Fastener mounting assemblies, end effector tools, and related methods

Abstract

The invention relates to a fastener mounting assembly, an end effector tool, and a method of mounting a plurality of fasteners into respective holes of a workpiece, wherein the fastener mounting assembly includes a container and a retainer assembly supported by the container. Each retainer assembly includes a plurality of fingers configured to retain a respective one of the fasteners between the fingers in a pre-installed position. The first actuator is configured to move a respective one of the fasteners to the mounted position by ejecting the respective one of the fasteners out of the respective retainer assembly and inserting the respective one of the fasteners into the bore of the workpiece. Each retainer assembly includes a compliant device configured to allow the respective fastener and the respective finger to move independently of each other to self-align the respective fastener with the respective one of the apertures when the first actuator moves the respective fastener from the pre-installed position to the installed position.

Description

[0001] Citations of relevant applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 658,411, filed June 10, 2024, entitled “Fastener Mounting Assembly, End Actuator Tool and Related Methods”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to a fastener mounting assembly, an end effector tool, and a method for mounting a plurality of fasteners into corresponding holes in a workpiece. Background Technology

[0004] Manufacturing processes are used to prepare various workpieces. For example, some workpieces require drilling, deburring, cutting, fastening, etc. These manufacturing processes can be automated using machines. However, a machine may only insert one fastener into a hole at a time. Furthermore, depending on the size of the workpiece and the size of the machine, the number of machines available to insert each fastener into the corresponding hole to prepare the workpiece is limited. Summary of the Invention

[0005] Therefore, there is a need to develop a fastener mounting assembly, an end effector tool, and a method for improving the manufacturing process, and other benefits are discussed in this paper.

[0006] This disclosure provides a fastener mounting assembly for mounting a plurality of fasteners into corresponding holes in a workpiece. The fastener mounting assembly includes a container and a plurality of retainer assemblies supported by the container. Each retainer assembly includes a plurality of fingers configured to hold a corresponding fastener in a pre-installed position between the fingers. The fastener mounting assembly also includes a first actuator disposed adjacent to the container. The first actuator is configured to move a corresponding fastener to a mounting position by ejecting the corresponding fastener from the corresponding retainer assembly and inserting the corresponding fastener into a hole in the workpiece. Each retainer assembly also includes a compliance device configured to allow the corresponding fastener and the corresponding fingers to move independently of each other when the first actuator moves the corresponding fastener from the pre-installed position to the mounting position, so as to self-align the corresponding fastener with the corresponding hole.

[0007] The present disclosure also provides an end effector tool for installing a plurality of fasteners into respective holes of a workpiece. The end effector tool includes a gripper and a plurality of fastener installation assemblies attached to the gripper in a predetermined pattern. Each fastener installation assembly includes a container and a plurality of holder assemblies supported by the container. Each holder assembly includes a plurality of fingers configured to hold a respective one of the fasteners between the fingers in a pre-install position. Each holder assembly also includes a first actuator arranged proximate to the container. The first actuator is configured to move a respective fastener to an installed position by ejecting the respective fastener from the respective holder assembly and inserting the respective fastener into one of the holes of the workpiece. Each holder assembly also includes a compliance device configured to allow the respective fastener and the respective fingers to move independently of one another when the first actuator moves the respective fastener from the pre-install position to the installed position to self-align the respective fastener with the respective hole.

[0008] The present disclosure also provides a method of installing a plurality of fasteners into respective holes of a workpiece. A fastener is installed in each of a plurality of holder assemblies of a container of a fastener installation assembly in a pre-install position. Each holder assembly includes a plurality of fingers configured to hold a respective one of the fasteners between the fingers in the pre-install position. A fastener is aligned with one of the holes of the workpiece. A first actuator is operated to eject a respective one of the fasteners from the respective holder assembly. The first actuator is arranged proximate to the container. The respective fastener is inserted into the one of the holes of the workpiece via the first actuator to reach an installed position. Each holder assembly includes a compliance device configured to allow the respective fastener and the respective fingers to move independently of one another when the first actuator moves the respective fastener from the pre-install position to the installed position to self-align the respective fastener with the respective hole.

[0009] The detailed description and accompanying drawings or illustrations support and describe the disclosed subject matter, but the scope of the disclosed subject matter is defined solely by the claims. While some of the best modes and other configurations have been described in detail, numerous alternatives not described in detail herein will be readily apparent to those of ordinary skill in the art and / or others. The various alternatives or variations thereof outlined above do not exhaust the possibilities sought by the inventors or the claims. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 Schematic view of a machine to support an end effector tool having a plurality of machining tools controlled via the machine.

[0011] Figure 2 Schematic view of a machining tool, a vacuum assembly, and a position sensor that can be controlled via a machine.

[0012] Figure 3yes Figure 1 A schematic diagram of an end effector tool having multiple machining tools supported by a fixture.

