End effector attachment of fasteners to aircraft structures in coordination

Abstract

The present disclosure relates to coordinated end effector attachment of fasteners to aircraft structures. Systems and methods for applying fasteners to structures are provided. One embodiment is a method comprising: disposing a first set of end effectors along a fixed inner track following an inner mold line (IML) surface of a structure; disposing a second set of end effectors along a fixed outer track following an outer mold line (OML) surface of the structure; aligning a first end effector at the fixed inner track with a second end effector at the fixed outer track; clamping the structure between the first end effector and the second end effector by pressing the first end effector and the second end effector into the structure; and applying the fastener to the structure.

Description

Technical Field

[0001] This disclosure relates to the field of assembly, and more specifically, to the assembly of structures such as aircraft. Background Technology

[0002] Structures such as parts of an aircraft fuselage can be assembled using fasteners such as locking bolts, pins secured by nuts, and rivets. However, installing fasteners on structures that include contours is particularly difficult because aligning the fasteners with the structure is more complex. Therefore, installing fasteners on such structures is either labor-intensive or requires the use of sophisticated robots.

[0003] The abstract of EP 0956915 clarifies: "A riveting process and apparatus for constructing airfoils (e.g., the wings and stabilizers of an aircraft), the apparatus comprising: a riveting head attached in a positionable manner to a support bridge; an anvil positioned opposite the aforementioned head; and a series of transverse brackets mounted for longitudinal displacement beneath the bridge, wherein the brackets include positionable elements intended to support the airfoil components to be riveted. The entire functional assembly is associated with computer control in order to develop an automated riveting process."

[0004] The abstract of US4,967,947 clarifies: "A machine includes: a horizontally elongated base having multiple pairs of hangers slidably mounted on opposite sides of the base for movement along its length, thereby substantially forming a movable C-frame. A workpiece is fixedly supported on the base in a substantially vertical position, and each pair of hangers works together on opposite sides of the workpiece to process rivets / fasteners or perform other functions. Each hanger includes a vertical first part and a horizontal second part. The second part is vertically movable on the first part and also horizontally movable toward and away from the workpiece. At the end of each horizontal second part adjacent to the workpiece are carried a tool assembly holder rotatable about a horizontal axis and a vertical axis. Each tool assembly holder is adapted to removably receive a tool assembly, and each tool assembly consists of tools for continuously performing various functions, with tools on one side of the workpiece axially aligned in pairs with tools on the other side, such that simultaneous operation of the opposing tools performs the desired function."

[0005] The abstract of JP2001 / 079637 clarifies: "Problem: To perform high-precision positioning between the opening of a hole and the area to be riveted by comparing the position of the area to be riveted, as captured by a camera image, with the position of the riveting device, thereby detecting movement of the riveting device. Solution: A position detection device converts the data captured by the camera into two-dimensional binary data and detects the center position of the region of the graphic formed by the binary data as the position of the area to be riveted. The position of the area to be riveted to be detected is compared with the position of at least one of a first moving body and a second moving body. Movement of at least one of the first moving body and the second moving body is detected to position the drilling device or riveting device provided on the first moving body and the second moving body to the area to be riveted detected by the comparison result, and to move either the riveting device or the workpiece."

[0006] The abstract of US2010 / 122444 clarifies that: "An apparatus includes a guide rail system, a multi-axis bracket, a tool module, and a controller. The guide rail system can be attached to a surface on a structure. The multi-axis bracket can be coupled to the guide rail system. The multi-axis bracket can move along the guide rail system and move a riveting tool along an axis relative to the surface. The tool module can be removably coupled to the multi-axis bracket. The tool module may include a frame and can be capable of receiving the riveting tool. The controller can control the riveting tool to move to multiple positions on the surface of the structure and can be capable of causing the riveting tool to install multiple rivets at a preselected plurality of positions in response to a signal."

[0007] Therefore, it is desirable to have methods and systems that take into account at least some of the problems discussed above, as well as other possible problems. Summary of the Invention

[0008] The embodiments described herein provide an end effector arranged on a fixed track that follows the inner mold line (IML) and outer mold line (OML) of the structure to receive fasteners. The fixed track is not attached to the structure itself. Because the fixed track corresponds to the contour of the structure, the end effector maintains a forced alignment with the structure when fasteners are installed. This relationship remains correct even when the end effector moves along the fixed track to install the fasteners at different radial locations along the structure. This arrangement also allows the structure to move relative to the end effector by any desired amount, enabling the fasteners to be installed at various locations along the length of the structure.

[0009] One embodiment is a method for applying fasteners to a structure. The method involves: positioning a first set of end effectors along a fixed inner track that follows the inner mold line (IML) surface of the structure; positioning a second set of end effectors along a fixed outer track that follows the outer mold line (OML) surface of the structure; aligning the first end effector at the fixed inner track with the second end effector at the fixed outer track; clamping the structure between the first and second end effectors by pressing them into the structure; and applying fasteners to the structure.

[0010] Another embodiment is a non-transitory computer-readable medium containing program instructions that, when executed by a processor, operate to perform a method for applying fasteners to a structure. The method includes: positioning a first set of end effectors along a fixed inner track that follows the inner mold line (IML) surface of the structure; positioning a second set of end effectors along a fixed outer track that follows the outer mold line (OML) surface of the structure; aligning a first end effector at the fixed inner track with a second end effector at the fixed outer track; clamping the structure between the first and second end effectors by pressing them into the structure; and applying fasteners to the structure.

[0011] Another embodiment is a system for applying fasteners to a structure. The system includes a fixed inner rail along the inner mold line (IML) side and an IML end effector disposed along the fixed inner rail to face the IML surface of the structure. The fixed inner rail is shaped such that the IML end effector can conform to the IML surface of the structure. The system also includes a fixed outer rail along the outer mold line (OML) side and an OML end effector disposed along the fixed outer rail to face the OML surface of the structure. The fixed outer rail is shaped such that the end effector can conform to the OML surface of the structure. The first set of end effectors is configured to cooperate with a second set of end effectors to clamp the structure and install the fastener.

[0012] Note that in this application, the end effector is an extension and / or platform and / or multi-axis machine, and automated tools can be mounted to the extension and / or platform and / or multi-axis machine. The end effector may, for example, include a four-axis or five-axis machine, which includes automated tools for fastener mounting (e.g., drill bits, jigs, suction elements, forging tools, etc.) or such tools can be connected to the four-axis or five-axis machine.

[0013] Other exemplary embodiments (e.g., methods and computer-readable media related to the foregoing embodiments) may be described below. The features, functions, and advantages discussed may be implemented independently in various embodiments or may be combined in other embodiments, and further details of these aspects may be found with reference to the following description and drawings. Attached Figure Description

[0014] Now, some embodiments of the present disclosure will be described by way of example only with reference to the accompanying drawings. In all the drawings, the same reference numerals denote the same elements or elements of the same type.

[0015] Figure 1 This is a schematic block diagram of a fastener mounting system in an exemplary embodiment;

[0016] Figure 2 This illustrates the use in an exemplary implementation. Figure 1 and Figures 3 to 6 The flowchart shown is a method for the fastener installation system to perform fastener installation.

[0017] Figure 3 Is as Figure 1 A perspective view of a specific example of a schematic fastener mounting system is shown in the figure.

[0018] Figure 4 In the exemplary embodiment, before the receiving structure Figure 3 End view of the fastener mounting system;

[0019] Figure 5 In the exemplary embodiment, after the receiving structure Figure 3 End view of the fastener mounting system;

[0020] Figure 6 This is an exemplary implementation. Figure 3 Other perspective views of the fastener mounting system;

[0021] Figures 7 to 10 The use in the exemplary implementation is illustrated. Figure 1 and Figures 3 to 6 Other methods for performing fastener installation using the fastener installation system shown in the figure;

[0022] Figure 11 This is one of the exemplary embodiments that can be adopted. Figure 1 and Figures 7 to 10 The flowchart shown is a method for aircraft production and maintenance.

[0023] Figure 12 This is an exemplary implementation method that can be used Figure 1 and Figures 3 to 6The fastener mounting system and / or shown in the figure Figure 1 and Figures 7 to 10 A block diagram of an aircraft manufactured using the method shown in the figure; and

[0024] Figure 13 It can be used Figure 12 aircraft and use Figure 1 and Figures 3 to 6 The fastener mounting system and / or shown in the figure Figure 1 and Figures 7 to 10 The cross-sectional view of the machine body manufactured by the method shown in the figure.

[0025] The accompanying drawings and the following description provide specific exemplary embodiments of this disclosure. Therefore, it will be understood that those skilled in the art will be able to devise various arrangements that, while not expressly described or shown herein, implement the principles of this disclosure and are included within its scope. Furthermore, any examples described herein are intended to aid in understanding the principles of this disclosure and are to be construed as not being limited to such specific examples and conditions. Consequently, this disclosure is not limited to the specific embodiments or examples described below, but is limited by the claims. Detailed Implementation

[0026] Figure 1 This is a schematic block diagram of a fastener mounting system 100 in an exemplary embodiment. The fastener mounting system 100 may have one or more workstations along a series of workstations along a pulsed manufacturing line 10, wherein parts and / or components of parts are moved through the series of workstations via pulsed movement. The fastener mounting system 100 may be a specific pulsed manufacturing line system along the pulsed manufacturing line 10, which may include a series of manufacturing and / or assembly systems through which parts and / or components are manufactured into a final assembly. A specific example of the fastener mounting system 100 is the fastener mounting system 300. Figures 3 to 6(As shown in the diagram). The fastener installation system 100 includes at least one installation station. Installation station 101 includes a fixed inner rail 130, a fixed outer rail 150, one or more IML end effectors associated with the fixed inner rail 130, and one or more OML end effectors associated with the fixed outer rail 150. When the fastener installation system 100 includes more than one installation station, a pair of end effectors 140, 160 at a first installation station can operate simultaneously with another pair of end effectors 140, 160 at a second installation station. For example, when the surround 119 is fixed to the structure 110, at least one pair of end effectors 140, 160 operates on the front of the surround 119 to install the fastener 102, and at least one other pair of end effectors 140, 160 operates on the rear of the surround 119, wherein the pair of end effectors operates on both the front and rear simultaneously.

