Manufacturing system and method for manufacturing panel

Abstract

A manufacturing system utilizes a bifurcated backbone having an upper plate and a lower plate with a longitudinal slot therebetween. A plurality of actuator groups are mounted longitudinally adjacent the slot. A carrier supports the panel for longitudinal translation into the slot, and the carrier is configured to move longitudinally in the slot in a pulsed manner relative to the plurality of actuator groups during a series of manufacturing operations on the panel by the plurality of actuator groups.

Description

Field of the Technology

[0001] The present disclosure generally relates to the field of structural manufacturing systems, and more particularly to drilling and filling machines having multiple actuator stations aligned for linear pulse stream operations on structural elements. Background Art

[0002] The manufacture of commercial aircraft and other large structures is typically modularized to accommodate assembly operations. Using a commercial aircraft as an example, many structural elements require riveted assemblies, often having thousands of rivets. The assembly must be drilled to receive the rivets, the rivets inserted and then bucked. For automated manufacturing, many typical operations include highly complex mechanical heads with three-dimensional positioning capabilities and end effectors employing multi-tool systems in the heads, the multi-tool systems including automated vision systems for positioning, drilling systems, rivet or fastener feed systems, and rivet squeeze or bucking systems. To accommodate different fastener size requirements for general mechanical heads, automated tool changers are typically employed. Such systems are both costly and complex. In addition, the time required to drill and insert fasteners, even using mechanical systems, is typically only 5-7 complete fasteners per minute. Completing a riveted assembly with thousands of rivets can take 10 hours or more. Accordingly, there is a desire to provide a low-cost, low-complexity system for rapid production of assemblies. Summary of the Invention

[0003] Exemplary embodiments provide a manufacturing system employing a bifurcated backbone having an upper plate and a lower plate with a longitudinal slot therebetween. A plurality of actuator groups are mounted longitudinally adjacent the slot. A carrier supports a panel for longitudinal translation into the slot, and the carrier is configured to move longitudinally in a pulsed manner within the slot relative to the plurality of actuator groups during a series of manufacturing operations on the panel by the plurality of actuator groups.

[0004] An exemplary embodiment provides a method for manufacturing a panel. The panel is inserted into a multi-head drilling and filling (MDF) machine having a bifurcated main trunk with longitudinal slots for receiving the panel. The panel is toggled to align a plurality of actuator groups with the stringers in the panel. The panel is longitudinally translated to a first pulse position. Holes are drilled in the stringers and the skin with each drill in the actuator group. The panel is longitudinally moved in a pulsed manner one position to a second pulse position, and a first rivet is inserted with each rivet feeder in the actuator group, and a second hole is drilled with each drill in the drill rig. The panel is longitudinally moved in a pulsed manner one position to a third pulse position, and the first rivet is joined and clinched with each aligned clinching machine and nail driver in the actuator group, a third hole is drilled with each drill in the drill rig, and a second rivet is inserted with each rivet feeder in the rivet feeder. The panel is longitudinally moved in a pulsed manner one position to a fourth pulse position, a fourth hole is drilled with each drill in the drill rig, a third rivet is inserted with each rivet feeder in the rivet feeder, and the second rivet is joined and clinched with each clinching machine and nail driver in the clinching machine. Subsequently, the panel is longitudinally moved in a pulsed manner one position to a fifth pulse position, a fifth hole is drilled with each drill, a fourth rivet is inserted with each rivet feeder in the rivet feeder, and the third rivet is joined and clinched with each clinching machine and nail driver. The panel is longitudinally moved in a pulsed manner one position to a sixth pulse position, a sixth hole is drilled with each drill, a fifth rivet is inserted with each rivet feeder in the rivet feeder, and the fourth rivet is joined and clinched with each clinching machine and nail driver. The panel is longitudinally moved in a pulsed manner one position to a seventh pulse position, each rivet feeder in the rivet feeder is activated to insert a sixth rivet, and the fifth rivet is joined and clinched with each clinching machine and nail driver. The panel is longitudinally moved in a pulsed manner one position to an eighth pulse position, and the clinching machine and nail driver are operated to clinch the sixth rivet. Description of the Drawings

[0005] The features, functions, and advantages that have been discussed can be implemented independently in various embodiments or can be combined in other embodiments. Further details thereof can be seen with reference to the following description and the drawings.