[0013] Figure 4 yes Figure 3 A schematic perspective view of the bottom side of the end effector tool.

[0014] Figure 5 This is a schematic perspective view of a machining tool being removed from a fixture as a fastener mounting component.

[0015] Figure 6 for Figure 5 A schematic perspective view of the top side of the machining tool, with the tool's support removed.

[0016] Figure 7 yes Figure 6 A schematic perspective view of the bottom side of the machining tool.

[0017] Figure 8 yes Figure 6 A schematic perspective view of the top side of the machining tool, with the cap of the tool's container removed.

[0018] Figure 9 yes Figure 6 A schematic cross-sectional view of the machining tool, in which the first and second actuators have been removed.

[0019] Figure 10 yes Figure 8 A schematic perspective view of a retainer assembly and a conformal device for a machining tool.

[0020] Figure 11 yes Figure 10 A schematic cross-sectional view of a retainer assembly, wherein the retainer assembly holds the fastener in a pre-installed position with the fastener offset from the hole of the workpiece.

[0021] Figure 12 yes Figure 11 A schematic cross-sectional view of the retainer assembly, wherein a first actuator engages a fastener to move the fastener toward a hole in the workpiece.

[0022] Figure 13 yes Figure 11 A schematic cross-sectional view of the retainer assembly, wherein the first actuator continues to move the fastener into the hole, and the conforming device allows the fastener to self-align with the hole of the workpiece as the fastener enters the hole.

[0023] Figure 14 yes Figure 11schematic cross-sectional view of the retainer assembly of

[0024] Figure 15 is Figure 11 schematic cross-sectional view of the retainer assembly of

[0025] Figure 16 is Figure 15 schematic cross-sectional view of the retainer assembly of

[0026] Figure 17 is Figure 16 schematic cross-sectional view of the retainer assembly of Figure 16 schematic cross-sectional view of the retainer assembly of

[0027] Figure 18 is Figure 16 schematic cross-sectional view of the retainer assembly of Figure 17 schematic cross-sectional view of the retainer assembly of

[0028] The present disclosure is susceptible to modifications and alternative forms, all of which are intended to be within the scope of the disclosure. The disclosure is also not limited to the particular configurations, structures, and / or aspects set forth in the following specification and associated drawings disclosed in the detailed description, which are intended as illustrative only, and in no way limiting to the scope of the disclosure as defined by the appended claims. DETAILED DESCRIPTION

[0029] One of ordinary skill in the art will recognize that all directional references (e.g., upper, lower, upward, lower, upward, downward, top, bottom, left, right, vertical, horizontal, etc.) are used to facilitate the description of the drawings and are not intended to limit the scope of the disclosure as defined by the appended claims (e.g., to a particular orientation, orientation, or use). Moreover, terms such as "first," "second," "third," etc. can be used to describe separate components. Such terms can include the above-mentioned words, their derivatives, and words of similar import. Furthermore, the term "substantially" can refer to a slight inaccuracy or slight variation in a condition, quantity, value, or dimension, among others, some of which are within a manufacturing variation or tolerance range.

[0030] As used herein, an element or step recited in the singular and preceded with the word "a" or "an" should be understood as not excluding plural elements or steps, unless expressly directed to do so. Further, any reference to "a configuration" is not intended to be construed as excluding the presence of additional configurations, even if not expressly recited. Further, a configuration including one or more elements possessing a particular property is intended to include additional elements not possessing that property unless expressly directed to do so. The word "or" as used herein, is intended to be interpreted as inclusive or meaning any one or more of a list of items, and is not intended to be interpreted as exclusive or meaning one and only one. Additionally, as used herein, "including" or "containing" is intended to be interpreted as "comprising."

[0031] Referring to the drawings, wherein like numerals indicate like or corresponding parts throughout the several views, a machining system 10 for manufacturing a component 12 is generally shown in Figure 1 The machining system 10 can be used to improve the manufacturing process, and also for other benefits, some of which will be discussed further below.

[0032] The machining system 10 described herein can be used to manufacture components 12 for various applications, and non-limiting examples of applications can include aircraft (such as airplanes, drones, vehicles, space shuttles, satellites, etc.), movable platforms (such as locomotives, high-speed trains, automobiles, off-road vehicles, watercraft, trailers, farm equipment, etc.), equipment, buildings, or any other application for which the manufacturing processes described herein can be used for components 12.

[0033] Continuing Figure 1 The component 12 can initially be a workpiece 12 or multiple workpieces 12 assembled together or to be assembled together, and one or more manufacturing processes are performed on the workpiece 12 to obtain a desired level of finish of the workpiece 12.

