments, operation 3202 may be performed in stages during process 3200. For example, the first end effector may be positioned at the first position before operation 3204, but the second end effector may be positioned at the second position during or between operations 3208 or 3210, which are described further below. Similarly, in some cases, the third end effector may be positioned at the third position during or between operations 3218 or 3220, which are described further below.

[0464] Subsequently, the end effector is positioned on the second side of the connector relative to the first position (operation 3204). In these illustrative embodiments, operation 3204 includes aligning the tool of the end effector substantially with the first position. For example, the tool may be aligned relative to an axis extending through the connector at the first position.

[0465] Next, a clamping procedure is performed at the first position using the first end effector and the drilling end effector until at least the first end effector independently maintains clamping at the first position (operation 3206). Figure 16Operations 1602 to 1608 are embodiments of a way to perform a clamping procedure such as the clamping procedure in operation 3206. Operations 1602 to 1608 can be used to implement operation 3206 when it is necessary to drill a hole (e.g., a fastener hole or a through hole) at a first position to install a fastener in the first position.

[0466] For example, a first end effector can be used to apply a first mechanical force in operation 1602 and to perform suction in operation 1606. Furthermore, a drilling end effector can be used to apply a second mechanical force in operation 1602 and to perform a drilling task in operation 1604. Regarding operation 1602, the first and second mechanical forces are equal and opposite mechanical forces.

[0467] Operations 1702 to 1704 are embodiments of another method in which a clamping procedure can be performed. For example, a first end effector can be used to apply a first mechanical force in operation 1702 and to perform suction in operation 1704. A drilling end effector can be used to apply a second mechanical force in operation 1702.

[0468] Once the defined assembly holes already exist in the first and second panels of the connector, operation 3206 can be performed using operations 1702 to 1704. The holes in these two panels are aligned to form a through-hole extending through the connector, in which fasteners can be installed.

[0469] In these illustrative embodiments, at the end of the clamping procedure of operation 3206, a unilateral clamping is provided at the first position. This unilateral clamping is maintained independently by the first end effector. The unilateral clamping can be provided in a variety of different ways. For example, providing unilateral clamping may include performing operations similar to the following: Figure 16 Operations 1606 and 1608 in the text; Figure 17 Operations 1704 and 1706 in the text; Figure 18 Operation 1804 in the middle; Figure 19 Operations 1902 and 1904 in the text; Figure 20 Operations in 2004 and 2006; Figure 21 Operations 2102, 2104, and 2106 in the text; Figure 22 Operations 2202 and 2204 in the code; or Figure 23 Operation 2304 in the middle.

[0470] Subsequently, while the first end effector continues to independently maintain the clamping at the first position (operation 3208), the drilling end effector moves and positions relative to the second position along the joint. Then, the movement and positioning of the end effector relative to the first position is checked (operation 3210).

[0471] The clamping procedure is performed at the second position using the second end effector and the drilling end effector (operation 3212). Figure 16 Operations 1602 to 1608 are embodiments of a clamping procedure that can be performed, such as the clamping procedure in operation 3212. For example, a second end effector can be used to apply a first mechanical force in operation 1602 and to perform suction in operation 1606. Furthermore, a drilling end effector can be used to apply a second mechanical force in operation 1602 and to perform a drilling task in operation 1604.

[0472] Operations 1702 to 1704 are embodiments of another way in which the clamping procedure can be performed. For example, a second end effector can be used to apply a first mechanical force in operation 1702 and to perform suction in operation 1704. A drilling end effector can be used to apply a second mechanical force in operation 1702.

[0473] In these illustrative embodiments, at the end of the clamping procedure of operation 3212, unilateral clamping is provided at a first position. This unilateral clamping is maintained independently by the first end effector. As previously mentioned, unilateral clamping can be provided in a variety of different ways.

[0474] While the first end effector continues to independently maintain the clamping at the first position, the inspection end effector is used to inspect the hole at the first position (operation 3214). In these illustrative embodiments, operations 3212 and 3214 are performed simultaneously.

[0475] Then, while the second end effector continues to independently maintain clamping at the second position, the drilling end effector moves and positions relative to the third position along the joint (operation 3216). Then, the movement and positioning of the end effector relative to the second position is checked (operation 3218). Furthermore, the fastener insertion end effector moves and positions relative to the first position (operation 3220).

[0476] Perform the clamping procedure in the third position using the third end effector and the drilling end effector (operation 3222). Figure 16 Operations 1602 to 1608 are embodiments of a clamping procedure that can be performed, such as the clamping procedure in operation 3222. For example, a third end effector can be used to apply a first mechanical force in operation 1602 and to perform suction in operation 1606. Furthermore, a drilling end effector can be used to apply a second mechanical force in operation 1602 and to perform a drilling task in operation 1604.

[0477] Operations 1702 to 1704 are embodiments of another way in which the clamping procedure can be performed. For example, a third end effector can be used to apply a first mechanical force in operation 1702 and to perform suction in operation 1704. A drilling end effector can be used to apply a second mechanical force in operation 1702.

[0478] In these illustrative embodiments, at the end of the clamping procedure of operation 3222, unilateral clamping is provided at the first position. This unilateral clamping is maintained independently by the first end effector. As previously mentioned, unilateral clamping can be provided in a variety of different ways.