[0027] Fastener mounting system 100 (also referred to as a “fastener mounting station” of pulsed manufacturing line 10) includes any system, device, or component operable to perform the installation of fasteners 102 at structure 110 using a moving inner mold line (IML) end effector and a moving outer mold line (OML) end effector. More specifically, the IML end effector is configured to install fasteners 102 on surfaces such as IML surface 316 of structure 110. Figure 3 (As shown in the diagram) Fastener installation is performed on an inner mold line surface such as OML surface 318 of structure 110. Similarly, the OML end effector is configured to perform fastener installation on an inner mold line surface such as OML surface 318 of structure 110. Figure 3 (As shown in the image) Fastener installation is performed on the surface of such an outer mold line. An example of an IML end effector is... Figures 3 to 6 The end effectors 342, 344, and 346 are shown in the figure, and examples of OML end effectors are... Figures 3 to 6 The end effectors 362, 364, and 366 are shown in the figure. Fastener 102 can be any suitable type of fastener such as locking bolts, nuts, rivets, and / or interference fit fasteners.

[0028] The fastener mounting system 100 has been enhanced to include end effectors 140 and 160 at inner and outer fixed rails, with structure 110 passing between the inner and outer fixed rails. An example of the fixed inner rail 130 is... Figures 3 to 6 The example shown is a fixed inner track 330, and an example of a fixed outer track is... Figures 3 to 6The fixed outer track 350 is shown in the diagram. End effectors 140 and 160 operate in a coordinated manner during pauses between pulsating movements of structure 110 relative to the fixed track to mount fastener 102 in hole 104. Pulsating movements include a forward movement of structure 110 less than a length L of structure 110. Each pulse can move fastener mounting position 116 from a previous work station to a next work station in the fastener mounting system 100. During each pause, fastener 102 is mounted within the mounting rails of the IML and OML end effectors mounted on the fixed track.

[0029] In this embodiment, structure 110 includes a semi-cylindrical section of the fuselage (i.e., a fuselage portion 308 with an open semi-circular cross-section). Figure 3 (As shown in the diagram), the semi-cylindrical section moves along guide rail 120 or a similar structure between fixed inner rail 130 and fixed outer rail 150. Structure 110 includes a curved section 122. The curved section 122 has a radius R; however, the radius of the curved section 122 does not need to be constant along the entire IML surface 316 of structure 110. Structure 110 also includes a longitudinal portion 124, which is a region of structure that generally extends along the longitudinal axis A of structure 110. The longitudinal portion 124 receives fasteners 102, as described in more detail below.

[0030] Guide rail 120 is part of the pulsed manufacturing line 10 and facilitates the transport of structure 110 for manufacturing via pulsed assembly technology. Between pulsed movements of structure 110 along fixed rails, structure 110 can be indexed, and fasteners 102 can be installed via coordinated action of an OML end effector traveling along a fixed outer rail 150 and an IML end effector traveling along a fixed inner rail 130.

[0031] like Figures 3 to 6 As shown, numerous end effectors in the IML and OML end effectors can be arranged as a first group 340 and a second group 360 of end effectors along different radial portions of their respective fixed tracks 130, 150. Each OML end effector coordinates and operates in pairs with its corresponding end effector in the IML end effector. Controller 174 operates at least one pair of IML and OML end effectors. This work can be performed using any number of pairs of end effectors 140, 160, and each pair of end effectors 140, 160 can perform work within a semi-circular pre-divided portion. Examples of paired end effectors are shown in... Figure 4The diagram shows pairs 354, 356, and 358, each having IML end effectors 342, 344, and 346 and OML end effectors 362, 364, and 366. The size of the pre-segmented portion depends on the number of pairs of end effectors. In other embodiments, each pair of end effectors has a pair of separate tracks. Thus, the IML and OML end effectors in each pair of end effectors operate on different tracks 130 and 150 because they perform their work on curves.

[0032] Structure 110 maintains its current cross-sectional shape via supports 112, although other embodiments may not require these supports 112 and may maintain the shape of structure 110 via other means. An example of support 112 is shown in... Figure 3 The support 370 is shown in the middle. In other embodiments, structure 110 includes a segment 114 for manufacturing remaining / sacrificial material, which can be used to facilitate the rotation and / or transport of structure 110 during assembly operations. Structure 110 also includes locations along its length L (e.g., fastener mounting locations) where it is desirable to mount one or more fasteners 102. Fasteners 102 are mounted in a circumferential portion 126. For example, circumferential portion 126 may be defined at each fastener mounting location 116 and extend at least partially across the curved segment 122. In some embodiments, structure 110 also includes cutouts (not shown, but made by a subsequently accessed work station) in which a surround 119 can be mounted or mounted on the cutout. The surround 119 may be secured to structure 110 at the front, rear, and / or periphery of the surround 119. This may depend on the work station and / or pulsed assembly line system. For example, some work stations may use a frame 1140 ( Figure 13 (As shown in the image) Such a frame is mounted on components including, for example, skin 1142 ( Figure 13 (As shown in the figure) such a skin structure 110, while other work stations can install the surround 119 around the location of the opening in the mounting structure 110.

[0033] Structure 110 has a radius R. The radius (R_inner) of the fixed inner track 130 (including the IML end effector 140) is smaller than R. Furthermore, the radius (R_outer) of the fixed outer track 150 (including the OML end effector 160) is larger than R. However, the fixed inner track 130 and the fixed outer track 150 do not necessarily have a fixed radius along their entire length, as long as there is a gap G through which structure 110 passes. This is because the end effectors 140, 160 can compensate for specific track positions relative to the IML surface of structure 110 (e.g., ...). Figure 3 IML surface 316) or OML surface (e.g., Figure 3Any change in distance between the OML surfaces 318 in the system 100 and / or structure 110. This means that structure 110 can move without obstruction through the gap G between IML end effector 140 and OML end effector 160. Therefore, a fixed outer rail 150 is disposed on the OML side 106 of system 100 and / or structure 110 and is shaped such that OML end effector 160 can follow the OML surface of structure 110. Similarly, a fixed inner rail 130 is disposed along the IML side 108 of fastener-mounted system 100 and / or structure 110 and is shaped such that IML end effector 140 can follow the IML surface of structure 110.

[0034] IML end effectors 140 and OML end effectors 160 may include, for example, four-axis or five-axis machines including automated tools for fastener installation (e.g., drill bits, clamps, suction elements, forging tools, etc.). In other embodiments, the end effectors 140, 160 discussed herein are capable of extending, retracting, or otherwise repositioning to take into account their tracks 130, 150 and the IML surfaces of structure 110 (e.g., Figure 3 The IML surface 316 shown in the figure) or OML surface (e.g., Figure 3 The spacing between the OML surfaces 318 shown in the figure. Regardless of whether the spacing varies along the tracks 130, 150, the end effectors 140, 160 can perform the action.

[0035] In other embodiments, the radii of the fixed inner track 130 and the fixed outer track 150 vary, and the associated end effectors 140, 160 move dynamically as work progresses to account for changes in distance from the tracks 130, 150 to the structure 110. In other embodiments, to help avoid end effector collisions, the fixed tracks with different radii occupy different sides of the structure 110. For example, the fixed outer track 150 on the right side may have a radius of 3.05 m (10 feet), while the fixed outer track 150 on the left side may have a radius of 3.35 m (11 feet), and the fixed outer track 150 in the center may have a radius of 3.20 m (10.5 feet).

[0036] The operation of IML end effector 140 and OML end effector 160 is coordinated via server 170. In one embodiment, controller 174 of server 170 accesses instructions in a numerical control (NC) program stored in memory 176 to direct the actions of end effectors 140, 160, and sends instructions via an interface (i.e., I / F 172). Controller 174 may be implemented as, for example, custom circuitry, a hardware processor executing program instructions, or some combination thereof.

[0037] Will target Figure 2Illustrative details of the operation of the fastener installation system 100 are discussed. In one embodiment, structure 110 has been inspected via non-destructive imaging (NDI) and is ready to pass between the fixed inner track 130 and the fixed outer track 150 to begin fastener installation. Furthermore, in this embodiment, the fixed inner track 130 has a profile complementary (e.g., mating) to the inner surface (e.g., IML) of structure 110, and the fixed outer track 150 has a profile complementary to the outer surface (e.g., OML) of structure 110.

[0038] Figure 2 This is a flowchart illustrating a method 200 for operating a fastener installation system according to an exemplary embodiment. (See reference...) Figure 1 The fastener mounting system 100 describes the steps of method 200, but those skilled in the art will understand that method 200 can be performed in other systems. Not all steps in the flowcharts described herein are included, and other steps not shown may be included. The steps described herein may also be performed in an alternative order.

[0039] Reference Figure 1 and Figure 2 In step 202, a first group of one or more IML end effectors (e.g., along the fixed inner track 130) is arranged. Figure 3 The first group 340 shown in the diagram. The fixed inner track 130 facilitates the operation of the IML end effector following the curved IML of the structure 110. For example, the IML end effector operates without contacting the IML surface of the structure 110 (e.g., Figure 3 The device moves along the IML surface 316 shown in the diagram, but remains close enough to contact the IML surface of structure 110 at selected locations along the IML surface of structure 110 to install the fastener 102. The first set of IML end effectors may include end effectors 140, each occupying a different radial portion of the fixed inner track 130 (and thus each following a different arc complementary to the curved IML of structure 110). Figures 3 to 6 An example is shown below. Any number (N) of IML end effectors can be set up to pair with the OML end effectors discussed below for step 204. The step of setting the IML end effectors along the fixed inner track 130 202 may include mounting the IML end effectors at the fixed inner track 130 such that the IML end effectors are able to adjust their position along the structure 110 (e.g., by traveling along track 130).

[0040] In step 204, a second group of one or more OML end effectors is positioned along the fixed outer track 150 (e.g., Figure 3The second group 360 shown in the diagram. The fixed outer track 150 facilitates the operation of the OML end effector following the bending of the OML of the structure 110. For example, the OML end effector does not contact the OML surface of the structure 110 (e.g., Figure 3 The OML surface 318 shown is moved, but remains close enough to contact the OML surface of structure 110 at a selected location along the OML surface of structure 110 to install the fastener 102. A second set of OML end effectors may include end effectors occupying different radial positions along the fixed outer track 150, such as... Figures 3 to 6 As shown in the diagram. The step of setting the OML end effector along the fixed outer track 150 may include mounting the OML end effector at the fixed outer track 150 such that the end effector can adjust its position along the structure 110 (e.g., by traveling along the fixed outer track 150).