[0006] Figure 1 For an example commercial aircraft fuselage having a plurality of panels included in the assembly;

[0007] Figure 2 For a cross-section showing an example skin panel when placed in the fuselage;

[0008] Figure 3 For a detailed illustration of an example skin panel;

[0009] Figure 4Diagram of a support backbone and actuator for use in a drilling and filling station incorporating exemplary embodiments;

[0010] Figure 5 Detailed close-up view of an exemplary actuator employed in an embodiment;

[0011] Figure 6 Diagram of a panel engaged in a drilling and filling station;

[0012] Figure 7 Detailed close-up view of the engaged panel;

[0013] Figure 8 End view of the engaged panel;

[0014] Figure 9 Detailed close-up view of a panel positioned for drilling, filling, and nailing;

[0015] Figure 10 End view of the engaged panel in the toggled position;

[0016] Figure 11 Diagram of a manufacturing unit supporting a drilling and filling station;

[0017] Figure 12 Diagram of a carrier for supporting and positioning a panel in a drilling and filling station and unit;

[0018] Figure 13 Diagram of the carrier in the closed position;

[0019] Figure 14 End view of the carrier supporting the panel, with details of the panel roller system;

[0020] Figure 15 Diagram of the carrier supporting the panel for entry into the unit;

[0021] Figure 16 Diagram of the carrier in the unit undergoing drilling and filling operations;

[0022] Figure 17 Block diagram of a control system for an actuator group and carrier; and

[0023] Figure 18A and Figure 18B Flowchart of a method of hybrid additive manufacturing using an exemplary embodiment. Detailed Description

[0024] Embodiments described herein provide a multi - head drilling and filling (MDF) machine having multiple actuator groups, each actuator group having a drill, a rivet feeder, and a squeezer with a bucking bar having an in - line adjacent position alignment for sequential operation on a panel. The actuator groups are supported by a bifurcated backbone, and a carrier is used to insert the panel through the bifurcated backbone. The carrier includes a roller system for engaging the panel for indexing. The carrier is longitudinally translatable for pulsed positioning at each actuator of the actuator groups to operate the actuators simultaneously in each actuator group.

[0025] Referring to the accompanying drawings, Figure 1 an aircraft fuselage 10 having a plurality of skin panels 12 is shown, which skin panels are examples of panels on which the present embodiments can be employed for manufacturing. Figure 2 A cross - section of the fuselage is shown, with an example panel 12 highlighted for clarity. As Figure 3 shown, each panel has a skin 14 supported by a plurality of frames 16 and longitudinal stringers 18. For manufacturing operations employing the embodiments described herein, the frames 16 and stringers 18 are adhesively bonded to the skin to maintain orientation and layout. The bonding of the frames 16 and stringers 18 provides a temporary fixed positioning of the elements of the panel 12 to allow for precise drilling and fastening. Additionally, the pre - processing bonding prevents debris, dirt, burrs, or other machining residues from getting trapped between the skin 14 and the frames 16 and stringers 18.

[0026] An example embodiment of the MDF machine 20 is shown in Figure 4 . The bifurcated backbone 21 having an upper plate 22 and a lower plate 24 has slots 25 extending between the upper and lower plates in the longitudinal direction (indicated by arrow 100), and the bifurcated backbone provides a rigid, robust, and stable structure for supporting a plurality of actuator groups 26, which are mounted on the upper and lower plates adjacent to the slots 25 and longitudinally spaced apart. In the example embodiment, the backbone 21 is a 1 - inch thick, 28 - foot long, and 4 - foot high steel plate supported by 14 - inch I - beam stiffeners 23 (attached to the plates on opposite surfaces from the actuator groups, as only Figure 8 shown) to maintain a delta Z of less than 0.005 inches on each side during rivet squeezing, as will be described later. In an alternative embodiment, the backbone 21 can be a steel truss, an aluminum plate, a CFRP plate, or a similar rigid material with a C - channel or other stiffener configuration. For the example embodiment, as Figure 5As shown, each actuator group 26 has a drill 28 mounted on the lower plate 24, a rivet feeder 30 mounted on the upper plate 22, and a riveting machine 32 mounted on the lower plate 24, and a nail driving rod 34 aligned with the riveting machine is mounted on the upper plate 22. The drill 28 is mounted on the lower plate 24 to allow chips and other debris to fall vertically. However, in an alternative embodiment, the positioning of the various elements of the actuator group may be reversed. For the exemplary embodiment, the actuator is hydraulically operated. The actuators, drill 28, rivet feeder 30, and riveting machine 32 / nail driving rod 34 in each actuator group 26 act in a pulsed manner. As Figures 6 - 9 shown, the panel 12 is inserted into the slot 25 between the upper plate 22 and the lower plate 24 of the backbone 21. As will be described in more detail subsequently, the carrier 38 (see Figure 12 ) supports the panel 12 and is configured to longitudinally translate into the slot 25 and is also configured to move in a pulsed manner relative to the slot during the manufacturing operation process by a plurality of actuator groups 26 on the panel 12 with an incremental predetermined pulse width. The carrier 38 additionally clocks the panel 12 relative to the plurality of actuator groups 26 to a plurality of clocked positions, where for one row of fasteners, each clocked position provides alignment of the actuator of the actuator group with a structural element (a stringer 18 for the shown example) on the skin 14.