[0034] The component 12 can be of any suitable construction, and thus, the workpiece 12 can be of any suitable construction. Non-limiting examples of the component 12 can include one or more panels, skins, frames, brackets, spars, chordal beams, cowls, or any other structural member or component for which the manufacturing processes described herein can be used, and combinations thereof. As a non-limiting example of the component 12 for an aircraft application, the component 12 can include one or more panels (such as a wing, a fuselage), skins (such as a skin panel), panels (such as interior and exterior panels), frames, brackets, stringers, bulkheads, keels, ribs, doors, fittings, etc., and combinations thereof.

[0035] The machining system 10 described herein allows for the execution of various manufacturing processes on one workpiece 12 and many different workpieces 12. Therefore, depending on the type of workpiece 12, one or more manufacturing processes can be performed. Typically, workpiece 12 has a working surface 14, and different manufacturing processes can be performed on the working surface 14 to obtain the desired level of finish of workpiece 12. The manufacturing process can be any suitable process for the desired workpiece 12, and non-limiting examples can include drilling, countersunk hole drilling, cutting, assembling, fastening, welding, sealing, finishing, lubrication, measuring, probing, joining, splicing, etc., and combinations thereof. Some examples of manufacturing processes will be discussed below.

[0036] See also Figure 1 The machining system 10 also includes an end effector tool 16, which is operable to perform various manufacturing processes, as will be further discussed below. A machine 18 can be used to control the end effector tool 16. Therefore, the end effector tool 16 can be coupled to the machine 18 such that the machine 18 supports the end effector tool 16. In this way, the machining system 10 utilizes the machine 18 to automatically control the end effector tool 16. The machine 18 can be configured to operate the end effector tool 16 and / or move the end effector tool 16 to a desired position.

[0037] Machine 18 can be any suitable configuration to control end effector tool 16. As a non-limiting example, machine 18 may include one or more of the following: robot, robotic arm, computer numerical control (CNC) machine, automated machine, factory machine, crane, manual lifting assembly, or any other suitable machine 18 that can control end effector tool 16 and / or move end effector tool 16 to a desired position.

[0038] See Figure 1 The end effector tool 16 may include a connector 20 that provides an interface between the end effector tool 16 and the machine 18. The machine 18 may include corresponding features compatible with the connector 20, such that the machine 18 can be attached to and detached from the end effector tool 16 via the connector 20. When the machine 18 is attached to the end effector tool 16 via the connector 20, the machine 18 can move the end effector tool 16 to a desired location. The connector 20 may be any suitable construction, and non-limiting examples of the connector 20 may include one or more of the following: quick-connect / disconnect mechanisms, eyelets, connectors, clips, fasteners, bolted connections, pick-and-go connections, magnets or magnetic connectors, vacuum connectors or vacuum pick-and-place devices, etc.

[0039] like Figure 1 and Figure 3As best shown, the end effector tool 16 includes a fixture 22, and a connector 20 can be attached to the fixture 22. Generally, the fixture 22 supports multiple machining tools 24. Therefore, when the fixture 22 is attached to a machine 18, multiple manufacturing processes (i.e., the same or different processes) can be performed via that machine because the fixture 22 is configured to support multiple machining tools 24. Using multiple machining tools 24 on a single end effector tool 16 overcomes low machining rates and / or low capacity. Thus, using multiple machining tools 24 on a single end effector tool 16 can improve the production machining system 10 by increasing machining rates and / or volume rates. For example, using the machining system 10 described herein can reduce manufacturing process time, which can increase the output of workpieces 12. Furthermore, using multiple machining tools 24 on a single end effector tool 16 can reduce the amount of human interaction required for one or more manufacturing processes. Therefore, the machining system 10 described herein can reduce costs and manufacturing complexity. Some example configurations of the machining tools 24 will be discussed further below.

[0040] Continue to refer to Figure 3 Multiple machining tools 24 can be arranged relative to each other in any suitable manner. For example, multiple machining tools 24 can be arranged in rows or columns relative to the fixture 22, and / or multiple machining tools 24 can be offset from each other, etc., depending on the desired position of the workpiece 12 to be machined.

[0041] See Figure 1 The machine 18 shown holds the end effector tool 16 relative to the workpiece 12. Also as shown in the figures, a portion of the contour of the fixture 22 is complementary to the working surface 14 of the workpiece 12, which facilitates the positioning of the machining tools 24 at similar contours. This positions all machining tools 24 correspondingly at a consistent distance from the working surface 14 of the workpiece 12 before operation. Therefore, for example, if a machining tool 24 or a portion of a machining tool 24 extends toward the working surface 14 to perform an operation on the working surface 14, each of the plurality of machining tools 24 can move toward the working surface 14 by the same distance because the machining tool 24 is positioned complementary to the contour of the working surface 14. It should be understood that, optionally, one or more machining tools 24 or portions of machining tools 24 may move a longer or shorter distance toward the working surface 14 than other machining tools 24.