[0041] One aspect of the steps for setting up group 340 (202) and group 360 (204) includes dispatching end effectors 140 and 160. More specifically, refer to... Figure 1 , Figure 2 and Figure 4 Method 200 may further include assigning end effectors 140, 342, 344, 346 from the first group 340 to different radial regions 410, 420, 430 at structures 110, 310, and assigning end effectors 160, 362, 364, 366 from the second group 360 to different radial regions 410, 420, 430 at structures 110, 310. Each end effector 140, 342, 344, 346 in the first group 340 and each end effector 160, 362, 364, 366 in the second group 360 operates exclusively within the radial regions 410, 420, 430 of the assigned end effectors 140, 342, 344, 346 and 160, 362, 364, 366.

[0042] In step 206, a first end effector along a fixed inner track (e.g., IML end effector 140 along fixed inner track 130) is aligned with a second end effector along a fixed outer track (e.g., OML end effector 160 along fixed outer track 150). This alignment may include placing both the first and second end effectors at the same location along the curve of structure 110. Structural components intended to be attached to structure 110 may also be aligned with end effectors 140, 160. For example, in a structure 110 that is a fuselage (e.g., Figure 12 and Figure 13 In the embodiment of the fuselage portion 308 of the fuselage 1119 shown in the figure, a curved frame (such as frame 1140) is used for the fuselage. Figure 13(as shown in the diagram) can be aligned with end effectors 140, 160 such that the installation of fastener 102 secures frame 1140 to the skin of fuselage 1119 (e.g., Figure 13 (See skin 1142 shown). The frame 1140 itself can be rotated using a notch or retainer provided in the fixed inner rail 130, if needed. In this way, the position of the fixed inner rail 130 relative to the structure 110 is used to position and hold the frame 1140 for mounting on the IML surface of the structure 110. In other embodiments, the frame 1140 is held by other components such as guides or rails separate from the components discussed herein.

[0043] Directly fastened to structure 110 (e.g., as Figure 13 Any structure of the skin 1142 of the fuselage 1119 shown herein can be installed via the operation of the end effectors 140, 160 discussed herein. These structures include door or window surrounds such as surround 119. During a pause between pulses of the fuselage structure, fasteners 102 for the door or window surrounds within the reach of a pair of end effectors 140, 160 can be installed, and fasteners 102 within reach during the next pause between pulses can be installed using the same end effectors. In this way, fasteners 102 are installed around the periphery of the opening in structure 110. In other examples, structural components may include another segment of the fuselage that will be longitudinally joined to the current segment of the fuselage to form a longer segment of the fuselage. In other embodiments, fuselage panels, each comprising a portion of the radius of the fuselage, may be joined in butt-joint or lap-joint longitudinal joints to form a more complete fuselage segment along the circumference.

[0044] In other embodiments, the IML end effector and the OML end effector are longitudinally movable relative to structure 110 so as to allow longitudinal joint fasteners mounted within a certain reach range of the workstations in the series of workstations, such as relative to Figure 3 More detailed description. These end effectors 140, 160 can move horizontally over a short length to install joint fasteners for assembling half-cylinder sections from individual cylinder segments, each comprising one-sixth of the cylinder. These smaller cylinder segments are held together with temporary fasteners before permanent fastener installation. This fastener installation system 100 can be used to form half-cylinder sections for the production of composite materials or metal aircraft. In this way, metal aircraft can be assembled in a pulsed production line.

[0045] In step 208, structure 110 is clamped by pressing a first end effector, such as IML end effector 140, and a second end effector, such as OML end effector 160, into structure 110. For example, “one-up” clamping can be performed by applying a suction element from one of the end effectors 140, 160 to structure 110, or clamping can be performed by pressing end effector 140 at the fixed inner rail 130 against structure 110 and applying pressure to end effector 160 at the fixed outer rail 150, thereby clamping structure 110 in a position between end effectors 140, 160. This allows sealing, drilling, and fastener installation operations to be performed in a single process, eliminating the need to drill all holes 104 in the panel assembly and separate the structure for cleaning and deburring before adding sealant, reassembling, and installing fasteners. Drilling fastener holes may include drilling countersunk holes.

[0046] In step 210, fastener 102 is applied to structure 110. Applying fastener 102 to structure 110 may include drilling a hole 104 through structure 110 using at least one of end effectors 140, 160. For example, in an embodiment where fastener 102 is a locking bolt, a second end effector may drill a hole 104 in structure 110 and drive the locking bolt through the hole 104, and a first end effector may position a collar over the locking bolt and forge the collar into place. In one embodiment, applying fastener 102 includes inserting fastener 102 into fastener hole 104. In one embodiment, structure 110 includes fuselage portion 308 of an aircraft fuselage. Figure 3 (as shown in the diagram), and applying fastener 102 includes driving the fastener through a structure 110 (e.g., ...). Figure 3 The IML surface of the fuselage portion 308 shown in the figure (e.g., Figure 3 The frame at the IML surface 316 shown in the figure (e.g., Figure 13 The frame 1140 shown in the diagram, as well as the structure 110 itself. During steps 208 and 210, the forces applied during clamping and fastener installation are transmitted to the stationary tracks 130 and 150 via end effectors 140 and 160. In step 212, structure 110 is released by separating the first and second end effectors from structure 110. After step 212, end effectors 140 and 160 can be moved to different fastener installation positions 116 on structure 110 and / or structure 110 can be moved to subsequent workstations in the pulsed manufacturing line 10 and / or the pulsed production line system.

[0047] Whenever structure 110 pauses at the same or different workstations, steps 206-212 can be iterated multiple times to install a large number of fasteners 102 along different radial positions. This iteration may include moving the first and second end effectors along the curve of structure 110 to a new position (see, for example, step 206), clamping structure 110 208 by pressing the first and second end effectors into structure 110, and applying another fastener 102 to structure 110.

[0048] Method 200 offers significant technical benefits over existing solutions because it ensures that fasteners 102 can be installed at various locations along the wave structure 110 using mobile end effectors such as end effectors 140, 160. Furthermore, since the end effectors 140, 160 are positioned along fixed tracks such as rails, they can reliably install fasteners 102 at the same location along the contour of structure 110, regardless of the distance structure 110 travels along guide rail 120. Therefore, unlike flexible track systems that may require the installation and removal of tracks within the fuselage itself (e.g., for each of multiple sections along the length of the fuselage), the fixed-track fastener installation system 100 described herein can be operated rapidly by moving structure 110 longitudinally, pausing structure 110, applying fasteners 102, and then moving structure 110 longitudinally again. The longitudinal movement moves structure 110 in the longitudinal direction 103.

[0049] Furthermore, the flexible track system can rely on an already assembled structure to provide structural support for the track, while method 200 utilizes a track structurally independent of structure 110. Additionally, the flexible track system can require the track and end effector to be moved to a specific location on structure 110. In this system, structure 110 is moved onto the track, and fasteners 102 are pulsatingly installed during the intervals as structure 110 moves along the pulsating manufacturing line 10. Thus, after each movement pulse of structure 110, structure 110 can be rapidly rotated onto the track before work begins. Fastener installation is then performed, work is stopped, and the next portion of structure 110 is brought into the range of end effectors 140, 160 on the fixed track for additional fastener assembly.

[0050] Figures 3 to 6 An example of fastener mounting in a specific embodiment is illustrated, wherein structure 110 ( Figure 1 (As shown in the diagram) is a structure 310 including a fuselage portion 308 (such as a semi-cylindrical segment of the fuselage), the fuselage portion 308 having a constant cross-section along its length. Relative to Figures 3 to 6 The described fuselage part 308 can be Figure 12Part of the fuselage 1119 shown in the image.

[0051] Figure 3 This is a perspective view of a fastener mounting system 300 according to an exemplary embodiment. The fastener mounting system 300 is... Figure 1 A specific example of a fastener mounting system 100 is schematically shown. In this embodiment, the fastener mounting system 300 includes a guide rail 320 mounted on a factory floor 322. The guide rail 320 is... Figure 1 An example of guide rail 120 is shown. Guide rail 320 allows structure 310 to move in the longitudinal direction 103 toward and / or through fastener mounting system 300. A moving trolley 314 travels along guide rail 320 and includes clamping member 312 that holds structure 310, which is an aircraft fuselage (e.g., Figure 12 and Figure 13 The half-cylinder section of the fuselage 1119 shown has an IML surface 316 and an OML surface 318. A bracket 370 located at the end of the structure 310 helps maintain the arcuate shape of the structure 310 during transport. However, in other embodiments, the bracket 370 is omitted. The bracket 370 is... Figure 1 An example of bracket 112 is shown in the figure.

[0052] During assembly, structure 310 advances within the gap G between the fixed inner track 330 and the fixed outer track 350. The fixed inner track 330 is... Figure 1 The example shown is the fixed inner track 130, and the fixed outer track 350 is... Figure 1 An example of a fixed outer track 150 is shown. A fixed inner track 330 is disposed on the IML side 108 of the fastener mounting system 300 and / or structure 310, and a fixed outer track 350 is disposed on the OML side 106 of the fastener mounting system 300 and / or structure 310. The fixed inner track 330 has a first set 340 of end effectors 342, 344, and 346 disposed along a first semicircle 332. The end effectors 342, 344, and 346 are all... Figure 1 An example of an IML end effector 140 is shown. A fixed outer track 350 has a second set 360 of end effectors 362, 364, and 366 arranged along a second semicircle 352. End effectors 362, 364, and 366 are all... Figure 1 An example of an OML end effector 160 is shown below. (See also...) Figure 4 Each IML end effector 342, 344, and 346 is paired with a corresponding OML end effector 362, 364, and 366 to form end effector pairs 354, 356, and 358. Each pair 354, 344, and 346 is as follows: Figure 1The example shown is for 155. Although in Figures 4 to 6 The diagram shows three pairs of end effectors 354, 356, and 358, but any number of pairs 354, 356, and 358 may be included in the fastener mounting system 300.

[0053] like Figure 3 As shown, the second semicircle 352 is larger than the first semicircle (i.e., has a larger diameter) and is concentric with the first semicircle 332. When structure 310 is positioned between the first semicircle 332 and the second semicircle 352, the IML surface 316 and the OML surface 318 are also concentric with the first semicircle 332. The movement of structure 310 in the direction indicated by the arrows is periodically paused, causing structure 310 to move pulsatingly as it advances between fixed tracks 330, 350. During each pause, the end effectors 342, 344, 346 and 362, 364, 366 of tracks 330, 350 fasten fastener 102 along the contour of structure 310. Figure 5 (As shown in the image) Mounted into hole 104 ( Figure 5 (as shown in the diagram). Then, structure 310 moves again, thus presenting another circumferential (or semi-cylindrical) portion of structure 310 along its length L to receive fastener 102.