[0027] As Figure 5 shown, the elements of each actuator group 26 are spaced apart by a pulse width 40, and each actuator group is spaced apart by an open width 41 equal to three pulse widths. The pulse width 40 is determined by the designed spacing of the rivets in the panel 12. In the exemplary embodiment, the spacing between the actuator groups and between the elements of each actuator group is determined by the frame spacing to ensure alignment of the holes with the frame during the clocking movement. The number of pulses between the frames is driven by the fastener spacing, the frame spacing, and the fastener diameter. A typical spacing is usually 1 to 1.5 inches. In operation, as Figure 8 and 9As shown, the carrier inserts the panel 12 into the slot 25 to the first longitudinal alignment position, where the panel 12 is toggled so that the selected rib 18a is aligned with the actuator group and is in the pulse position 1. Each drill 28 in the initial plurality of actuator groups 27a of the actuator group 26 drills holes in the rib 18 and the skin 14. The rivet press 32 and the nail driver 34 are not activated in position 1. Then the panel 12 is longitudinally moved one position in a pulsed manner to position 2, and the rivet feeder 30 currently aligned with the first drilled hole inserts the first rivet. The drill 28 in the initial plurality of actuator groups drills the second hole. The rivet press 32 and the nail driver 34 are not activated in the second position 2. Then the panel is longitudinally moved one position in a pulsed manner to position 3, and the aligned rivet press 32 and the nail driver 34 engage and press-rivet the first rivet. The drill 28 in the initial plurality of actuator groups drills the third hole, and the rivet feeder 30 inserts the second rivet. Then the panel is longitudinally moved one position in a pulsed manner to position 4, and each drill 28 in the initial plurality of actuator groups 27a drills the fourth hole, the rivet feeder inserts the third rivet and the rivet press 32 and the nail driver 34 engage and press-rivet the second rivet. Then the panel is moved in a pulsed manner to position 5, and each drill 28 drills the fifth hole, while each rivet feeder 30 inserts the fourth rivet and each rivet press and nail driver engage and press-rivet the third rivet. Then the panel is moved in a pulsed manner to position 6, and each drill 28 drills the sixth hole, while each rivet feeder 30 inserts the fifth rivet and each rivet press and nail driver engage and press-rivet the fourth rivet. Note that the first, second, and third rivets are already in positions 4 - 6 during the operation at pulses 4 - 6 and are thus in the opening width 41 and no operation of the actuator group is engaged. The seventh pulse for activating only the rivet feeder and the rivet press / nail driver for inserting the sixth rivet and press-riveting the fifth rivet, and the eighth pulse for the operation of the rivet press 32 and the nail driver 34 for only press-riveting the sixth rivet complete the process.

[0028] Additional actuator groups 27b and 27c are shown in the exemplary embodiment (e.g., see Figure 6 ), to demonstrate that various panel lengths can be accommodated by additional actuator groups for longer length panels and a reduced number (the initial plurality of actuator groups 27a) for shorter panels 12. The number of actuator groups 26 in the plurality of actuator groups is determined by dividing the length 102 of the panel 12 by 6 pulse widths, which are determined by the designed rivet spacing in the panel.