[0479] While the second end effector continues to independently maintain clamping at the second position, an inspection end effector is used to inspect the hole at the second position (operation 3224). While the first end effector continues to independently maintain clamping at the first position, a fastener is installed in the first position using a fastener insertion end effector (operation 3226). In these illustrative embodiments, operations 3222, 3224, and 3226 are performed synchronously.

[0480] Subsequently, while the third end effector continues to independently maintain clamping at the third position, the drilling end effector is removed from the third position (operation 3228). The end effector is then inspected and positioned relative to the third position (operation 3230). A fastener is inserted and the end effector is moved and positioned relative to the second position (operation 3232).

[0481] While the third end effector continues to independently maintain clamping at the third position, an inspection end effector is used to inspect the hole at the third position (operation 3234). While the first end effector continues to independently maintain clamping at the first position, a fastener is installed in the second position using a fastener insertion end effector (operation 3236). In these illustrative embodiments, operations 3234 and 3236 are performed synchronously.

[0482] Subsequently, while the third end effector continues to independently maintain clamping at the third position, check that the end effector has moved away from the third position (operation 3238). Insert the fastener into the end effector and move and position it relative to the third position (operation 3240). While the third end effector continues to independently maintain clamping at the third position, use the fastener insertion device to install the fastener in the third position (operation 3242).

[0483] The fastener insertion end effector, the first end effector, the second end effector, and the third end effector are removed from the joint (operation 3244), after which the process terminates. Although these end effectors are described as being removed in operation 3244, one or more of these end effectors may be moved at different times throughout the process 3200.

[0484] For example, after the fastener is installed in the first position, the first end effector can be removed from the first position. After the fastener is installed in the second position, the second end effector can be removed from the second position. Furthermore, after the third fastener is installed in the third position, both the third end effector and the fastener insertion end effector can be removed from the third position.

[0485] Figure 33 This is a flowchart illustrating a process for automating fastener installation along an aircraft fuselage assembly, according to an exemplary embodiment. For example, fasteners such as... Figure 24 Units such as unit 2404 described in the text are used for this purpose. Figure 33 The process shown is 3300. Process 3300 is a fully automated process.

[0486] Process 3300 begins as follows: a first platform supporting a first plurality of robotic devices of a robot unit is positioned inside the body assembly relative to a selected portion of the body assembly (operation 3302). Next, a second platform supporting a second plurality of robotic devices of the robot unit is positioned outside the body assembly relative to a selected portion of the body assembly (operation 3304). In operations 3302 and 3304, the first and second platforms are positioned to provide coordinated operation of the first and second plurality of robotic devices.

[0487] 3302 and 3304 can be operated in a variety of different ways. In one illustrative embodiment, each of the first and second platforms is directly or indirectly coupled to a mobile device such as an automated guided vehicle. This mobile device is capable of moving the first and second platforms relative to the body assembly.

[0488] In another illustrative embodiment, the first and second platforms are stationary. In this example, the fuselage assembly may be supported by a movable support system, which may include one or more automated guided vehicles for moving the fuselage assembly relative to the first and second platforms.

[0489] Subsequently, using a first plurality of end effectors connected to a first plurality of robotic units and a second plurality of end effectors connected to a second plurality of robotic units, an automated fastener installation operation is performed at selected fastener mounting points on selected portions of the body assembly. The first plurality of end effectors provide unilateral clamping at the selected fastener mounting points (operation 3306), after which the process terminates. Operation 3308 includes customizing the interchangeability of the second plurality of robotic units, thereby customizing the interchangeability of the second plurality of end effectors to meet selected cycle times and production requirements.

[0490] The unilateral clamping provided by the first plurality of end effectors enables the second plurality of robotic devices and the second plurality of end effectors to move around the second platform and be switched out at various fastener mounting points. The movement of the second plurality of robotic devices can be coordinated based on the time required for synchronous tasks.

[0491] A "tick" time for a phase or period is the time interval between one or more tasks performed individually or simultaneously. For example, the "tick" time can be selected based on the task with the longest duration. In an illustrative embodiment, drilling takes approximately 4 seconds; inspecting the hole takes approximately 15 seconds; and installing a fastener in the hole takes approximately 5 seconds. Therefore, the "tick" time for this phase or period can be selected as 20 seconds. In other words, the coordinate movement and exchange of the second plurality of robotic devices are set to occur once every 20 seconds.

[0492] Although process 3300 is described with respect to a single robot unit, process 3300 can be repeated any additional number of times using different robot units positioned relative to different parts of the body assembly. As an illustrative embodiment, three different instances of process 3300 can be performed synchronously by three different robot units. In this way, the total time and resources required for fastener installation operations at desired fastener mounting points along the body assembly are significantly reduced.

[0493] Robotic cells (i.e., high-density robotic cells) form a high-density robotic system, which improves overall efficiency, simplifies the fastener installation process, and reduces the total production time for building body components. The high-density robotic system streamlines the various tasks involved in fastener installation and provides an efficient, continuous flow production system. Continuous flow is maintained by at least one of the following: movement of a first platform relative to the body component, movement of a second platform relative to the body component, or movement of the body component relative to at least one of the first or second platforms.