[0054] In other embodiments, structure 310 pulsates in the longitudinal direction 103 with the fastener mounting position (such as the fastener mounting position ( Figure 1 The diagram shows equal spacing between the components and multiple longitudinal rows of fasteners, such as those for lap or butt joints to engage the fuselage panels. In other embodiments, multiple end effectors are fitted with fasteners 102 for longitudinal splicing, then switch to circumferential fastener installation to mount the frame, such as securing frame 1140 to skin 1142. Figure 13 As shown in the image.

[0055] In one embodiment, end effectors 342, 344, 346 on the fixed inner track 330 and end effectors 362, 364, 366 on the fixed outer track 350 are also capable of limited longitudinal movement in the longitudinal direction 380 indicated by the arrow. OML end effectors 362, 364, 366 move synchronously with IML end effectors 342, 344, 346 in the longitudinal direction 380. In this embodiment, IML end effectors 342, 344, 346 are connected to the fixed inner track 330 via an inner longitudinal guide rail 372. Similarly, OML end effectors 362, 364, 366 are connected to the fixed outer track 350 via an outer longitudinal guide rail 374. IML end effectors 342, 344, 346 move relative to the fixed inner track 330 in the longitudinal direction 380 along the inner longitudinal guide rail 372. OML end effectors 362, 364, and 366 move relative to the fixed outer track 350 in the longitudinal direction 380 along the outer longitudinal guide rail 374. This can facilitate certain assembly operations, such as those related to performing longitudinal splicing.

[0056] Figure 4 This is an end view of the fastener mounting system 300 prior to receiving structure 310, and is related to... Figure 3 The view arrow 4 corresponds to this. Figure 4 In, such as Figure 1 The controller 174 shown has assigned IML end effectors 342-346 to different radial regions 410, 420, 430 at structure 310, and also assigned OML end effectors 362-366 to different radial regions 410, 420, 430 at structure 310. Although three pairs of end effectors 354, 356, 358 and three radial regions 410, 420, 430 are shown, in other embodiments, any suitable number of pairs and radial regions can be used.

[0057] Each IML end effector 342, 344, 346 in the first group 340 and each OML end effector 362, 364, 366 in the second group 360 operate exclusively within the radial region 410, 420, or 430 to which it is assigned. Specifically, end effectors 342, 344, 346 and 362, 364, 366 are grouped into pairs 354, 356, 358 (one inner end effector and one outer end effector), each pair operating in a coordinated manner to install fastener 102 in a separate radial region / section 410, 420, 430 of structure 310. For example, end effectors 342 and 362 operate together as a pair 354 in a radial region 410 between boundaries 402 and 412, end effectors 344 and 364 operate together as a pair 356 in a radial region 420 between boundaries 412 and 422, and end effectors 346 and 366 operate together as a pair 358 in a radial region 430 between boundaries 422 and 432.

[0058] In other embodiments, radial regions 410, 420, and 430 are not exclusive and therefore partially overlap, which facilitates the ability of end effectors 342, 344, 346 and 362, 364, 366 to perform fastener installation in the boundary region between the radial regions. For example, at least two of radial regions 410 and 430 partially overlap with another radial region 420. Actions performed by pairs of end effectors 354, 356, and 358 are coordinated to prevent collisions between end effectors 342, 344, 346 and 362, 364, 366 in different pairs. For example, controller 174 can operate pairs of end effectors 354, 356, and 358 such that end effectors 342, 344, 346 and 362, 364, 366 advance together across their respective radial portions in a first circumferential direction (e.g., clockwise) and then together across their respective radial portions in a second circumferential direction (e.g., counterclockwise). This ensures that the end effector maintains the desired amount of empty space between 354, 356, and 358 to prevent collisions.

[0059] In one implementation, the movements of the end effectors 342, 344, 346 and 362, 364, 366 are pre-programmed to be stored in memory 176. Figure 1The NC program for end effectors 342, 344, 346 and 362, 364, 366 (shown in the diagram) helps ensure collision avoidance. In other embodiments, the NC program is supplemented by a proximity sensor (e.g., a laser sensor, camera, ultrasonic sensor, etc.) that provides input for use by controller 174 to automatically pause or modify the operation of end effectors 342, 344, 346 and 362, 364, 366 to perform collision avoidance. In this way, fastener installation may include moving the end effectors of the first set 340 and the second set 360 along a first circumferential direction such as clockwise 450 to apply a plurality of fasteners 102, and moving the end effectors of the first set 340 and the second set 360 along a second circumferential direction opposite to the first circumferential direction such as counterclockwise 450 to apply additional fasteners (e.g., after pulsation of structure 310).

[0060] Figure 5 This is an end view of the fastener mounting system 300 after the receiving structure 310. That is, the structure 310 has been pulsated along the guide rail 320 to a position where the portion of the structure 310 prepared for fastener mounting is positioned between the fixed inner rail 330 and the fixed outer rail 350. Figure 5 In this illustration, structure 310 is depicted positioned between the fixed inner track 330 and the fixed outer track 350. For this depiction, it is assumed that movement of structure 310 has ceased. Additionally, the curved segment 122 of structure 310 is shown in this end view.

[0061] While end effectors 342, 344, 346 and 362, 364, 366 perform a coordinated sweep in a clockwise or counterclockwise direction (or both) during fastener installation, pairs of end effectors 354, 356, 358 continue to install the fastener 102 into the hole 104 in the circumferential direction within their corresponding regions 410, 420, 430. In one embodiment, end effectors 342, 344, 346 and 362, 364, 366 in Figure 5 It begins at the position depicted and operates in a counter-clockwise direction 452 until it stops at the distal end of the counter-clockwise arc. Then, end effectors 342, 344, 346 and 362, 364, 366 wait until the next pulse / movement of structure 310 and move towards... Figure 5The starting point shown operates in a clockwise direction 450. That is, after each pulsed movement of structure 310 through fastener mounting system 300, end effectors 342, 344, 346 and 362, 364, 366 switch their operating direction from counterclockwise 452 to clockwise 450. Therefore, all end effectors 342, 344, 346 and 362, 364, 366 operate in counterclockwise 452, then wait for pulsed movement, then operate in clockwise 450, then wait for pulsed movement, and so on. This iterative coordinated movement between end effectors 342, 344, 346 and 362, 364, 366 and structure 310 can be performed without any type of "carrier return" operation.

[0062] In another embodiment, pairs 354, 356, and 358 of the end effectors are fastened with fasteners 102 in a clockwise direction 450 until they reach the end of their radial regions 410, 420, or 430, and then reset in a counterclockwise direction 452 in a manner similar to the carriage return of a typewriter, returning to the starting point of their radial regions 410, 420, and 430. Therefore, pairs 354, 356, and 358 of the end effectors operate in a clockwise direction 450 after a pulsed movement, then return to their starting position, and operate again in a clockwise direction 450 after the next pulsed movement. Of course, similar operation can be used for counterclockwise operation instead of clockwise operation.

[0063] In other embodiments, after the structure 310 pulses, the end effectors 342, 344, 346 and 362, 364, 366 move incrementally in one direction (e.g., clockwise, counterclockwise), and during the intervals of each end effector 342, 344, 346 and 362, 364, 366 advancing across its radial regions 410, 420, 430, fastener 102 is installed in hole 104. Then, the end effectors 342, 344, 346 and 362, 364, 366 move back to the starting point in the opposite direction to prepare for fastener 102 installation after the structure 310 pulses again. The structure 310 can then pulse to the next fastener installation position on the structure 310. Figure 1 (as shown in the figure), and as the end effector pairs 354, 356, and 359 move in the counterclockwise direction 452, pairs 354, 356, and 358 continue to install the fasteners in the hole 104.

[0064] In other embodiments, the fixed tracks 330, 350 are positioned closer to the corresponding IML surface 316 or OML surface 318 of the structure 310, such that the IML end effectors 362, 364, 366 are located between structural portions of the inner fixed track 330 (or even inside the inner fixed track 330), and the inner fixed track 330 is located just outside the IML surface 316 where the work will be performed. Similarly, the OML end effectors 362, 364, 366 are located between structural components of the outer fixed track 350 (or even outside the outer fixed track 350), and the outer fixed track is located just outside the OML surface 318 where the work will be performed.

[0065] In other embodiments, each guide rail 320 is provided with a longitudinally moving end effector. (See also...) Figure 1 and 3 The fastener installation system 300 may also have adjacent frame installation stations 101, wherein the end effectors 342, 344, 346 and 362, 364, 366 in each station 101 operate in different or the same circumferential directions, such as clockwise 450 or counterclockwise 452 (e.g., installing joints between half-sections or installing window or door surrounds). Each frame installation station of the fastener installation system 300 includes a fixed inner rail 330, a fixed outer rail 350, one or more IML end effectors 342, 344, 346 associated with the fixed inner rail 330, and one or more OML end effectors 362, 364, 366 associated with the fixed outer rail 350.

[0066] Figure 6 Is with Figure 3 Other perspective views of the fastener mounting system 300, corresponding to the view arrows. (See also:) Figure 6 As shown, the gap C between the IML end effectors 342, 344, 346 along the fixed inner track 330 and the OML end effectors 362, 364, 366 along the fixed outer track 350 is greater than the thickness T of the support 370. This gap ensures that the structure 310 can move between the fixed tracks 330, 350 without encountering physical interference.

[0067] Figures 7 to 10 Examples of using fasteners to install systems 100 and 300 ( Figure 1 and Figure 3Other methods of fastener installation (shown in the diagram) are performed. Methods 700, 800, 900, and 1000 include pulsating and / or pulsating through fastener installation systems 100 and 300 toward the structures 110 and 310. Pulsation enables methods 700, 800, 900, and 1000 to install fastener 102 by attaching fastener 102 along the longitudinal portion 124 of the structures 110 and 310 (i.e., attaching fastener 102 along the longitudinal axis A of the structures 110 and 310). Installation of fastener 102 can then be used to install fasteners such as frame 1140 ( Figure 13 (as shown in the image) or surrounding element 119 ( Figure 1 and Figure 13 (As shown in the figure) Such components are fixed to structures 110, 310 (e.g., fuselage portion 308 with skin 1142).