[0029] In alternative embodiments, for other fastener types, appropriate actuators for the fastener type, such as screw feeders and nut twirling systems, can be used in place of the rivet feeder, the rivet press, and the nail bar. Additionally, for alternative embodiments, the number of actuators in each actuator group can vary according to the number of operations in the manufacturing process for each fastener, and the number of pulse positions will be equal to the number of actuators. The opening width between actuator groups will similarly be equal to the number of pulse positions associated with the actuator group. The number of excess pulses used to complete the manufacture of the last inserted fastener will be equal to the number of actuators minus one. The individual elements of the actuator group are modular, allowing for quick replacement of actuator group element types and sizes. The upper plate 22 and the lower plate 24 of the backbone 21 can be pre-drilled or have a quick-connect fastening system to accommodate replacement of the actuator group elements.

[0030] As Figure 10 represented, after completing a row of rivets, the panel 12 is withdrawn 8 pulse widths and the panel is toggled to a different stringer 18b, and the 6-pulse process is repeated. After completing all the toggle positions, the panel 12 is complete and withdrawn from the MDF machine 20.

[0031] To provide support for the MDF machine 20, as Figure 11 shown, the manufacturing unit 50 includes a concrete slab floor 52 that supports a vertical concrete wall 54. A plurality of trusses 56 extend between the walls, and the upper plate 22 is supported by the trusses. For the exemplary embodiment, the trusses 56 are steel, where the upper plate 22 is welded between opposing truss segments 57a and 57b to hang vertically. The lower plate 24 is supported by concrete A-columns 58 that are mounted to the floor 52. A plurality of longitudinally oriented tracks 60 extend from the floor 52.

[0032] Figure 12 Shown is a carrier 38 that rides on the tracks 60 for longitudinal translation. A frame 62 is mounted on a base having two lateral plates 64, 66. The lateral plates 64, 66 are separated by channels 68 sized to receive the A-columns 58, and the frame 62 provides rigidity to the separated plates. A plurality of internal support fixtures 70 extend from the lateral plates 64, 66. The internal support fixtures 70 have columns 72 that support bifurcated arcuate arms 74. The arms 74 are separated by channels 75 through which the lower plate 24 is received. A plurality of motorized wheel assemblies 76 extend radially outward from the arcuate arms 74. The panel 12 is received on the motorized wheel assemblies 76. The motorized wheel assemblies engage the underside of the skin 14 with wheels 77, and actuation of the wheels toggles the panel 12.

[0033] The arcuate outer support fixing device 78 extends from a frame 80 that is rotatably mounted to the outer peripheries 82, 84 of the transverse plates 64, 66. The frame 80 is rotatable between an open position and a closed position. The pair of outer support fixing devices 78 support a plurality of rollers 86 to engage the outer surface of the skin 14 of the panel 12 in the closed position, thereby serving as reaction idler rollers to maintain frictional engagement through the motorized wheel assembly 76. As Figure 12 shown, in the case where the outer support fixing device 78 is rotated to the open position, the panel 12 is inserted onto the wheel assembly of the inner support fixing device. Subsequently, the outer support fixing device 78 is rotated to the closed position, as Figure 13 shown. The outer support fixing device 78 maintains a channel 79 when closed, and the upper plate 22 is received in this channel. Each motorized wheel assembly 76 is telescopic on an extension arm 81, as Figure 14 shown, so as to continuously avoid interfering with the stringers 18 when toggling the panel 12. The arcuate arms 74 are longitudinally spaced to be received between the frames 16 of the panel 12.

[0034] Subsequently, the carrier 38 with the loaded panel 12 is ready to be longitudinally translated into the manufacturing unit 50 for operation by the MDF machine 20, as Figure 15 shown. After being translated into the unit and the MDF machine, as Figure 16 shown, the previously described pulse operation is performed. After completing the riveting process, the carrier is withdrawn from the unit 50, the outer support fixing device 78 is rotated to the open position as Figure 12 shown, and the panel 12 is removed. The longitudinal translation of the carrier 38 on the track 60 is achieved by supports for pulleys on the transverse plates 64, 66 or by low-friction air bearings. In an alternative embodiment, electric or hydraulic actuation is employed to longitudinally translate the carrier 38 and move it in a pulsed manner during the manufacturing process.