[0042] See also Figure 1 As best shown, a portion of the working surface 14 and the end effector tool 16 may have matching profiles. In this way, the working surface 14 can present a first configuration, and this working surface 14 can be processed to advance the machining of the part 12. (Turning) Figure 1 and Figure 3The fixture 22 may include a fixture platform 26 having an outer surface 28 that presents a second configuration complementary to the first configuration of the working surface 14. The complementary features of the fixture platform 26 and the working surface 14 may be surfaces 14, 28 facing each other, such as... Figure 1 As best shown in the text. That is, as... Figure 1 As shown, when the end effector tool 16 is positioned adjacent to the workpiece 12, the working surface 14 of the workpiece 12 and the outer surface 28 of the fixture platform 26 face each other, and these surfaces 14, 28 can generally be complementary to each other. It should be understood that the first configuration of the working surface 14 and the second configuration of the fixture platform 26 can be any suitable configuration, and non-limiting examples may include arched, flat, wavy, angled, conical, etc.

[0043] In some configurations, workpiece 12 is an aircraft panel, but it should be understood that workpiece 12 can have other configurations, and the following discussion of panels is for illustrative purposes. In some configurations, the panel can be an arched shape in the form of a convex orientation and / or a concave orientation, and therefore, the first configuration of the working surface 14 can be an arched shape in the form of a convex orientation and / or a concave orientation. Similarly, in some configurations, the second configuration of the outer surface 28 of the clamping platform 26 can be an arched shape opposite to the convex orientation and / or concave orientation of the working surface 14, such that the working surface 14 and the clamping platform 26 are complementary. Thus, depending on the orientation of the working surface 14, the clamping platform 26 is configured to be opposite to it, such that the clamping platform 26 is generally complementary to the working surface 14. Therefore, if workpiece 12 is Figure 1 If the orientation is such that the working surface 14 can be a convex arch, and the clamping platform 26 is a concave complementary form to the working surface 14, so that the clamping platform 26 is generally complementary to the working surface 14.

[0044] As described above, the end effector tool 16 includes machining tools 24, and the machining tools 24 can be of various configurations depending on one or more desired machining operations to be performed on the workpiece 12. Each of the machining tools 24 can be configured to perform the same task or different tasks.

[0045] For example, the end effector tool 16 also includes a set of first machining tools 24 attached to the fixture 22 in a predetermined pattern. The first machining tools 24 are configured to perform a task on the work surface 14. Therefore, the set of first machining tools 24 are configured to perform the same task. That is, a plurality of first machining tools 24 are arranged on the fixture 22 in a similar manner.

[0046] In some configurations, the end effector tool 16 may also include a set of second machining tools 24 attached to the fixture 22 in a predetermined pattern. The second machining tools 24 are configured to perform a task on the work surface 14. Thus, a set of second machining tools 24 are configured to perform the same task. That is, a plurality of second machining tools 24 are arranged in a similar pattern on the fixture 22.

[0047] The predetermined pattern or design formed on the fixture 22 by the machining tool 24 can be designed to position the machining tool 24, so that the machining system 10 can perform operation cycles in an accurate position that matches the design of the workpiece 12.

[0048] In some configurations, each of the first machining tools 24 may be configured to perform a task, and each of the second machining tools 24 may be configured to perform a different task than the first machining tool 24. That is, the first machining tool 24 may be configured to perform a first machining on the work surface 14, and the second machining tool 24 may be configured to perform a second machining on the work surface 14.

[0049] Optionally, the end effector tool 16 may incorporate a set of first machining tools 24 and a set of second machining tools 24. Thus, in some configurations, a set of second machining tools 24 may be attached to the fixture 22 adjacent to a set of first machining tools 24. It should be understood that the end effector tool 16 may incorporate more than one set of first machining tools and one set of second machining tools 24. That is, the end effector tool 16 may incorporate any suitable number of different sets of machining tools 24.

[0050] Alternatively, in other configurations, the individual end effector tool 16 may be interchangeable with the machine 18. That is, the individual end effector tool 16 may support various types of machining tools 24. Specifically, one set of machining tools 24 may be attached to the fixture 22 of one end effector tool 16, and another set of machining tools 24 may be attached to the fixture 22 of another end effector tool 16.

[0051] Therefore, optionally, the end effector tool 16 may also be defined as a first end effector tool 16 having a first machining tool 24, and the machining system 10 may further include a second end effector tool 16 having a set of second machining tools 24. That is, the machine 18 may operate the first end effector tool 16 for certain workpieces 12 or certain processes, and then the machine 18 may disconnect from the first end effector tool 16 and connect to the second end effector tool 16, such that the second end effector tool 16 may operate on certain workpieces 12 or other processes. The first end effector tool 16 and the second end effector tool 16 may be interchanged to perform individual tasks on the work surface 14.