[0068] Method 700 provides an alternative technique utilizing the end effector and tracking system discussed herein in the exemplary embodiments. According to Figure 7 Method 700, step 702 includes making structures 110, 310 (including fastener mounting position 116) Figure 1 and Figure 3 (As shown in the diagram) Pulsation towards fastener mounting systems 100 and 300. For example, structures 110 and 310 in... Figure 3 The structures 110 and 310 move along the longitudinal direction 103 as shown in the diagram. During pulsation, the structures 110 and 310 move along guide rails 120 and 320, which are part of the pulsation manufacturing line 10. In one embodiment, pulsation includes causing the structure 110 to move longitudinally (e.g., 2.44 meters (eight feet)) and / or longitudinally (e.g., 2.44 meters (eight feet)) through the fastener mounting systems 100 and 300. For example, during pulsation, the structures 110 and 310 move a predetermined distance in the longitudinal direction 103. The movement of the structures 110 and 310 can then be paused so that work can be performed by the fastener mounting systems 100 and 300.

[0069] In step 704, at least one fastener 102 is connected via rails 130, 330 and 150, 350, independent of structures 110, 310. Figure 1 and Figure 3 (As shown) Supported end effectors 140, 342, 344, 346 and 160, 362, 364, 366 ( Figure 1 and Figure 3 (As shown in the diagram) Installed at fastener mounting location 116. Step 704 can be performed via the above-mentioned... Figure 2 Method 200 discusses coordinated end effector operation for execution. The installation may include a curved segment 122 along structures 110, 310. Figure 5(As shown in the diagram) Attachment fastener 102. Additionally, the installation may include attaching fastener 102 along the longitudinal portion 124 of structures 110, 310. Longitudinal operation may also support the installation of fastener 102 for door surrounds, stringer joints, or other components.

[0070] Method 800 provides other alternative techniques utilizing the end effector and tracking system discussed herein in the exemplary embodiments. Figure 8 Method 800, step 802 includes orienting the structures 110, 310 including the fastener mounting position 116 toward the fastener mounting systems 100, 300. Figure 1 and Figure 3 (As shown in the diagram) Pulsation. In one embodiment, step 802 of pulsating structures 110, 310 includes moving structures 110, 310 longitudinally (e.g., 1.22 meters (four feet), 2.44 meters (eight feet), etc.) and / or longitudinally (e.g., 1.22 meters (four feet), 2.44 meters (eight feet)) through fastener mounting systems 100, 300. The movement of structures 110, 310 can then be paused so that work can be performed by fastener mounting systems 100, 300. This is similar to Figure 7 Step 702 in method 700.

[0071] In step 804, structure 110 is clamped between the IML end effectors 140, 342, 344, 346 and the OML end effectors 160, 362, 364, 366 at the fastener mounting systems 100, 300. Clamping 804 can be performed by pressing the end effectors 140, 342, 344, 346 and 160, 362, 364, 366 toward each other when they are positioned above the fastener mounting position 116, as relative to... Figure 2 Steps 206 and 208 are described in the text. When the movement of structures 110 and 310 is paused, step 804 is executed.

[0072] In step 806, fastener 102 is installed at structures 110 and 310 via IML end effectors 140, 342, 344, 346 and OML end effectors 160, 362, 364, 366. The installation steps may include: end effectors 140, 342, 344, 346 and 160, 362, 364, 366 drilling a hole 104; cleaning the hole 104; and installing fastener 102 into the hole 104 at the desired location. This can be achieved via the above-described... Figure 2The installation is performed by the coordinated end-effector operation discussed in method 200 (and more specifically, via step 210). The installation may include a curved segment 122 along structures 110, 310. Figure 5 (As shown in the diagram) Attachment fastener 102. Additionally, the installation may include attaching fastener 102 along the longitudinal portion 124 of structures 110, 310.

[0073] In other embodiments, lead assembly can be performed as method 800 using end effectors 140, 342, 344, 346 and 160, 362, 364, 366 discussed herein, wherein the forces applied by end effectors 140, 160 during drilling and fastener installation are resisted by one or more indexing elements that hold structures 110, 310 in place. Additionally, the forces applied during clamping step 804 and fastener installation are transmitted to tracks 130, 150 via end effectors 140, 160.

[0074] Method 900 provides a technique for facilitating fastener installation using an end effector that moves longitudinally / longitudinally relative to a structure. When the fastener installation systems 100, 300 have the capability on the fixed inner track 330 and the fixed outer track 350... Figure 3 Method 900 can be used when end effectors 342, 344, 346 and 362, 364, 366, which perform limited longitudinal movement in the longitudinal direction 380 shown in the figure, can be used.

[0075] According to method 900, step 902 includes causing the structures 110, 310 including the fastener mounting position 116 to longitudinally pulsate toward and / or longitudinally pulsate through the fastener mounting systems 100, 300, similar to relative to the fastener mounting system 100, 300. Figure 7 and Figure 8 Steps 702 and 802 are described. In step 904, at least one fastener 102 is installed at fastener mounting position 116 via end effectors 140, 342, 344, 346 and 160, 362, 364, 366 disposed at IML surfaces 316 and OML surfaces 318 of structures 110, 310. Installation step 904 is similar to step 806. Figure 8 (as shown in the diagram), step 704 ( Figure 7 (as shown in the diagram) and step 210 ( Figure 2 (as shown in the image).

[0076] In step 906, the end effectors 140, 342, 344, 346 and 160, 362, 364, 366 are moved relative to structures 110, 310 in the longitudinal direction 380. For example, the end effectors 140, 342, 344, 346 and 160, 362, 364, 366 are moved independently in the longitudinal direction 380 relative to fixed inner tracks 130, 330 and fixed outer tracks 150, 350 along the inner longitudinal guide rail 372 and the outer longitudinal guide rail 374, respectively.

[0077] In step 908, after the end effectors 140, 342, 344, 346 and 160, 362, 364, 366 have moved, additional fasteners are installed via the end effectors 140, 342, 344, 346 and 160, 362, 364, 366. This installation is similar to step 904, and steps 904 and 908 can be performed as with respect to method 200 (…). Figure 2 The installation is performed as described in the diagram (shown in the diagram). This installation may include a curved segment 122 along structures 110, 310. Figure 5 (As shown in the diagram) Attaching fastener 102. Additionally, installation steps 904, 908 may include attaching fastener 102 along the longitudinal portion 124 of structures 110, 310. In this way, end effectors 140, 342, 344, 346 and 160, 362, 364, 366 install fastener 102 along the newly exposed longitudinal portion 124 of structures 110, 310. In other embodiments, during fastener installation, end effectors 140, 342, 344, 346 and 160, 362, 364, 366 also move relative to structures 110, 310 in an arcuate direction such as clockwise 450 and / or counterclockwise 452, as... Figure 5 As shown in the diagram. In the manner of method 900, end effectors 140, 342, 344, 346 and 160, 362, 364, 366 can perform a limited amount of longitudinal movement to enhance the ease of performing longitudinal splicing, stringer splicing, or installing ribs, surrounds, clamps / supports, etc., even if structures 110, 310 are already pulsating periodically in the longitudinal direction.

[0078] Method 1000 illustrates an exemplary embodiment for installing, such as Figure 1 and Figure 13The technique for a surround 119 as shown in the diagram. Step 1002 includes pulsating and / or pulsating through the fastener mounting systems 100 and 300 toward the structures 110, 310 having fastener mounting positions 116. Step 1002 is similar to steps 902, 802, and 210 as previously described. Step 1004 includes installing fasteners 102 for a first subset of the surround 119 (e.g., a door surround, window surround, etc.) via end effectors 140, 342, 344, 346 and 160, 362, 364, 366, which will cover cutouts in subsequent arrangements in the structures 110, 310. The fasteners 102 in the first subset may include fasteners 102 installed at positions currently within the reach of end effectors 140, 342, 344, 346 and 160, 362, 364, 366. The installation step 1004 of fastener 102 is similar to the installation method of fastener 102 in the previously described method 200. Figure 2 (as shown in the image).

[0079] Step 1006 includes further pulsating structures 110, 310 via fastener mounting systems 100, 300. This operation is similar to step 1002 and uses the remaining positions of fasteners 102 in the mounting surround 119 for use by end effectors 140, 342, 344, 346 and 160, 362, 364, 366. In each pulsation step (which may include relative to...) Figures 7 to 9 Following the described pulsation steps, method 1000 may include indexing structures 110, 310. For example, structures 110, 310 may be indexed using a segment 114 for manufacturing the remaining / sacrificial material, a notch or retainer provided at the fixed inner track 130 and / or the fixed outer track 150, and / or one or more indexing elements that hold structures 110, 310 in place.

[0080] In step 1008, similar to step 1004, a second subset of fasteners 102 for the surround 119 are installed via end effectors 140, 342, 344, 346 and 160, 362, 364, 366. In one embodiment, installing the second subset of fasteners 102 in step 1008 includes distributing fastener installation operations for the surround 119 among different end effectors. The installation step secures the surround 119 to structures 110, 310 such that the surround covers cutouts in structures 110, 310. The installation step can be performed by having at least one pair of end effectors 140, 160 operate at the front of the surround 119, and at least one other pair of end effectors 140, 160 operate at the rear of the surround 119, wherein pair 115 operates simultaneously at both the front and rear.

[0081] Additionally, the installation of fastener 102 may include a bent section 122 along structures 110, 310. Figure 5 (As shown in the figure) Attachment fastener 102. In addition, installation steps 1004, 1008 may include attaching fastener 102 along the longitudinal portion 124 of structures 110, 310.

[0082] The mounting fasteners discussed in methods 200, 700, 800, 900, and 1000 above may include: attaching fasteners 102 along the circumferential portion 126 of structures 110 and 310; attaching fasteners 102 along the length L of structures 110 and 310; securing a circumferential member 119 covering a cutout in structures 110 and 310 (e.g., by mounting fasteners along the periphery of the circumferential member 119 via different end effectors); and securing a frame 1140 to structures 110 and 310. Figure 13 Skin 1142 (shown in the figure), etc. Methods 700, 800, 900 and 1000 include iteratively pulsating structures 110, 310 toward and / or iteratively pulsating through fastener mounting systems 100, 300 and mounting fastener 102 to structures 110, 310.