[0035] As Figure 17 shown, the control of the elements of the exemplary embodiment is accomplished by a microprocessor-based controller 90. The controller 90 issues control signals to the carrier 38 and the actuator group 26 for controlling the pulse operation. As recorded in the operation process described above, the actuator group 26 operates in a combined manner during most of the pulse steps, where only the elements of the actuator group are individually controlled in the first three pulse positions and the last two pulse positions. The command bus 92 connected to each actuator group provides this function. The controller provides command signals 94 for opening and closing the outer support fixing device to insert the panel onto the carrier and withdraw the panel from the carrier when manufacturing is completed. The controller 90 issues command signals 96 for longitudinally moving the carrier into and out of the unit and for coordinating the pulsed movement of the carrier through 8 pulse positions.

[0036] In Figure 18A andFigure 18BMethod 1800 for manufacturing panel 12 using an MDF machine and manufacturing unit 50 is shown. In step 1802, panel 12 is mounted on a carrier 38 having an internal support fixture 70 with bifurcated arcuate arms 74 and a radially extending powered wheel assembly 76 that engages the inner surface of skin 14. In step 1804, a rotatably mounted concentric arcuate outer support fixture 78 is closed to engage the outer surface of the skin of the panel with rollers 86. In step 1806, the carrier is longitudinally translated into manufacturing unit 50 and panel 12 is inserted into an MDF machine 20 having a bifurcated main trunk 21 with longitudinal slots 25 to receive the panel. In step 1808, the panel is toggled by driving the powered wheel assembly to align a plurality of actuator groups 26 with stringers 18 in the panel. In step 1810, the respective wheel assemblies are retracted during toggling to avoid interfering with the stringers. In step 1812, the carrier is longitudinally translated to position the panel at pulse position 1. In step 1814, each drill 28 in actuator group 26 drills holes in stringers 18 and skin 14. Rivet clincher 32 and nailing bar 34 are not activated at position 1. In step 1816, panel 12 is then longitudinally moved in a pulsed manner one position to position 2, and a rivet feeder 30 inserts a first rivet and the drills 28 in the actuator group drill a second hole. Rivet clincher 32 and nailing bar 34 are not activated at the second position 2. In step 1818, the panel is then longitudinally moved in a pulsed manner one position to position 3, and the aligned clincher 32 and nailing bar 34 engage and clinch the first rivet, the drills 28 drill a third hole and the rivet feeder 30 inserts a second rivet. In step 1820, the panel is then longitudinally moved in a pulsed manner one position to position 4, and each drill 28 drills a fourth hole, the rivet feeder inserts a third rivet and the clincher 32 and nailing bar 34 engage and clinch the second rivet. In step 1822, the panel is then pulsed in a pulsed manner to position 5, and each drill 28 drills a fifth hole while each rivet feeder 30 inserts a fourth rivet and each clincher and nailing bar engages and clinches the third rivet. In step 1824, panel 12 is then moved in a pulsed manner to position 6, and each drill 28 drills a sixth hole while each rivet feeder 30 inserts a fifth rivet and each clincher and nailing bar engages and clinches the fourth rivet. In step 1826, the panel is then moved in a pulsed manner to position 7 with only the rivet feeder and clincher / nailing bar activated for inserting a sixth rivet and clinching the fifth rivet. In step 1828, the panel is then moved in a pulsed manner to position 8 with only clincher 32 and nailing bar 34 operating for only clinching the sixth rivet. In step 1830, panel 12 is withdrawn 8 pulse widths and toggled to a different stringer 18b. The 8-pulse sequence of steps 1814 - 1828 is repeated.Step 1832, after completing all the toggling positions, complete panel 12 and withdraw panel 12 from the MDF machine 20 by reverse longitudinal movement of the carrier 38. Step 1834, rotate the external support open; and step 1836, remove panel 12.

[0037] The operation of the pulse operation of the MDF machine can be approximated, where each actuator group has n second or more actuators designated as z y where y = 1 to n. Translate the panel longitudinally through a series of pulse positions x q where q = 1 to 2n+(n - 1). Perform an operation on the panel with actuator z 1 at pulse position x 1 . Move the panel to the next position x 2 and perform an operation on the panel with actuator z 2 while performing the operation of actuator z 1 . Then move the panel in pulses through all the pulse positions x m where m = 3 to 2n, and use all actuators z a to perform the operation at each pulse position simultaneously, where a = series(1 to n - m, m < n). Then move the panel in pulses through all the pulse positions x p where p = 2n to 2n+(n - 1), use all actuators z b to perform the operation at each pulse position, where b = series(n to n-(p - 2n)).