[0052] Depending on the construction of the workpiece 12, different workpieces 12 may require different end effector tools 16. Therefore, in other configurations, the first end effector tool 16 may have a machining tool 24 attached to the fixture platform 26 in a different mode than another first end effector tool 16 to accommodate different machining areas of various workpiece constructions. Similarly, the second end effector tool 16 may have a machining tool 24 attached to the fixture platform 26 in a different mode than another second end effector tool 16 to accommodate different machining areas of various workpiece constructions. Furthermore, in other configurations, the fixture platform 26 of the first end effector tool 16 may be one configuration adapted to a single working surface construction, and the fixture platform 26 of the other first end effector tool 16 may be a different configuration adapted to different working surface constructions. Similarly, the fixture platform 26 of the second end effector tool 16 may be one configuration adapted to a single working surface construction, and the fixture platform 26 of the other second end effector tool 16 may be a different configuration adapted to different working surface constructions.

[0053] The first machining tool 24 and the second machining tool 24 can be any suitable tool that can be attached to the fixture platform 26. It should be understood that referring to the machining tool 24 as the first machining tool 24 or the second machining tool 24 is for illustrative purposes, and therefore... Figure 3 The machining tool 24 can be referred to as the first machining tool 24 or the second machining tool 24.

[0054] Next, the machining system 10 provides precise positioning of the end effector tool 16 relative to the workpiece 12, which provides consistent manufacturing repeatability. As described above, the machine 18 moves the end effector tool 16 to the desired position relative to the work surface 14. (Refer to...) Figure 1 and Figure 2 The end effector tool 16 may include a plurality of position sensors 30 coupled to the fixture 22. Typically, the position sensors 30 are configured to position the end effector tool 16 relative to the workpiece 12. More specifically, the position sensors 30 are configured to align the end effector tool 16 relative to the workpiece 12 such that the machining tools 24 (i.e., first machining tool 24, second machining tool 24, etc.) are aligned in predetermined positions. That is, various indexing features can be employed to ensure proper placement of the machining tools 24 relative to the work surface 14. The placement of the end effector tool 16 can be recorded and analyzed using the position sensors 30. That is, feedback can be obtained via the position sensors 30, which can be used to ensure the desired arrangement of the machining tools 24 relative to the work surface 14. For example, in some configurations, one position sensor 30 may establish x, y, z offsets, and another position sensor 30 may establish i, j, k offsets.

[0055] In some configurations, the position sensor 30 may include a camera assembly, a vision assembly, a laser assembly, an optical assembly, a measurement assembly, etc. Therefore, the position sensor 30 may include features for vision, infrared, thermal-thermal characteristics, etc., to accurately position / set the machining tool 24 relative to the work surface 14.

[0056] Depending on the type of position sensor 30 used, workpiece 12 may optionally include at least one reference guide 32 (see Figure 1 The reference guide 32 can be implemented in conjunction with the position sensor 30 to help position the end effector tool 16 relative to the workpiece 12. Thus, the position sensor 30 can be configured to identify the reference guide 32 to position the end effector tool 16 relative to the work surface 14, so that the machining tool 24 (i.e., the first machining tool 24, the second machining tool 24, etc.) is aligned at a predetermined position.

[0057] The reference guide 32 can be any suitable construction or feature, and non-limiting examples of the reference guide 32 may include lines, markings, etched structures, stickers, projected patterns, optical reference points (such as external optical reference points), magnetic reference targets, etc., arranged on the workpiece 12. One example of an external optical reference point is activating one or more lasers to point to the position where the machine 18 should move relative to the workpiece 12, and the position sensor 30 of the end effector tool 16 positions the laser point to align the machining tool 24 relative to the work surface 14. An example of a magnetic reference target is placing one or more magnets inside or on the back of the workpiece 12, and the position sensor 30 of the end effector tool 16 positions the magnets to align the machining tool 24 relative to the work surface 14. It should be understood that any suitable number of reference guides 32 can be used. The position sensor 30 and reference guide 32 may optionally be used in place of indexing holes and corresponding indexing rods, but it should be understood that indexing holes and corresponding indexing rods may optionally be used to position the end effector tool 16 relative to the workpiece 12.

[0058] Typically, the position sensor 30 may be attached to the fixture 22. In some configurations, the position sensor 30 may be attached to the fixture platform 26. Multiple position sensors 30 may be spaced apart from each other around the fixture 22, and more specifically, spaced apart from each other relative to the fixture platform 26. Figure 1 and Figure 3 A non-limiting example of a potential location where the position sensor 30 can be attached to the clamp 22 / clamp platform 26 is shown. More or fewer position sensors 30 may be implemented than those shown.