[0083] In one embodiment, the method discussed above further includes aligning the outer mold line (OML) end effector and the inner mold line (IML) end effector with the structure and installing fasteners via the OML and IML end effectors. Other potential additional steps may include indexing the structure after structural pulsation. This may include placing the structure at a known position relative to the track (e.g., by placing the structure against an indexing element fixed in place relative to the track) to determine the structure's position in the coordinate space used by the OML and IML end effectors. In other embodiments, the installation is performed by the following steps: at least one pair of end effectors operates at the front of the surround and at least one pair of end effectors operates at the rear of the surround, wherein the pairs operate simultaneously.

[0084] Example

[0085] In the following examples, additional processes, systems, and methods are described in the context of fastener installation systems. Any or all of the methods 200, 700, 800, 900, and 1000 described herein may be included as program instructions on a non-transitory computer-readable medium.

[0086] For more specific reference Figure 11 and Figure 12 It is possible to do as Figure 11 The aircraft manufacturing and maintenance method 1100 shown is... Figure 12 Embodiments of this disclosure are described in the context of an aircraft 1102 schematically illustrated. In the early production process, method 1100 may include the specification and design 1104 and material procurement 1106 of the aircraft 1102. During the production process, the manufacturing of components and sub-assemblies of the aircraft 1102 is performed 1108, as well as system integration 1110. Methods 200, 700, 800, 900, and 1000 may be performed during the manufacturing of components and sub-assemblies 1108. Figure 2 and Figures 7 to 10 (as shown in the image).

[0087] Subsequently, aircraft 1102 may undergo inspection and delivery 1112 for entry into service 1114. During customer service, aircraft 1102 is scheduled for routine maintenance and overhaul 1116 (which may also include modification, refitting, refurbishment, etc.). The systems and methods implemented herein may be employed during any or more suitable phases of production and overhaul described in method 1100 (e.g., specification and design 1104, material procurement 1106, component and sub-assembly manufacturing 1108, system integration 1110, inspection and delivery 1112, service 1114, maintenance and overhaul 1116) and / or in any suitable component of aircraft 1102 (e.g., airframe 1118, system 1120, interior 1122, propulsion system 1124, electrical system 1126, hydraulic system 1128, environmental system 1130).

[0088] Each of the processes in method 1100 may be performed or executed by a system integrator, a third party, and / or an operator (e.g., a customer). For the purposes of this description, a system integrator may include, but is not limited to, any number of aircraft manufacturers and main system subcontractors; a third party may include, but is not limited to, any number of suppliers, subcontractors, and vendors; and an operator may be an airline, leasing company, military entity, service organization, etc.

[0089] like Figure 12 As shown, an aircraft 1102 produced using method 1100 may include a fuselage 1118 and an interior 1122 having multiple advanced systems 1120. The fuselage 1118 includes a body 1119, and the body 1119 includes a fastener mounting system 100. Figure 1 (shown in) and method 200 ( Figure 2 (As shown in the diagram) Assembled structure 110. Examples of system 1120 include one or more of a propulsion system 1124, an electrical system 1126, a hydraulic system 1128, and an environmental system 1130. Any number of other systems may be included. Although an aerospace example is shown, the principles of the invention can be applied to other industries such as the automotive industry.

[0090] Figure 13 Is Figure 12 The diagram shows a schematic cross-sectional view of aircraft 1102. Aircraft 1102 includes a fuselage 1118 having a fuselage 1119. Figure 13The fuselage 1119 shown may be a fuselage portion 308 of structure 110, 310 assembled using fastener mounting systems 100, 300 and methods 200, 700, 800, 900, 1000. Fuselage 1119 and fuselage portion 308 include a frame 1140. Frame 1140 has fasteners 102 driven through it. Fasteners 102 connect frame 1140 to skin 1142 of fuselage 1119 (and fuselage portion 308). For example, holes 104 extend through frame 1140 and skin 1142, and fasteners 102 are inserted through holes 104 to secure frame 1140 to skin 1142. Fuselage 1119 also includes stringers 1144. Figure 13 In the example shown, the body also includes a surrounding component 119.

[0091] As mentioned above, the fastener installation systems 100, 300 and methods 200, 700, 800, 900, 1000 implemented herein can be used during any or more stages of production and maintenance as described in method 1100. For example, components or sub-assemblies corresponding to component and sub-assembly manufacturing 1108 can be made or manufactured in a manner similar to the production of components or sub-assemblies when aircraft 1102 is in service. Additionally, one or more system implementations, method implementations, or combinations thereof can be utilized during sub-assembly manufacturing 1108 and system integration 1110, for example, by significantly accelerating the assembly of aircraft 1102 or reducing the cost of aircraft 1102. Similarly, one or more system implementations, method implementations, or combinations thereof can be utilized during the service of aircraft 1102 (e.g., but not limited to maintenance and overhaul 1116). For example, the technologies and systems described herein can be used for material procurement 1106, component and sub-component manufacturing 1108, system integration 1110, service 1114 and / or maintenance and overhaul 1116, and / or can be used for the airframe 1118 and / or interior 1122. These technologies and systems can even be used for system 1120, which includes, for example, a propulsion system 1124, an electrical system 1126, a hydraulic system 1128, and / or an environmental system 1130.

[0092] In one implementation, structures such as 110, 310 ( Figure 1 and Figure 3 (As shown in the diagram) Such a part includes a portion of the body 1118, and is manufactured using, for example, method 200 during the manufacture of parts and subassemblies 1108. Figure 2(As shown in the diagram) Manufacturing. The parts can then be assembled onto the aircraft in system integration 1110, and then utilized in service 1114 until wear renders them unusable. Then, in maintenance and overhaul 1116, the parts can be discarded and replaced with newly manufactured parts. To manufacture new parts, the components and methods of the present invention can be utilized in the manufacturing of the entire component and sub-assembly 1108.

[0093] Any of the various control elements (e.g., electrical or electronic components) shown in the figures or described herein can be implemented as hardware, a processor implementing software, a processor implementing firmware, or some combination thereof. For example, an element can be implemented as dedicated hardware. A dedicated hardware element may be referred to as a “processor,” a “controller,” or some similar term. When provided by a processor, these functions may be provided by a single dedicated processor, a single shared processor, or multiple separate processors, some of which may be shared. Furthermore, the explicit use of the terms “processor” or “controller” should not be construed as exclusively referring to hardware capable of executing software, and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, network processors, application-specific integrated circuits (ASICs) or other circuits, field-programmable gate arrays (FPGAs), read-only memory (ROM) for storing software, random access memory (RAM), non-volatile memory, logic devices, or some other physical hardware component or module.

[0094] Additionally, control elements can be implemented as instructions executable by a processor or computer to perform the functions of that element. Some examples of instructions are software, program code, and firmware. Instructions are operable when executed by a processor to instruct the processor to perform the functions of the element. Instructions can be stored on a processor-readable storage device. Some examples of storage devices are digital or solid-state memories, magnetic storage media such as disks and magnetic tapes, hard drives, or optically readable digital data storage media.

[0095] This disclosure also includes the following examples:

[0096] 1. A first example relates to a method (200) for applying a fastener (102) to a structure (110, 308, 310), the method (200) comprising the steps of:

[0097] - The end effectors (140, 342, 344, 346) of the first group (340) are set (202) along the fixed inner track (130, 330), which follows the inner mold line (IML) surface (316) of the structure (110, 310);

[0098] - The end effectors (160, 362, 364, 366) of the second group (360) are set (204) along the fixed outer track (150, 350), which follows the outer mold line (OML) surface (318) of the structure (110, 310);

[0099] - Align (206) the first end effector (140, 342) along the fixed inner track (130, 330) with the second end effector (160, 362) along the fixed outer track (150, 350);

[0100] - By pressing the first end effector (140, 342) and the second end effector (160, 362) into the structure (110, 310), the structure (110, 310) is clamped (208) between the first end effector (140, 342) and the second end effector (160, 362); and

[0101] - Apply (210) fasteners (102) to the structure (110, 310).

[0102] 2. According to the method described in Example 1 (200), wherein:

[0103] - The step of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) includes setting the end effectors (140, 342, 344, 346) of the first group (340) within a radius (R_inner) smaller than the radius (R) of the structure (110, 310); and

[0104] The step of setting (204) the end effectors (160, 362, 364, 366) of the second group (360) includes setting the end effectors (160, 362, 364, 366) of the second group (360) within a radius (R_outer) larger than the radius (R) of the structure (110, 310).

[0105] 3. The method (200) according to Example 1 or 2, further comprising the following steps:

[0106] - Move the first end effector (140, 342) and the second end effector (160, 362) along the curve of the structure (110, 310) to the new fastener mounting position (116);

[0107] -The structure (110, 310) is clamped (208) by pressing the first end effector (140, 342) and the second end effector (160, 362) into the structure (110, 310); and

[0108] - Apply (210) another fastener (102) to the structure (110, 310).

[0109] 4. The method (200) according to any one of Examples 1 to 3, wherein the step of applying (210) the fastener (102) comprises:

[0110] - Drill fastener holes (104) including countersunk holes; and

[0111] Insert the fastener (102) into the fastener hole (104).

[0112] 5. The method (200) according to any one of Examples 1 to 4, further comprising the following steps:

[0113] - Assign the end effectors (140, 342, 344, 346) in the first group (340) to different radial regions (410, 420, 430) at the structure (110, 310);

[0114] - Assign the end effectors (160, 362, 364, 366) in the second group (360) to the different radial regions (410, 420, 430) at the structure (110, 310); and make each end effector (140, 342, 344, 346) in the first group (340) and each end effector (160, 362, 364, 366) in the second group (360) operate exclusively within the different radial regions (410, 420, 430) to which each end effector (140, 342, 344, 346; 160, 362, 364, 366) has been assigned.

[0115] 6. According to the method described in Example 5 (200), wherein:

[0116] The steps of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) and setting (204) the end effectors (160, 362, 364, 366) of the second group (360) include:

[0117] - Move the end effectors (140, 342, 344, 346) of the first group (340) and the end effectors (160, 362, 364, 366) of the second group (360) along a first circumferential direction (450) to apply a plurality of fasteners (102); and

[0118] - Move the end effectors (140, 342, 344, 346) of the first group (340) and the end effectors (160, 362, 364, 366) of the second group (360) along a second circumferential direction (452) opposite to the first circumferential direction (450) to apply additional fasteners (102).

[0119] 7. The method (200) according to Example 5 or 6, wherein the steps of assigning end effectors (140, 342, 344, 346) in the first group (340) and assigning end effectors (160, 362, 364, 366) in the second group (360) include assigning each end effector (140, 342, 344, 346) of the first group (340) and each end effector (160, 362, 364, 366) of the second group (360) to the different radial regions (410, 420, 430), wherein at least two radial regions (410, 430) partially overlap with another radial region (420).