[0494] Figure 34 This is a flowchart illustrating a process for automating operations using high-density robotic units according to an exemplary embodiment. Units (e.g., ...) can be used. Figure 24Unit 2404 described in the text is used for... Figure 34 The process shown is 3400. Process 3400 is a fully automated process.

[0495] Process 3400 includes a platform that supports multiple devices relative to a component (operation 3402). In operation 3402, the component may be a fuselage component, for example... Figure 3 The fuselage assembly 313 is included. Process 3400 also includes using multiple robotic devices to perform multiple different tasks at each location along multiple locations of the assembly according to a predetermined task sequence. The multiple robotic devices are used to simultaneously perform at least two of the multiple different tasks at at least two different locations within a high-density robot zone in a predetermined task sequence at least in at least one phase (operation 3404).

[0496] Figure 35 This is a flowchart illustrating a process for installing fasteners at multiple locations along a joint, according to an exemplary embodiment. For example, fasteners such as... Figure 24 Units such as unit 2404 described in the text are used for this purpose. Figure 35 The process shown is 3500. Process 3500 is a fully automated process.

[0497] Process 3500 includes positioning multiple single-function end effectors relative to selected locations along a plurality of locations on the joint to form a high-density arrangement, the selected locations being non-adjacent (operation 3502). The plurality of locations may be sites for mounting fasteners. These locations may be referred to as fastener mounting points. Two non-adjacent locations indicate that one or more other locations may exist between these two locations. In other illustrative embodiments, two non-adjacent locations are those that are not adjacent in the horizontal direction. For example, two non-adjacent locations may be on different rows. In some cases, two non-adjacent locations may be vertically aligned but located on different rows.

[0498] Process 3500 also includes using multiple single-function end effectors positioned relative to selected locations in a high-density setup to simultaneously perform multiple different tasks (operation 3504) for fastener installation operations at selected locations in multiple locations. The multiple different tasks may include, for example, but not limited to, a drilling task and an inspection task; an inspection task and a fastener insertion task; or a drilling task, an inspection task, and a fastener insertion task. In some illustrative embodiments, the task may be a clamping procedure using two single-function end effectors (e.g., a drilling end effector and an end effector with a nozzle and a suction device).

[0499] Figure 36 This is a flowchart illustrating a process for providing multiple unilateral clamps according to an exemplary embodiment. For example, a method such as... Figure 24Units such as unit 2404 described in the text are used for this purpose. Figure 36 The process shown is 3600. Process 3600 is a fully automated process.

[0500] Process 3600 includes establishing a double-sided clamp at the first fastener mounting point using a first robotic device at the first side of the connector and a second robotic device at the second side of the connector (operation 3602). Next, the double-sided clamp at the first fastener mounting point is converted to a single-sided clamp using the first robotic device (operation 3604). Then, while maintaining the single-sided clamp at the first fastener mounting point using only the first robotic device, the second robotic device is moved along the second side of the connector to the second fastener mounting point (operation 3606). Subsequently, while maintaining the single-sided clamp at the first fastener mounting point using only the first robotic device, a third robotic device is moved along the second side of the connector to the first fastener mounting point (operation 3608).

[0501] Then, using the fourth robot device on the first side of the connector and the second robot device on the second side of the connector, another double-sided clamp is established at the second fastener mounting point (operation 3610). The double-sided clamp at the second fastener mounting point is converted into a single-sided clamp using the fourth robot device (operation 3612).

[0502] Therefore, in this way, process 3600 illustrates how to establish multiple unilateral clamps sequentially. By providing unilateral clamps in this manner, various tasks involved in fastener installation can also be automated sequentially.

[0503] Figure 37 This is a flowchart illustrating a process for providing multiple unilateral clamping according to an exemplary embodiment. A high-density robotic system (e.g., [missing information]) can be used. Figure 24 The high-density robot system 2400, which includes unit 2402, is used to perform... Figure 36 The process shown is 3700. Process 3700 is a fully automated process.

[0504] Process 3700 includes determining the sequence of operations performed on the splicing section by multiple units (operation 3702). The sequence of operations is performed on the splicing section using multiple units, each of which includes a first plurality of robotic devices in a first high-density robotic zone on a first side of the splicing section and a second plurality of robotic devices in a second high-density robotic zone on a second side of the splicing section (operation 3704), after which the process terminates.

[0505] This can be done in different ways 3702. In one illustrative embodiment, the order of each of the plurality of units is determined such that one unit is used to perform fastener installation operations every n-1 positions along the length of the structure (e.g., across all the plurality of high-density robot zones or regions). Another unit can then be determined to perform fastener installation operations every m-1 positions along the length of the structure, thereby “filling” the positions not processed by the first unit. Depending on the implementation, “m” and “n” can be the same or different.

[0506] For example, operation 3707 includes: a first unit initiating a fastener installation operation at a first position along the splice at one stage of the sequence; and a second unit initiating a fastener installation operation at a second position along the splice at another stage of the sequence after a certain period of time. The first and second positions may be different, such that after the first unit moves to a different stage in the operation sequence, the second unit begins to fill the positions skipped by the first unit.