[0059] In some configurations, the fixture platform 26 may include an outer periphery 34 surrounding the machining tool 24. Optionally, a position sensor 30 may be disposed near the outer periphery 34, and in some configurations, the position sensor 30 may be attached to the outer periphery 34. By positioning the position sensor 30 at the outer periphery 34, the position sensor 30 can have a wider range of positioning the end effector tool 16 relative to the workpiece 12 compared to positioning the position sensor 30 at other locations. Optionally, the position sensor 30 may be movable relative to the fixture 22, and more specifically, relative to the fixture platform 26, to provide an adjustable range of positioning of the end effector tool 16 relative to the workpiece 12. By having a movable position sensor 30, a wider positioning range, such as a wider field of view, can be obtained compared to having a fixed position sensor.

[0060] In some configurations, the position sensor 30 can also be configured to provide quality control of the workpiece 12. That is, the position sensor 30 can use vision, infrared, etc. to acquire data about the workpiece 12, and the collected data can be used by other systems to analyze the data and make determinations about the workpiece 12, such as determinations about the quality of the workpiece 12.

[0061] To control various features of the machining system 10, a controller 36 can be used. Therefore, returning to... Figure 1 and Figure 2 The machining system 10 may also include a controller 36 that communicates with the end effector tool 16. The controller 36 can control the operation of the machine 18, the machining tool 24, and other features, some of which will be discussed further below. Furthermore, the controller 36 can collect data, analyze data, and / or make decisions based on various data. For example, the controller 36 can collect data about the workpiece 12 during any manufacturing process and is programmed to determine various quality controls for the workpiece 12 / part 12. Additional control features of the controller 36 will be discussed further below.

[0062] Controller 36 can be connected via an electrical interface or module 37 (see...) Figure 2 The controller 36 communicates with various features of the end effector tool 16. The controller 36 may include a processor P configured to execute instructions from the memory M. The processing circuitry may include one or more processors P, either alone or in combination with one or more memories. The processing circuitry is typically any computer hardware configured to process information, such as data, computer programs, and / or other suitable electronic information. The processing circuitry consists of a collection of electronic circuits, some of which may be packaged as integrated circuits or multiple interconnected integrated circuits (sometimes more commonly referred to as "chips"). The processing circuitry may be configured to execute computer programs, which may be stored on the processing circuitry or in the memory M of the same controller 36 or different controllers 36.

[0063] Depending on the specific implementation, the processing circuit may include multiple processors P, a multi-core processor, or some other type of processor. Furthermore, the processing circuit may be implemented using multiple heterogeneous processor systems, in which the main processor and one or more secondary processors reside on a single chip. As another example, the processing circuit may be a symmetric multiprocessor system containing multiple processors of the same type. Therefore, while the processing circuit may be configured to execute a computer program to perform one or more functions, various instances of the processing circuit may be configured to perform one or more functions without the aid of a computer program. In any case, the processing circuit may be suitably programmed to perform the functions or operations according to the exemplary embodiments of this disclosure.

[0064] Memory M can generally be any computer hardware configured to store information such as data, computer programs (e.g., computer-readable program code), and / or other suitable information on a temporary and / or permanent basis. Memory M can include volatile and / or non-volatile memory and can be fixed or removable. Non-limiting examples of suitable memory M may include random access memory (RAM), read-only memory (ROM), hard disk drive, flash memory, thumb drive, removable computer disk, optical disk, magnetic tape, or some combination thereof. Optical disk may include compact disc-read-only memory (CD-ROM), compact disc-read / write (CD-R / W), DVD, etc. In various cases, memory M may be referred to as a computer-readable storage medium. A computer-readable storage medium can be a non-temporary device configured to store information. As described herein, a computer-readable medium can generally refer to a computer-readable storage medium or a computer-readable transmission medium.

[0065] In addition to the memory M, the processing circuitry may also be connected to one or more interfaces for displaying, transmitting, and / or receiving information. These interfaces may include communication interfaces (e.g., communication units) and / or one or more user interfaces. Communication interfaces may be configured to transmit and / or receive information to and / or from other devices, networks, etc. Communication interfaces may be configured to transmit and / or receive information via physical (wired) and / or wireless communication links. Examples of suitable communication interfaces include network interface controllers (NICs), wireless NICs (WNICs), etc.

[0066] Returning to the end effector tool 16, the controller 36 can control a machine 18 and multiple machining tools 24 attached to a fixture 22 of the machine 18. Thus, compared to a machine with only one machining tool 24 attached, as discussed in the background section above, a single machine 18 can perform high-speed and / or high-volume manufacturing processes because multiple machining tools 24 are attached to the fixture 22 of the end effector tool 16. Due to the compactness of the end effector tool 16, the machine 18 can have a reduced size, thus lowering costs. Furthermore, the machine 18 allows for the use of cooperating machines 18 with lower payload capacities, which improves manufacturing at the facility.