[0120] 8. The method (200) according to any one of Examples 1 to 7, wherein the step of applying (210) the fastener (102) to the structure (110, 308, 310) includes driving the fastener (102) through a frame (1140) disposed at the IML surface (316) of the body portion (110, 308) and through the body portion (110, 308).

[0121] 9. The method (200) according to any one of Examples 1 to 8, wherein:

[0122] The step of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) along the fixed inner track (130, 330) includes setting (202) the first group (340) along the fixed inner track (130, 330) including the first semicircle (332); and

[0123] The step of setting (204) the end effectors (160, 362, 364, 366) of the second group (360) along the fixed outer track (150, 350) includes setting (204) the second group (360) along the fixed outer track (150, 350) including a second semicircle (352), the second semicircle (352) being larger than the first semicircle (332) and concentric with the first semicircle (332).

[0124] 10. The method (200) according to any one of Examples 1 to 9, wherein:

[0125] The step of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) along the fixed inner track (130, 330) includes setting (202) the first group (340) to follow the curved surface (316) of the IML; and

[0126] The step of setting (204) the end effectors (160, 362, 364, 366) of the second group (360) along the fixed outer track (150, 350) includes setting (204) the second group (360) to follow the curved OML surface (318).

[0127] 11. A non-transitory computer-readable medium containing program instructions that, when executed by a processor, are operable to perform the method (200) according to any one of Examples 1 to 10 to apply the fastener (102) to the structure (110, 308, 310).

[0128] 12. A portion of an aircraft (1102) assembled according to the method (200) of any one of Examples 1 to 10 and / or by the method (200) defined by program instructions stored on a computer-readable medium of Example 11.

[0129] 13. A system (100, 300) for applying a fastener (102) to a structure (110, 310), the system (100, 300) comprising:

[0130] - Fixed inner rails (130, 330) along the inner mold line (IML) side (108);

[0131] - An IML end effector (140, 342) is disposed along the fixed inner track (130, 330) to face the IML surface (316) of the structure (110, 310), the fixed inner track (130, 330) being shaped such that the IML end effector (140, 342) can follow the IML surface (316) of the structure (110, 310);

[0132] - Fixed outer rails (150, 350) along the outer mold line (OML) side (106);

[0133] - OML end effectors (160, 362) are disposed along the fixed outer rails (150, 350) to face the OML surface (318) of the structure (110, 310), the fixed outer rails (150, 350) being shaped such that the OML end effectors (160, 362) can follow the OML surface (318) of the structure (110, 310).

[0134] The IML end effector (140, 342) is configured to cooperate with the OML end effector (160, 362) to clamp the structure (110, 310) and install the fastener (102).

[0135] 14. The system (100, 300) according to Example 13, wherein:

[0136] - The IML end effector (140, 342) is mounted on the fixed inner track (130, 330), and the fixed inner track (130, 330) has a radius (R_inner) smaller than the radius (R) of the structure (110, 310); and

[0137] -OML end effectors (160, 362) are mounted on the fixed outer rails (150, 350), and the fixed outer rails (150, 350) have a radius (R_outer) larger than the radius (R) of the structure (110, 310).

[0138] 15. The system (100, 300) according to Example 13 or 14, the system further comprising a controller (174) that operates at least one pair (155) of the IML end effector (140, 342) and the OML end effector (160, 362), wherein the controller (174) causes each pair (155) to operate exclusively within different radial regions (410, 420, 430) to install the fastener (102) in the different radial regions (410, 420, 430).

[0139] 16. The system (100, 300) according to Example 15, wherein:

[0140] The controller (174) instructs the IML end effector (140, 342) and the OML end effector (160, 362) to move along a first circumferential direction (450) to apply a plurality of fasteners (102); and

[0141] The controller (174) instructs the IML end effector (140, 342) and the OML end effector (160, 362) to move along a second circumferential direction (452) opposite to the first circumferential direction (450) to apply additional fasteners (102).

[0142] 17. The system (100, 300) according to Example 15 or 16, wherein the radial regions (410, 430) partially overlap with another radial region (420).

[0143] 18. The system (100, 300) according to any one of Examples 13 to 17, wherein the fixed inner track (130, 330) includes a first semicircle (332), and the fixed inner track (150, 350) includes a second semicircle (352) that is larger than the first semicircle (332) and concentric with the first semicircle (332).

[0144] 19. The system (100, 300) according to any one of Examples 13 to 18, wherein the IML surface (316) is curved and the OML surface (318) is curved.

[0145] 20. To manufacture a part of an aircraft (1102) using the system (100, 300) of any one of Examples 13 to 19.

[0146] This disclosure also includes the following examples, which should not be confused with the appended claims that define the scope of protection. Examples involve:

[0147] 1A. A method (700, 800, 900, 1000) for applying a fastener (102) to a structure (110, 310), the method (700, 800, 900, 1000) comprising the steps of:

[0148] - To cause the structure (110, 310) including the fastener mounting position (116) to pulsate (702, 802, 902, 1002) toward the fastener mounting system (100, 300); and

[0149] - At least one fastener (102) is installed (704, 806, 904, 1004) at the fastener installation position (116) by an end effector (140, 160) supported by an orbit (130, 150) independent of the structure (110, 310).

[0150] 2A. The method (700, 800, 900, 1000) according to Example 1A, wherein the pulsation (702, 802, 902, 1002) step includes moving the structure (110, 310) along a guide rail (120) that includes a portion of the pulsation manufacturing line (10).

[0151] 3A. The method (800) according to Example 1A or 2A, the method further comprising clamping (804) the structure (110, 310) between the end effectors (140, 160) supported by the tracks (130, 150).

[0152] 4A. The method (800) according to Example 3A, the method further comprising transmitting the force during the clamping (804) step and the fastener installation (806) step into the track (130, 150) via the end effector (140, 160).

[0153] 5A. The method (700, 800, 900, 1000) according to any one of Examples 1A to 4A, wherein the installation (704, 806, 904, 908, 1004) step includes attaching fasteners (102) along the curved section (122) of the structure (110, 310).

[0154] 6A. The method (700, 800, 900, 1000) according to any one of Examples 1A to 5A, wherein the installation (704, 806, 904, 908, 1004) step includes attaching fasteners (102) along the longitudinal portion (124) of the structure (110, 310).

[0155] 7A. The method (1000) according to any one of Examples 1A to 6A, wherein the installation (1004, 1008) step secures the surround (119) to the structure (110, 310) such that the surround (119) covers the cutout in the structure (110, 310).

[0156] 8A. The method (700, 800, 900) according to any one of Examples 1A to 7A, wherein the installation (704, 806, 904, 908) step secures the frame (1140) to the structure (110, 310).

[0157] 9A. The method (700, 800, 900, 1000) according to any one of Examples 1A to 8A, the method further comprising aligning (206) the outer mold line (OML) end effector (160) and the inner mold line (IML) end effector (140) with the structure (110, 310), wherein the installation (704, 806, 904, 1004) step is performed via the OML end effector (160) and the IML end effector (140).

[0158] 10A. The method (700, 800, 900, 1000) according to any one of Examples 1A to 9A, wherein the installation (704, 806, 904, 908, 1004) step places the interference fit fastener at the fastener installation position (116).

[0159] 11A. The method (800) according to any one of Examples 3A to 10A, wherein the clamping (804) step comprises clamping (804) the structure (110, 310) between the IML end effector (140) and the OML end effector (160) at the fastener mounting system (100, 300); and wherein the mounting (806) step comprises mounting the fastener (102) at the structure (110, 310) via the IML end effector (140) and the OML end effector (160).

[0160] 12A. The method (800) according to any one of Examples 1A to 11A, wherein the installation (802) step includes attaching the fastener (102) along the circumferential portion (126) of the structure (110, 310).

[0161] 13A. The method (800, 900) according to any one of Examples 1A to 12A, wherein the installation (806, 904, 908) step includes attaching the fastener (102) along the length of the structure (110, 310).

[0162] 14A. The method (800, 900) according to any one of Examples 1A to 13A, wherein the step of pulsating (802, 902, 1002, 1006) the structure (110, 310) includes moving the structure (110, 310) less than its length (L) and then pausing the movement of the structure (110, 310).

[0163] 15A. The method (800) according to any one of Examples 1A to 10A, the method further comprising:

[0164] - At the fastener mounting system (100, 300), the structure (110) is clamped (804) between a fixed inner track (130) of the IML surface (316) conforming to the structure (110, 310) and a fixed outer track (150) of the OML surface (318) conforming to the structure (110, 310); and

[0165] The installation (806) step includes installing the fastener (102) on the structure (110) via the end effectors (140, 160) located on the fixed inner rail (130) and the fixed outer rail (150).

[0166] 16A. The method (900) according to any one of Examples 1A to 15A, wherein the installation (904) step comprises installing (904) at least one fastener (102) at the fastener installation position (116) via the end effector (140, 160) disposed at the OML surface (318) and the IML surface (316) of the structure (110, 310), the method further comprising the following steps:

[0167] - Move the end effector (140, 160) relative to the structure (110, 310) in the longitudinal direction (380) (906); and

[0168] - After the end effector (140, 160) moves (906), the additional fastener (102) is installed (908) via the end effector (140, 160).

[0169] 17A. The method (900) according to any one of Examples 1A to 16A, wherein the pulsation (902) of the structure (110, 310) includes moving the fastener mounting position (116) from a previous work station in the pulsation manufacturing line (10) to the fastener mounting system (100, 300).

[0170] 18A. The method (1000) according to any one of Examples 1A to 17A, wherein the installation (1004) step includes installing (1004) fasteners (102) for a first subset of the placed surround (119) via an end effector (140, 160) supported by an orbital (130, 150) independent of the structure (110, 310); the method further includes the following steps:

[0171] - To further pulsate (1006) the structure (110, 310) through the fastener mounting system (100, 300); and

[0172] - Fasteners (102) for a second subset of the surround (119) are installed (1008) via the end effector (140, 160).

[0173] 19A. The method (1000) according to any one of Examples 1A to 18A, wherein the installation (1004, 1008) steps are performed by a plurality of pairs (155) end effectors (140, 160) working in concert.