[0507] In other illustrative embodiments, each unit is selected to perform all fastener installation operations required for a corresponding high-density robotic zone or region. In this way, each unit is assigned to a specific corresponding high-density robotic zone around the splice. In one illustrative embodiment, a first plurality of robotic devices and a second plurality of robotic devices of a first unit of a plurality of units perform all fastener installation operations along one portion of the splice, and a first plurality of robotic devices and a second plurality of robotic devices of a second unit of a plurality of units perform all fastener installation operations along different portions of the splice. Each portion of the splice can be associated with two corresponding high-density robotic zones, located on either side of the region.

[0508] Using process 3700, multiple units can be used to install fasteners in any number of different types in sequence based on efficiency. For example, the determination in operation 3702 can result in multiple units operating simultaneously within a single high-density robotic area around the splice. In other cases, each unit can be specified to perform all the operations required in a given high-density robotic area around the splice. In still other cases, multiple units can be used together in a coordinated manner to perform the different operations required along the entire length of the splice.

[0509] Now go to Figure 38 The diagram illustrates a data processing system in block diagram form according to an exemplary embodiment. The data processing system 3800 can be used for implementation. Figure 3The control system 315 is described. As depicted, the data processing system 3800 includes a communication framework 3802 that provides communication between the processor unit 3804, storage device 3806, communication unit 3808, input / output unit 3810, and display 3812. In some cases, the communication framework 3802 may be implemented as a bus system.

[0510] Processor unit 3804 is configured to execute instructions for software to perform a variety of operations. Depending on the implementation, processor unit 3804 may include multiple processors, multiprocessor cores, and / or some other type of processor. In some cases, processor unit 3804 may take the form of a hardware unit, such as a circuit system, application-specific integrated circuit (ASIC), programmable logic device, or some other suitable type of hardware unit.

[0511] Instructions for operating systems, applications, and / or programs executed by processor unit 3804 may reside in storage device 3806. Storage device 3806 may communicate with processor unit 3804 via communication frame 3802. As used herein, storage device (also referred to as computer-readable storage device) is any hardware capable of storing information on a temporary and / or permanent basis. This information may include, but is not limited to, data, program code, and / or other information.

[0512] Memory 3814 and persistent memory 3816 are embodiments of storage device 3806. Memory 3814 may take the form of, for example, random access memory or some type of volatile or non-volatile storage device. Persistent memory 3816 may include any number of components or devices. For example, persistent memory 3816 may include a hard disk drive, flash memory, rewritable optical disk, rewritable magnetic tape, or some combination thereof. The medium used in persistent memory 3816 may be removable or non-removable.

[0513] The communication unit 3808 allows the data processing system 3800 to communicate with other data processing systems and / or devices. The communication unit 3808 can provide communication using physical and / or wireless communication links.

[0514] The input / output unit 3810 allows receiving input from other devices connected to the data processing system 3800 and sending output to those other devices. For example, the input / output unit 3810 may allow receiving user input via a keyboard, mouse, and / or other types of input devices. As another embodiment, the input / output unit 3810 may allow sending output to a printer connected to the data processing system 3800.

[0515] Display 3812 is configured to display information to a user. Display 3812 may include, for example, but not limited to, a monitor, touch screen, laser display, holographic display, virtual display device and / or some other type of display device.

[0516] In this illustrative embodiment, the processor unit 3804 may use computer-implemented instructions to perform processes of various exemplary implementations. 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 the processor unit 3804.

[0517] In these embodiments, program code 3818 is functionally located on a selectively removable computer-readable medium 3820 and can be loaded onto or transferred to the data processing system 3800 for execution by the processor unit 3804. Program code 3818 and computer-readable medium 3820 together form a computer program product 3822. In this illustrative embodiment, computer-readable medium 3820 may be a computer-readable storage medium 3824 or a computer-readable signal medium 3826.

[0518] Computer-readable storage medium 3824 is a physical or tangible storage device for storing program code 3818, and not a medium for disseminating or transmitting program code 3818. Computer-readable storage medium 3824 may be, for example, but not limited to, optical discs or magnetic disks, or a permanent storage device connected to data processing system 3800.

[0519] Alternatively, program code 3818 may be transferred to data processing system 3800 using computer-readable signal medium 3826. Computer-readable signal medium 3826 may be, for example, a propagated data signal containing program code 3818. This data signal may be an electromagnetic signal, an optical signal, and / or some other type of signal that can be transmitted over physical and / or wireless communication links.

[0520] Figure 38 The illustration of the data processing system 3800 does not imply an architectural limitation on the ways in which exemplary embodiments can be implemented. Different exemplary embodiments can be implemented in the data processing system, which includes components that are additional to those shown for the data processing system 3800, or components that replace those shown for the data processing system 3800. Furthermore, Figure 38 The components shown may vary depending on the exemplary embodiments shown.

[0521] It is possible to do as Figure 39 The aircraft manufacturing and maintenance methods shown in 3900 and such Figure 40Exemplary embodiments of this disclosure are described within the context of the aircraft 4000 shown. First, turn to... Figure 39 A method for manufacturing and maintaining an aircraft is described according to an exemplary embodiment. In the early stages of production, the aircraft manufacturing and maintenance method 3900 may include... Figure 40 Specifications and design of the 4000 aircraft 3902 and material procurement 3904.