[0038] The operation of the MDF machine using the described method allows up to about 50 rivets to be inserted and clinched per minute using 10 actuator groups, as shown in the example embodiment. An example panel typically contains 5000 rivets, allowing the panel to be completed in about 100 minutes, which significantly improves the throughput over current manufacturing systems.

[0039] Various embodiments are now described in detail by way of patent statutes, and those skilled in the art will recognize modifications and alternatives to the specific embodiments disclosed herein. Such modifications are within the scope and spirit of the appended claims. In the specification and claims, the terms "comprising", "incorporate", "incorporates", "incorporating", "include", "including", "has", "have", "having", and "contain", "contains", "containing" are intended to be open-ended expressions, and other or equivalent elements may be present. As used herein, the terms "upper" and "lower" are used to describe relative positioning, and in addition to the specific embodiments disclosed, they may be replaced with appropriate descriptions such as "first" and "second", "top" and "bottom", or "right" and "left" according to the orientation of the actual embodiment.

Claims

1. A manufacturing system comprising: a bifurcated trunk having an upper plate and a lower plate, wherein a longitudinal groove is provided between the upper plate and the lower plate; a plurality of actuator groups mounted on the bifurcated trunk spaced longitudinally adjacent the slot for use in performing manufacturing operations on the panel; as well as a carrier supporting the panel for longitudinal translation into the slot and configured to move longitudinally in the slot in a pulsed manner relative to the plurality of actuator groups during a series of manufacturing operations on the panel by the plurality of actuator groups, wherein the carrier comprises: a base; and a plurality of internal support fixtures extending from the base, each internal support fixture having: a vertical column supporting an arc-shaped arm; and a plurality of motorized wheel assemblies extending radially outward from the arcuate arms, the panel being received on the motorized wheel assemblies, the motorized wheel assemblies being configured to move the panel, Wherein, the carrier is configured to toggle the panel to a plurality of toggle positions relative to the plurality of actuator groups.

2. The manufacturing system according to claim 1, wherein: Each of the plurality of actuator groups includes a drill, a rivet feeder, and a press with aligned driving bars.

3. The manufacturing system according to claim 1, wherein: The carrier also includes: A plurality of arcuate external support fixtures extend from a frame rotatably mounted to the base, the frame being rotatable from an open position to a closed position, wherein the external support fixtures support a plurality of rollers for engaging the panel to act as reactive idler rollers to maintain frictional engagement with the motorized wheel assembly.

4. The manufacturing system according to claim 3, wherein: The panel includes a skin supported by a plurality of adhesively bonded spaced apart frames and longitudinal stringers, and the wheel in each of the plurality of motorized wheel assemblies contacts the inner surface of the skin, the roller contacts the outer surface of the skin, and each motorized wheel assembly has an extension arm that can be retracted to continuously avoid interference with the stringers when the panel is moved.

5. The manufacturing system according to claim 4, wherein: Each of the plurality of toggle positions aligns a stringer with the plurality of actuator groups.

6. The manufacturing system according to claim 4, further comprising a manufacturing unit, wherein the manufacturing unit has: A concrete slab base, which supports the vertical concrete walls; a plurality of trusses extending between the concrete walls, the upper plate of the bifurcated trunk being supported by the trusses; concrete A-shaped posts mounted to the concrete slab floor supporting the lower slab; as well as A plurality of longitudinally oriented rails extend from the concrete slab floor.

7. The manufacturing system according to claim 6, wherein: The carrier is configured to translate longitudinally into the manufacturing unit, and the base includes two transverse plates separated by a channel that receives the concrete A-shaped pillars when the carrier translates longitudinally into the manufacturing unit.

8. The manufacturing system according to claim 7, wherein: The two transverse plates are supported on the rails.

9. The manufacturing system according to claim 2, wherein: The drill, the rivet feeder and the press in each of the plurality of actuator groups are longitudinally separated by a predetermined pulse width.

10. The manufacturing system according to claim 9, wherein: The plurality of actuator groups are longitudinally separated by an opening width equal to three pulse widths.