[0174] 20A. The method (1000) according to any one of Examples 1A to 19A, wherein the installation (1004, 1008) step is performed by at least one pair (155) end effectors (140, 160) operating at the front of the surround (119) and at least another pair (155) of the end effectors (140, 160) operating at the rear of the surround (119), wherein the pair (155) operates simultaneously at the front and the rear.

[0175] 21A. The method (1000) according to any one of Examples 1A to 20A, wherein the installation (1004, 1008) steps are performed by the IML end effector (140) and the OML end effector (160).

[0176] 22A. The method (1000) according to any one of Examples 1A to 21A, the method further comprising transposing the structure (110, 310) after pulsating (1002, 1006) the structure (110, 310).

[0177] 23A. The method (1000) according to any one of Examples 1A to 22A, wherein the fastener (102) is installed (1004, 1008) along the periphery of the surround (119).

[0178] 24A. The method (1000) according to any one of Examples 1A to 23A, wherein the fastener installation (1004, 1008) steps for the surround (119) are distributed among different end effectors (140, 160).

[0179] 25A. The method (1000) according to any one of Examples 1A to 24A, wherein the steps of installing (1004, 1008) the fasteners (102) of the first subset and the fasteners (102) of the second subset are to install interference fit fasteners.

[0180] 26A. A portion of an aircraft (1102) assembled according to the method (700, 800, 900, 1000) of any one of Examples 1A to 25A.

[0181] Although specific embodiments have been described herein, the scope of this disclosure is not limited to those specific embodiments. The scope of this disclosure is defined by the following claims.

Claims

1. A method (200) for applying a fastener (102) to a structure (110, 308, 310), the method (200) comprising the steps of: The end effectors (140, 342, 344, 346) of the first group (340) are set (202) along the fixed inner track (130, 330), which follows the inner mold line surface (316) of the structure (110, 310). The end effectors (160, 362, 364, 366) of the second group (360) are set (204) along the fixed outer track (150, 350), which follows the outer mold line surface (318) of the structure (110, 310). Align (206) the first end effector (140, 342) along the fixed inner track (130, 330) with the second end effector (160, 362) along the fixed outer track (150, 350). By pressing the first end effector (140, 342) and the second end effector (160, 362) into the structure (110, 310), the structure (110, 310) is clamped (208) between the first end effector (140, 342) and the second end effector (160, 362); and Fasteners (102) are applied (210) to the structure (110, 310). in: The fixed inner track (130, 330) includes a first semicircle (332), and the fixed outer track (150, 350) includes a second semicircle (352) that is larger than the first semicircle (332) and concentric with the first semicircle (332), such that there is a gap (G) between the fixed inner track and the fixed outer track for the structure (110) to pass through, or The radii of the fixed inner track (130) and the fixed outer track (150) vary, and there is a gap (G) between the fixed inner track and the fixed outer track through which the structure (110) passes.

2. The method (200) according to claim 1, wherein, The step of applying (210) the fastener (102) to the structure (110, 310) includes installing the fastener (102); and / or The end effectors (140) of the first group and the end effectors (160) of the second group include four-axis or five-axis machines, which include automated tools for fastener installation, and / or wherein the end effectors (140, 160) are capable of extending, retracting or otherwise repositioning to take into account the spacing between their respective tracks (130, 150) and the inner mold line surface (316) or the outer mold line surface (318) of the structure (110).

3. The method according to claim 1 or 2, wherein: The step of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) includes setting the end effectors (140, 342, 344, 346) of the first group (340) within a radius smaller than the radius (R) of the structure (110, 310); and The step of setting (204) the end effectors (160, 362, 364, 366) of the second group (360) includes setting the end effectors (160, 362, 364, 366) of the second group (360) within a radius larger than the radius (R) of the structure (110, 310).

4. The method (200) according to claim 1 or 2, further comprising the following step: The first end effector (140, 342) and the second end effector (160, 362) are moved along the curve of the structure (110, 310) to a new fastener mounting position (116). The structure (110, 310) is clamped (208) by pressing the first end effector (140, 342) and the second end effector (160, 362) into the structure (110, 310); and Apply (210) another fastener (102) to the structure (110, 310), and / or The step of applying (210) the fastener (102) includes: Drill fastener holes (104) including countersunk holes; and Insert the fastener (102) into the fastener hole (104).

5. The method (200) according to claim 1 or 2, further comprising: The end effectors (140, 342, 344, 346) of the first group (340) are assigned to different radial regions (410, 420, 430) at the structure (110, 310). The end effectors (160, 362, 364, 366) of the second group (360) are assigned to the different radial regions (410, 420, 430) at the structure (110, 310); and Each end effector (140, 342, 344, 346) in the first group (340) and each end effector (160, 362, 364, 366) in the second group (360) operate exclusively within the different radial regions (410, 420, 430) to which each end effector (140, 342, 344, 346; 160, 362, 364, 366) has been assigned.

6. The method (200) according to claim 5, wherein: The steps of assigning end effectors (140, 342, 344, 346) of the first group (340) and assigning end effectors (160, 362, 364, 366) of the second group (360) include assigning each end effector (140, 342, 344, 346) of the first group (340) and each end effector (160, 362, 364, 366) of the second group (360) to the different radial regions (410, 420, 430), wherein at least two radial regions (410, 430) partially overlap with another radial region (420).

7. The method (200) according to claim 1 or 2, wherein, The step of applying (210) the fastener (102) to the structure (110, 308, 310) includes driving the fastener (102) through a frame (1140) disposed at the inner mold line surface (316) of the body part (110, 308) and through the body part (110, 308). And / or among them: The step of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) along the fixed inner rails (130, 330) includes setting (202) the first group (340) to follow the curved inner mold line surface (316); and The step of setting (204) the end effectors (160, 362, 364, 366) of the second group (360) along the fixed outer track (150, 350) includes setting (204) the second group (360) to follow the curved outer mold line surface (318).

8. The method (200) according to claim 1 or 2. in, The radii of the fixed inner track (130) and the fixed outer track (150) vary, and the associated end effectors (140, 160) are configured to move dynamically to take into account the change in distance from the tracks (130, 150) to the structure (110) as work progresses; and / or The method includes: during an assembly operation, advancing the structure (310) within the gap (G) between the fixed inner track (330) and the fixed outer track (350) such that the structure (310, 110) can move through the gap (G) between the inner mold line end effector (140) and the outer mold line end effector (160) without obstruction.

9. The method (200) according to claim 1 or 2, wherein, The inner mold line end effector (140, 342) is configured to cooperate with the outer mold line end effector (160, 362) to clamp the structure (110, 310) and install the fastener (102).

10. The method (200) according to claim 1 or 2, wherein: The steps of setting (202) the end effectors (140, 342, 344, 346) of the first group (340) and setting (204) the end effectors (160, 362, 364, 366) of the second group (360) include the following steps: - Move the end effectors (140, 342, 344, 346) of the first group (340) and the end effectors (160, 362, 364, 366) of the second group (360) along a first circumferential direction (450) to apply a plurality of fasteners (102); and - Move the end effectors (140, 342, 344, 346) of the first group (340) and the end effectors (160, 362, 364, 366) of the second group (360) along a second circumferential direction (452) opposite to the first circumferential direction (450) to apply additional fasteners (102).

11. The method (200) according to claim 2, wherein, The automated tools are drill bits, clamping devices, suction elements, and / or forging tools.

12. A system (100, 300) for applying a fastener (102) to a structure (110, 310), the system (100, 300) comprising: Fixed inner rails (130, 330) along the inner mold line side (108); An inner mold line end effector (140, 342) is disposed along the fixed inner rail (130, 330) and configured to face the inner mold line surface (316) of the structure (110, 310), the fixed inner rail (130, 330) being shaped such that the inner mold line end effector (140, 342) can follow the inner mold line surface (316) of the structure (110, 310). Fixed outer rails (150, 350) along the outer mold line side (106); and An outer mold line end effector (160, 362) is disposed along the fixed outer track (150, 350) and configured to face the outer mold line surface (318) of the structure (110, 310), the fixed outer track (150, 350) being shaped such that the outer mold line end effector (160, 362) can follow the outer mold line surface (318) of the structure (110, 310). The inner mold line end effector (140, 342) is configured to cooperate with the outer mold line end effector (160, 362) to clamp the structure (110, 310) and install the fastener (102). in: The fixed inner track (130, 330) includes a first semicircle (332), and the fixed outer track (150, 350) includes a second semicircle (352) that is larger than the first semicircle (332) and concentric with the first semicircle (332), such that there is a gap (G) between the fixed inner track and the fixed outer track for the structure (110) to pass through, or The radii of the fixed inner track (130) and the fixed outer track (150) vary, and there is a gap (G) between the fixed inner track and the fixed outer track through which the structure (110) passes.

13. The system (100, 300) according to claim 12, wherein: The inner mold line end effector (140, 342) is mounted on the fixed inner track (130, 330), and the fixed inner track (130, 330) has a radius smaller than the radius (R) of the structure (110, 310); and The outer mold line end effector (160, 362) is mounted on the fixed outer track (150, 350), and the fixed outer track (150, 350) has a radius larger than the radius (R) of the structure (110, 310).

14. The system (100, 300) according to claim 12 or 13, further comprising: The controller (174) operates by at least one pair (155) of the inner mold line end effector (140, 342) and the outer mold line end effector (160, 362), wherein the controller (174) causes each pair (155) to operate exclusively in different radial regions (410, 420, 430) to install the fastener (102) in the different radial regions (410, 420, 430). And / or among them: The controller (174) instructs the inner mold line end effector (140, 342) and the outer mold line end effector (160, 362) to move along a first circumferential direction (450) to apply a plurality of fasteners (102); and The controller (174) instructs the inner mold line end effector (140, 342) and the outer mold line end effector (160, 362) to move along a second circumferential direction (452) opposite to the first circumferential direction (450) to apply additional fasteners (102). And / or among them: The radial regions (410, 430) all partially overlap with another radial region (420). And / or among them: The inner mold line surface (316) is curved, and the outer mold line surface (318) is curved.

15. Manufacturing a part of an aircraft (1102) using the system (100, 300) of any one of claims 12 to 14.

16. A non-transitory computer-readable medium comprising program instructions that, when executed by a processor, are operable to perform the method (200) according to any one of claims 1 to 11, to apply a fastener (102) to a structure (110, 308, 310) using a system according to any one of claims 12 to 14.

17. A portion of an aircraft (1102) assembled by the method (200) according to any one of claims 1 to 11 and / or by the method (200) defined by program instructions stored on a non-transitory computer-readable medium as claimed in claim 16.

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