[0522] During the production process, Figure 40 The manufacturing of components and sub-assemblies of the 4000 aircraft (3906) and system integration (3908) are then carried out. Figure 40 The 4000 aircraft can be inspected and delivered as 3910 for service entry as 3912. During the customer maintenance of 3912, Figure 40 The aircraft 4000 was scheduled for routine maintenance 3914 (which may include modification, remodeling, refurbishment and other maintenance).

[0523] The various processes of the aircraft manufacturing and maintenance method 3900 can be performed or executed by a system integrator, a third party, and / or an operator. In these embodiments, the operator may be a customer. For the purposes of this description, the system integrator may include, but is not limited to, any number of aircraft manufacturers and main system subcontractors; the third party may include, but is not limited to, any number of suppliers, subcontractors, and vendors; and the operator may be an airline, leasing company, military entity, service organization, etc.

[0524] Now for reference Figure 40 It depicts an illustration of an aircraft that can implement an exemplary embodiment. In this embodiment, the aircraft 4000... Figure 39 The aircraft manufacturing and maintenance method 3900 produces an airframe 4002 having multiple systems 4004 and an interior 4006. Embodiments of system 4004 include one or more of a propulsion system 4008, an electrical system 4010, a hydraulic system 4012, and an environmental system 4014. Any number of other systems may be included. Although an aerospace embodiment is shown, different exemplary implementations can be applied to other industries such as the automotive industry.

[0525] The equipment and methods implemented here can Figure 39 This method is employed in at least one stage of the aircraft manufacturing and maintenance method 3900. Specifically, it can be manufactured during any stage of the aircraft manufacturing and maintenance method 3900. Figure 3 Component 304 or Figure 1The fuselage component 102. For example, but not limited to, during at least one of the following stages: component and sub-component manufacturing 3906, system integration 3908, routine maintenance 3914, or aircraft manufacturing and maintenance methods 3900. Figure 3 Assembly system 302 or Figure 4 The assembly system 413 can be used to connect separately. Figure 3 Component 304 or Figure 4 The component 304 or the interlocking splice 400 can be used to form at least one of the airframe 4002 or interior 4006 of the aircraft 4000.

[0526] also, Figure 24 High-density robotic system 2400 or Figure 24 Any one of the multiple units 2402 described herein can be used to perform automated fastener installation operations at any stage of the aircraft manufacturing and maintenance method 3900. For example, it can be used during at least one of the following stages: component and sub-assembly manufacturing 3906, system integration 3908, routine maintenance and upkeep 3914, or certain other stages of the aircraft manufacturing and maintenance method 3900. Figure 24 High-density robotic system 2400 or Figure 24 Any one of the multiple units 2402 described herein. Furthermore, these automated fastener installation operations can be performed to construct at least one of the airframe 4002 or interior 4006 of the aircraft 4000.

[0527] In one illustrative embodiment, it is possible to use a similar aircraft 4000 in Figure 39 The assembly or manufacturing of components or sub-assemblies in service 3912. Figure 39 The components and sub-assemblies manufactured in 3906 are used in the production of components and sub-assemblies. As another embodiment, the components or sub-assemblies can be manufactured during the production stage (e.g., Figure 39 The manufacturing of components and sub-assemblies (3906) and system integration (3908) utilize one or more device implementations, method implementations, or combinations thereof. This can be performed when the aircraft 4000 is in service (3912) and / or Figure 39 Maintenance and upkeep of the aircraft 4000 3914 utilizes one or more device implementations, method implementations, or combinations thereof. The use of many different exemplary implementations can significantly accelerate component assembly or reduce the cost of the aircraft 4000.

[0528] Therefore, exemplary embodiments provide a method and apparatus for easily and efficiently automating fastener installation operations. Exemplary embodiments describe a single-function end effector that provides a one-sided (side-of-side) clamping solution to maintain component clamping while other single-function end effectors are replaced on the opposite side.

[0529] Using single-function end effectors for different specialized tasks can provide smaller, lighter, and simpler end effectors. The simplicity of these single-function end effectors can improve their efficiency, reliability, and maintenance requirements, and can reduce the overall size of the support robot device connected to these end effectors.

[0530] Utilizing these types of single-function end effectors, as well as the methods and apparatus described in the various exemplary embodiments, multiple automated operations, such as automated fastener installation operations, can be performed quickly and efficiently. In particular, overall production time can be reduced. The described exemplary embodiments save time and costs while significantly reducing the complexity of the entire process required to accurately perform hundreds to thousands of fastener installation operations.

[0531] In one exemplary embodiment, a method for fastening is provided. A first mechanical force is applied to a first component, and a second mechanical force is applied to a second component to clamp the first and second components. A first hole in the first component, aligned with a second hole in the second component, forms a fastener hole through which air is drawn to pull the second component toward the first component, thereby maintaining the clamping of the first and second components.

[0532] In yet another exemplary embodiment, a method is provided for aligning a first hole in a first panel with a second hole in a second panel to define a through hole. A wall defining the second hole is clamped from within the through hole to pull the second panel toward the first panel, thereby establishing a clamping relationship between the first and second panels.

[0533] In another exemplary embodiment, a method for maintaining clamping 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 and second components to pull the second component toward the first component. While continuing to draw air, the first and second mechanical forces are removed, such that after the removal of the first and second mechanical forces, the drawing independently maintains the clamping.