[0067] The controller 36 is configured to control the movement of the end effector tool 16 to position the machining tools 24 (i.e., the first machining tool 24, the second machining tool 24, etc.) relative to the work surface 14, such that a predetermined pattern is aligned with the work surface 14 at a predetermined position. The controller 36 is also configured to control the operation of the first machining tool 24 to perform a task on the work surface 14 to form a first machining area 39 at a predetermined position on the work surface 14. Similarly, the controller 36 is also configured to control the operation of the second machining tool 24 to perform a task on the work surface 14 to form a second machining area at a predetermined position on the work surface 14. Therefore, the controller 36 is configured to control the operation of any number of machining tools 24 to form corresponding machining areas 39.

[0068] For illustrative purposes, Figure 1 The diagram shows a processing area 39 and is labeled as the first processing area 39, and the machine 18 is aligned with the end effector tool 16 at another predetermined position to form another processing area, such as the second processing area, depending on the desired number of processing areas 39.

[0069] The controller 36 can enable the machining tools 24 in any order, and for example, multiple machining tools 24 can be enabled one at a time, enabled by mode, enabled simultaneously, or enabled in any combination, group, etc.

[0070] The controller 36 can communicate with the position sensor 30 to position the end effector tool 16 relative to the workpiece 12. For example, the controller 36 can use data from the position sensor 30 and / or the reference guide 32 to properly align the machining tool 24 relative to the work surface 14. Furthermore, the controller 36 can use data from the position sensor 30 to determine whether the workpiece 12 is within the desired quality control range.

[0071] After the machining tool 24 is aligned in the predetermined position, features can be implemented to secure the clamp 22 to the workpiece 12 and / or stabilize the clamp 22 relative to the workpiece 12. Therefore, for example, the end effector tool 16 may also include an end effector attachment assembly 38 (see...). Figure 2 and Figure 4 The controller 36 is configured to engage the workpiece 12 to hold the end effector tool 16 in a predetermined position. The controller 36 can communicate with the end effector attachment assembly 38, and therefore, the controller 36 can be used to selectively enable and disable the end effector attachment assembly 38, which will be discussed further below.

[0072] See also Figure 2 and Figure 4 The end effector attachment assembly 38 may include a plurality of grippers 40 attached to the fixture 22. The grippers 40 are configured to engage the workpiece 12 to attach the end effector tool 16 to the workpiece 12, such that one or more manufacturing processes can be performed on the workpiece 12 while the end effector tool 16 is held in place relative to the workpiece 12. Furthermore, the grippers 40 may be configured to absorb energy, dampen vibrations, and / or provide some compliance during operation of the machining tool 24, which helps to hold the fixture 22 and thus the machining tool 24 in the desired position, and by doing so, reduces or avoids manufacturing distortion of the workpiece 12.

[0073] Typically, multiple grippers 40 are spaced apart from each other around the fixture 22 (and more specifically, around the fixture platform 26). The grippers 40 may be positioned in a gap 42 between the fixture platform 26 and the workpiece 12 (see [link to product description]). Figure 1 and Figure 11 In this context, the fixture 22 and fixture platform 26 are held spaced apart from the workpiece 12 via the gripper 40 during manufacturing. Any suitable number of grippers 40 can be used. In some configurations, the gripper 40 is further defined as a suction cup. It should be understood that the gripper 40 can be any suitable configuration, and a suction cup is one example, and other non-limiting examples of the gripper 40 may include magnets, fasteners passing through pre-existing holes, extension mandrels passing through pre-existing holes, mechanisms for applying pressure to the back of the workpiece 12, etc.

[0074] refer to Figure 2 The end effector attachment assembly 38 may include a vacuum assembly 44 in fluid communication with the gripper 40. More specifically, the vacuum assembly 44 may include a pump 46 and a plurality of conduits 48 connected to the pump 46. The conduits 48 are also connected to respective grippers 40, such that the pump 46 is in fluid communication with the gripper 40.

[0075] Vacuum assembly 44 can be enabled and disabled by controller 36, which correspondingly controls whether gripper 40 secures end effector tool 16 to workpiece 12. Therefore, controller 36 is configured to enable vacuum assembly 44 when gripper 40 engages workpiece 12 to create suction between gripper 40 and workpiece 12 to vacuum attach end effector tool 16 to workpiece 12 at a predetermined location. That is, when it is desired to attach end effector tool 16 to workpiece 12, pump 46 of vacuum assembly 44 can be activated to remove fluid from the space between gripper 40 and workpiece 12 to create a lower pressure (compared to atmospheric pressure outside gripper 40) between gripper 40 and workpiece 12, thereby drawing gripper 40 to workpiece 12 and attaching end effector tool 16 to workpiece 12. To separate the end effector tool 16 from the workpiece 12, pump 46 can be deactivated to allow fluid to fill the space between the gripper 40 and the workpiece 12, or pump 46 can be activated to feed fluid into the space between the gripper 40 and the workpiece 12, thereby increasing the pressure between the gripper 40 and the workpiece 12 and stopping the suction to allow the gripper 40 to separate from the workpiece 12.