11. The manufacturing system according to claim 10, wherein: The number of actuator groups in the plurality of actuator groups is equal to the length of the panel divided by six pulse widths.

12. A method for manufacturing a panel, the method comprising: inserting the panel into a multi-head drill and fill machine having a bifurcated backbone having longitudinal slots to receive the panel; toggling the panel to align a plurality of actuator groups with stringers in the panel, each actuator group having a drill, a rivet feeder, and a riveter with aligned rivet rods; translating the panel longitudinally to a first pulse position; drilling holes in the stringers and skins with each drill in the actuator group; moving the panel longitudinally by one position to a second pulse position in a pulsed manner and inserting a first rivet with each rivet feeder in the actuator group and drilling a second hole with each drill in the drill group; moving the panel longitudinally by one position to a third pulse position in a pulsed manner, engaging and press-riveting the first rivet with each of the press rivets in the actuator group and the aligned nailing rods, drilling a third hole with each of the drills, and inserting a second rivet with each of the rivet feeders; moving the panel longitudinally by one position to a fourth pulse position in a pulsed manner and inserting a third rivet with each of the rivet feeders, and engaging and press-caulking the second rivet with each of the press rivets and the nailing rod; as well as The panel is moved longitudinally by one position to a fifth pulse position in a pulsed manner and the third rivet is engaged and press-riveted using each of the press rivets and the nailing rod.

13. The method according to claim 12, wherein: The step of pulsing the panel longitudinally to a fourth pulse position further includes drilling a fourth hole with each of the drills, and the step of pulsing the panel longitudinally to a fifth pulse position further includes drilling a fifth hole with each of the drills and inserting a fourth rivet with each of the rivet feeders, and the method further includes: moving the panel longitudinally by one position to a sixth pulse position in a pulsed manner and drilling a sixth hole with each drill, inserting a fifth rivet with each rivet feeder and engaging and press-riveting the fourth rivet with each of the press rivets and the nailing rod; moving the panel longitudinally by one position to a seventh pulse position in a pulsed manner, activating each of the rivet feeders to insert a sixth rivet, and engaging and press-riveting the fifth rivet using each of the press riveters and the driving rod; The panel is longitudinally moved one position to an eighth pulse position in a pulsed manner, and the riveting machine and the nailing rod are operated to perform riveting on the sixth rivet.

14. The method of claim 13, further comprising withdrawing the panel by eight pulse widths and swiping the panel to a different stringer.

15. The method of claim 14, further comprising retracting each wheel assembly to avoid interference with the stringer during poling.

16. The method according to claim 15, further comprising: mounting the panel on a carrier having an internal support member having bifurcated arcuate arms and radially extending a motorized wheel assembly to engage an inner surface of the skin; closing a rotatably mounted concentric arcuate outer support to engage an outer surface of said skin of said panel with a roller; and Therein, the step of inserting the panel into the multi-head drilling and filling machine comprises longitudinally translating the carrier into a manufacturing unit housing the multi-head drilling and filling machine.

17. The method according to claim 16, further comprising: Reversely translating the carrier longitudinally from the manufacturing unit; Rotating the outer support member to open; as well as Remove the panel.

18. A method for manufacturing a panel, the method comprising: inserting the panel into a multi-head drill and fill machine having a bifurcated backbone having longitudinal slots to receive the panel; The panel is moved to align a first plurality of actuator groups with a structural element in the panel on which a manufacturing operation is to be performed, each actuator group having a plurality of actuator groups formed by z y A second plurality of actuators denoted by n, wherein y=1 to n; The panel is translated longitudinally through a series of pulse positions x q , where q = 1 to 2n + (n - 1); performing an operation on said panel with actuator z1 at pulse position x1; Move the panel to the next position x2 in a pulsed manner and perform an operation on the panel with actuator z2 while performing an operation of actuator z1; Move the panel in a pulsed manner through all pulse positions x m , where m = 3 to 2n, and all actuators z are used simultaneously a An operation is performed at each pulse position, where a = a sequence number (1 to nm, m <n); Move the panel in a pulsed manner through all pulse positions x p , where p = 2n to 2n + (n-1), using all actuators z b The operation is performed at each pulse position, where b = sequence number (n to n-(p-2n)).

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