[0534] In another exemplary embodiment, a method for maintaining clamping is provided. Air is drawn from a first side of the clamping of the first component and the second component via 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 clamping of the first component and the second component.

[0535] In another exemplary embodiment, a method for maintaining clamping is provided. A first end effector at a first side of the panel connector applies a first force by contacting the first side of the panel connector. A second end effector at a second side of the panel connector applies a second force equal to and opposite to the first force by contacting the second side of the panel connector to establish clamping. After the second end effector disengages from the second side, the first end effector at the first side of the panel connector maintains clamping.

[0536] In yet another exemplary embodiment, a method for unilateral clamping is provided. A single-function end effector positioned on a first side of a panel connector applies a first force to a first panel of the panel connector. The single-function end effector applies a second force equal to and opposite to the first force to a second panel of the panel connector, thereby providing unilateral clamping of the first and second panels.

[0537] In another exemplary embodiment, a method of providing clamping is provided. The method includes clamping a wall defining a second hole in a second component through a first hole in a first component, thereby pulling the second component against the first component.

[0538] In an exemplary embodiment, the device for maintaining clamping includes a nozzle and a suction device. The nozzle has a nozzle diameter larger than the diameter of a first hole in the first component. When engaged with the first component, the nozzle applies a first mechanical force to the clamped first side. The suction device draws air from the clamped first side through a fastener hole formed by the first hole in the first component and a second hole in the second component, and through the nozzle. Air is drawn at a volumetric flow rate sufficient to maintain the clamping of the first and second components from the first side without requiring additional force at the clamped second side.

[0539] In another exemplary embodiment, an apparatus for forming a clamp includes an end effector. The end effector is located on a first side of the panel connector and applies a first clamping force to a first panel of the panel connector and an equal and opposite second clamping force to a second panel of the panel connector to provide clamping.

[0540] In another exemplary embodiment, an apparatus for forming a clamp includes: a first clamping end effector located on a first side of a panel connector; a second clamping end effector located on a second side of the panel connector; and a through-hole clamping device coupled to the first clamping end effector. The first clamping end effector is in communication with the second clamping end effector.

[0541] In one exemplary embodiment, a method for automating tasks on a component is provided. A first plurality of robotic devices are positioned relative to a first side of the component. A second plurality of robotic devices are positioned relative to a second side of the component, each of the second plurality of robotic devices being used to perform a corresponding task. Multiple tasks are performed at each of a plurality of locations on the component using the first plurality of robotic devices and the second plurality of robotic devices. While the first plurality of robotic devices independently maintain clamping at each of the plurality of locations, the second plurality of robotic devices synchronously perform tasks at the plurality of locations.

[0542] In another exemplary embodiment, a method for constructing a fuselage assembly of an aircraft is provided. A plurality of units are positioned relative to corresponding portions of the fuselage assembly, each unit including: a first plurality of robotic devices positioned relative to a first side of the fuselage assembly; and a second plurality of robotic devices positioned relative to a second side of the fuselage assembly. Automated operations are performed synchronously at each of a plurality of locations in each corresponding portion of the fuselage assembly using the plurality of units, wherein the robotic devices of each unit are interchangeable to perform different tasks of automated operation according to a predetermined task sequence.

[0543] In yet another exemplary embodiment, an apparatus includes: a first plurality of robotic devices; a second plurality of robotic devices; and a control system. Each of the second plurality of robotic devices is coupled to a single-function end effector. The control system controls the second plurality of robotic devices to perform tasks synchronously at multiple locations on an assembly, while the first plurality of robotic devices independently maintain clamping at each of the multiple locations.

[0544] In another exemplary embodiment, the high-density robotic system includes: a first plurality of robotic devices; a second plurality of robotic devices; a first platform; and a second platform. Each of the first plurality of robotic devices is capable of providing unilateral clamping. The second plurality of robotic devices includes: a first robotic device coupled to a drilling end effector; a second robotic device coupled to an inspection end effector; and a third robotic device coupled to a fastener insertion end effector. The first platform supports the first plurality of robotic devices and is sized to be fitted inside and movable within a body assembly. The second platform supports the second plurality of robotic devices and is sized to be positioned and movable along the exterior of the body assembly.

[0545] In another exemplary embodiment, a method is provided for automating fastener installation operations along a fuselage assembly of an aircraft. A first platform of a first plurality of robotic devices supporting a robotic unit is positioned inside the fuselage assembly relative to a selected portion of the fuselage assembly. A second platform of a second plurality of robotic devices supporting the robotic unit is positioned outside the fuselage assembly relative to a selected portion of the fuselage assembly. Using a first plurality of end effectors coupled to the first plurality of robotic devices and a second plurality of end effectors coupled to the second plurality of robotic devices, an automated fastener installation operation is performed at selected fastener mounting points on the selected portion of the fuselage assembly, wherein the first plurality of end effectors are used to provide unilateral clamping at the selected fastener mounting points.

[0546] In another exemplary embodiment, a method for automating operations using high-density robotic units is provided. Multiple robotic devices are used to perform multiple different tasks at each location along a plurality of positions of a component, according to a predetermined task sequence. The multiple robotic devices are used to synchronously perform at least two of the multiple different tasks at at least two different locations within a high-density robotic zone during at least one phase of the predetermined task sequence.

[0547] In another exemplary embodiment, a method is provided for installing fasteners at multiple locations along a joint. Multiple single-function end effectors positioned in a high-density configuration relative to selected locations are used to simultaneously perform multiple different tasks for fastener installation at the selected locations.

[0548] In another exemplary embodiment, a method for providing multiple unilateral clamps is provided. A bilateral clamp is established at a first fastener mounting point using a first robotic device on a first side of the connector and a second robotic device on a second side of the connector. The first robotic device converts the bilateral clamp at the first fastener mounting point into a unilateral clamp. While maintaining the unilateral clamp at the first fastener mounting point, the second robotic device is moved along the second side of the connector to a second fastener mounting point. While maintaining the unilateral clamp at the first fastener mounting point, a third robotic device is moved along the second side of the connector to the first fastener mounting point.

[0549] In another exemplary embodiment, a method for mounting fasteners on a splice is provided. A sequence of operations to be performed on the splice by a plurality of units is determined. The sequence of operations is performed on the splice using a plurality of units, each of which includes: a first plurality of robotic devices located in a first high-density robotic zone on a first side of the splice; and a second plurality of robotic devices located in a second high-density robotic zone on a second side of the splice.

[0550] The flowcharts and block diagrams depicting the different embodiments illustrate some of the implementable architectures, functions, and operations of the devices and methods in the exemplary embodiments. In this regard, each box in the flowchart or block diagram may represent a module, segment, function, and / or operation or step.

[0551] In some alternative embodiments of the exemplary implementation, one or more functions marked in the boxes may occur in a different order than those marked in the figures. For example, in some cases, depending on the functions involved, two consecutively shown boxes may be executed substantially simultaneously, or sometimes these boxes may be performed in reverse order. Furthermore, in addition to the boxes shown in the flowchart or block diagram, other boxes may be added.

[0552] As used herein, the phrase “at least one” when used with a list of items means that different combinations of one or more of the listed items may be used, and only one of the items in the list may be required. The item can be a specific object, thing, step, action, process, or category. In other words, “at least one” means that any combination or any number of items from the list may be used, but not all of the items in the list may 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” means: 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 be, but not limited to: two items A, one item B, and ten items C; four items B and seven items C; or other suitable combinations.

[0553] For illustrative and descriptive purposes, various exemplary embodiments have been described, but are not intended to be exhaustive or limited to the embodiments disclosed. Many variations and modifications will be apparent to those skilled in the art. Furthermore, different exemplary embodiments may provide different features compared to other desired embodiments. The selection and description of one or more embodiments are for the purpose of best explaining the principles of the embodiments, their practical application, and enabling others skilled in the art to understand the disclosure of various embodiments with various variations suitable for the particular intended use.

Claims

1. A method for automating tasks for a component (304), the method comprising: Position (3002) a first plurality of robotic devices (2406) relative to a first side (2409) of the component (304); Positioning (3004) a second plurality of robotic devices (2408) relative to the second side (2411) of the component (304), each of the second plurality of robotic devices (2408) being used to perform a corresponding task; and Using the first plurality of robotic devices (2406) and the second plurality of robotic devices (2408), multiple tasks are performed (3006) at each of a plurality of locations (2436) on the component (304). While the first plurality of robotic devices (2406) independently maintain clamping (341) at each of the plurality of positions (2436), the second plurality of robotic devices (2408) synchronously perform tasks at the plurality of positions (2436). Among them, performing the multiple tasks described in (3006) includes: The first plurality of robotic devices (2406) independently provide single-sided clamping (341) of the first panel (308, 402) and the second panel (310, 404) of the component (304), while the second plurality of robotic devices (2408) are interchanged at the second side (2411) of the component (304). The provision of the single-sided clamping (341) independently includes: An end effector (414, 2422, 2424, 2426) coupled to one of the first plurality of robotic devices (2406) draws air from the first side (2409) of the assembly (304) via a fastener hole (700) extending through the first panel (308, 402) and the second panel (310, 404) to provide a clamping force (802) of a clamping wall (900) thereby pulling the second panel (310, 404) toward the first panel (308, 402), the wall (900) defining a portion of the fastener hole (700) in the second panel (310, 404).

2. The method according to claim 1, wherein, Positioning (3002) The first plurality of robotic devices (2406) includes: Three robotic devices (2410, 2412, 2414) are positioned relative to the first side (2409) of the component (304), and these three robotic devices have end effectors (2422, 2424, 2426) capable of providing unilateral clamping (341).

3. The method according to claim 1 or 2, wherein, Positioning (3004) The second plurality of robotic devices (2408) includes: Three robotic devices (2416, 2418, 2420) are positioned relative to the second side (2411) of the component (304), each of which is connected to a single-function end effector (2428, 2430, 2432) for performing a specialized task that differs from the other two robotic devices.

4. The method according to claim 3, wherein, The positioning devices for the three robots include: A first robot device (2416) having a drilling end effector (2428, 2802), a second robot device (2418) having an inspection end effector (2430, 2804), and a third robot device (2420) having a fastener insertion end effector (2432, 2806) are positioned relative to the second side (2411) of the component (304).

5. The method according to claim 1, wherein, Performing the multiple tasks described in (3006) includes: Using a first end effector and a drilling end effector (2428, 2802), a clamping (341) procedure is performed at a first of the plurality of positions (2436) on the assembly (304), the first end effector being coupled to a corresponding one of the first plurality of robotic devices (2406), and the drilling end effector (2428, 2802) being coupled to a corresponding one of the second plurality of robotic devices (2408).

6. The method according to claim 5, wherein, Performing the clamping (341) procedure described in (3206) includes: Using the aforementioned end effector (2428, 2802), a first hole is drilled through the component (304) at the first position on the component (304); and Air is drawn through the first hole to maintain the clamping (341) at the first position, wherein the drawing continues at least until the first fastener is installed in the first hole.

7. The method according to claim 6, wherein, Performing the multiple tasks described in (3006) further includes: The borehole end effector (2428, 2802) is moved and positioned (3208) relative to a second position among the plurality of positions (2436) on the component (304); and While the first end effector continues to independently maintain the clamping (341) at the first position, the end effector (2430, 2804) is moved and positioned (3210) at the first position to inspect the end effector (2430, 2804), wherein the inspected end effector (2430, 2804) is coupled to a corresponding one of the second plurality of robotic devices (2408).

8. The method according to claim 7, wherein, Performing the multiple tasks described in (3006) further includes: While the first end effector independently maintains the clamp (341) at the first position, the first hole at the first position (3214) is inspected using the inspection end effector (2430, 2804); and Using the drilling end effector (2428, 2802) and a second end effector positioned at the second position relative to the first side (2409) of the assembly (304), the clamping (341) procedure is performed (3212) at the second position. The clamping (341) procedure and the inspection of the first hole are performed simultaneously, and The second end effector is connected to one of the first plurality of robotic devices (2406).

9. The method according to claim 8, wherein, Performing the multiple tasks described in (3006) further includes: The borehole end effector (2428, 2802) is moved and positioned (3216) relative to a third of the plurality of positions (2436) on the component (304). While the second end effector continues to independently maintain the clamping (341) at the first position, the inspection end effector (2430, 2804) is moved and positioned (3218) at the second position, wherein the inspection end effector (2430, 2804) is coupled to a corresponding one of the second plurality of robotic devices (2408); and While the first end effector continues to independently maintain the clamping (341) at the first position, the fastener insertion end effector (2432, 2806) is moved and positioned (3220) at the first position, wherein the fastener insertion end effector (2432, 2806) is coupled to a corresponding one of the second plurality of robotic devices (2408).

10. The method according to claim 9, wherein, Performing the multiple tasks described in (3006) further includes: While the first end effector independently maintains the clamping (341) at the first position, the fastener is installed (3226) in the first hole by inserting the fastener into the end effector (2432, 2806); While the second end effector independently maintains the clamping (341) at the second position, the inspection end effector (2430, 2804) is used to inspect (3224) the second hole at the second position; and Using the drilling end effector (2428, 2802) and the third end effector positioned at the third position relative to the first side (2409) of the assembly (304), the clamping (341) procedure is performed at the third position (3222). The third end effector is connected to a corresponding one of the first plurality of robotic devices (2406), and The fastener is installed at the first position, the second hole at the second position is inspected, and the clamping (341) procedure is performed at the third position simultaneously.

11. The method according to claim 1 or 2, further comprising: The interchangeability of the second plurality of robot devices (2408) is customized to meet the selected cycle time and production requirements.

12. The method according to claim 1 or 2, further comprising: The first plurality of robotic devices (2406) are supported on a platform (2440) which is positioned such that the first plurality of robotic devices (2406) perform their tasks on one side facing the internal profile of the fuselage assembly (313) of the aircraft (314).

13. The method according to claim 1 or 2, further comprising: The second plurality of robotic devices (2408) are supported on a platform (2442) which is positioned such that the first plurality of robotic devices (2406) can perform tasks on one side facing the outer profile of the fuselage assembly (313) of the aircraft (314).

14. The method of claim 13, wherein, Performing the multiple tasks described in (3006) includes: While the platform (2442) remains stationary, the second plurality of robot devices (2408) are interchanged by moving the robot devices in the second plurality of robot devices (2408) on the platform (2442).

15. An apparatus for automating tasks for a component (304), the apparatus comprising: First multiple robotic devices (2406); A second plurality of robotic devices (2408), each of which is connected to a single-function end effector; and A control system (315) is configured to control a second plurality of robotic devices (2408) to perform tasks synchronously at the plurality of positions (2436) on the assembly (304) while the first plurality of robotic devices (2406) independently maintain clamping (341) at each of the plurality of positions (2436). The control system (315) controls the interchange of the second plurality of robot devices (2408) to meet the selected cycle time and production requirements, and / or wherein, Each of the first plurality of robotic devices (2406) includes: a nozzle (332), the size of which is determined based on a selected hole diameter to be drilled within the assembly (304); and a suction device (330) for providing unilateral clamping (341). The provision of the single-sided clamping (341) includes: An end effector (414, 2422, 2424, 2426) coupled to one of the first plurality of robotic devices (2406) draws air from a first side (2409) of the component (304) via a through-hole extending through the first and second components to provide a clamping force (802) of a clamping wall (900) thereby pulling the second component toward the first component, the wall (900) defining a portion of the through-hole in the second component.

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