[0076] The controller 36 can be configured to enable, disable, and / or adjust the vacuum assembly 44 of any of the grippers 40 as needed. Furthermore, the controller 36 can be configured to increase or decrease the vacuum pressure to adjust or change the clamping force between the respective gripper 40 and the workpiece 12. The controller 36 can control the vacuum assembly 44 such that each gripper 40 can be activated in any suitable arrangement. For example, multiple grippers 40 can be activated individually at a time, in modes, simultaneously, or in any combination, group, etc. The controller 36 is programmable to control the engagement of the grippers 40 relative to the workpiece 12. Thus, the controller 36 can optimize actuation strategies to manage air consumption and control energy absorption and / or vibration attenuation.

[0077] A directional flow control valve and a pressure regulator can be used to control the gripper 40 and / or control the sequence in which the gripper 40 engages with the workpiece 12. Therefore, the controller 36 can be connected to the control valve and the pressure regulator.

[0078] As described above, the controller 36 can control the machining tools 24 (i.e., the first machining tool 24, the second machining tool 24, etc.) as needed. For example, one or more machining tools 24 can operate sequentially, in a pattern, in a specific order, simultaneously, randomly, etc. Typically, when performing a task on the work surface 14, a portion of each of the first machining tools 24 can move relative to the fixture 22 and can be moved via the fixture platform 26. That is, the controller 36 can activate the corresponding machining tool 24, which can cause a portion of the machining tool 24 to move toward or away from the work surface 14. The movement and operation of the machining tools 24 and their corresponding features can be controlled mechanically, pneumatically, hydraulically, electrically, or by any other suitable mechanism or combination thereof.

[0079] In some configurations, the controller 36 is configured to simultaneously control the operation of each of the machining tools 24, such as the first machining tool 24, the second machining tool 24, etc. Thus, for example, after the fixture 22 is positioned relative to the workpiece 12, the controller 36 can simultaneously activate each of the machining tools 24. Therefore, for example, if each machining tool 24 is configured to drill a hole 50, then activating the machining tools 24 via the controller 36 can simultaneously drill a predetermined pattern at a predetermined location in the workpiece 12. As another example, continuing with the drilling example, the machining tools 24 can be activated in a mode, such as activating one at a time or in groups, etc.

[0080] As described above, various machining tools 24 can be attached to the fixture 22, and more specifically to the fixture platform 26. Furthermore, the machining tools 24 can perform various manufacturing processes. As non-limiting examples, the machining tools 24 can drill holes 50 and / or countersunk holes 52, perform measurements, apply sealants, coatings, etc., insert fasteners 54 into the workpiece 12, etc., some of which will be discussed below. The following discussion will cover different details of these non-limiting examples of the machining tools 24.

[0081] Optionally, the machining tool may be configured to drill a hole 50, and if desired, the hole 50 may include a countersunk hole 52, a reamed hole, an end face, etc., in the workpiece 12. Therefore, in some configurations of the machining tool, the machining tool may be a drilling assembly. (Refer to...) Figure 1 Some of the holes in 50 have been drilled into the workpiece 12 via a drilling assembly of one of the multiple end effector tools.

[0082] Optionally, the machining tool may be configured to measure the characteristics of the workpiece 12. Therefore, in some configurations of the machining tool, the tool may be a measuring device. The measuring device can be of various configurations, and non-limiting examples may include one or more of a camera assembly, vision assembly, distance sensor, detection assembly, linear scale, optical distance sensor, ultrasonic distance sensor, magnetic strip, etc., and combinations thereof, to measure various characteristics of the workpiece 12. For example, the measuring device of the machining tool may be configured to measure the size of a corresponding hole 50, the depth of a corresponding hole 50, the surface quality of a corresponding hole 50, the surface quality of the working surface 14 and / or the workpiece 12, the quality of the material of the workpiece 12, etc.

[0083] After the drilling assembly has drilled holes 50 and any necessary measurements have been taken via the measuring device, fasteners 54 can be inserted into each hole 50. The following discussion will focus on the machining tool 24 for inserting the fasteners 54 into each hole 50. It should be understood that the end effector tool 16 may have multiple different types of machining tools 24 attached to it or one type of machining tool 24 attached to it. Thus, for example, an end effector tool 16 may have two or more types of machining tools 24, such as multiple drilling assemblies and / or multiple probing assemblies and / or multiple fastener mounting assemblies 56, etc., and each of the different types of machining tools 24 operates in a predetermined order. Alternatively, for example, an end effector tool 16 may have only fastener mounting assemblies 56, or only drilling assemblies, or only probing assemblies, etc. The following discussion focuses on the end effector tool 16 having fastener mounting assemblies 56 attached thereto.

[0084] See Figures 1 to 4 The end effector tool 16 includes a plurality of fastener mounting assemblies 56 attached to the clamp 22. Therefore, Figures 1 to 4 An end effector tool 16 is shown for mounting a plurality of fasteners 54 into corresponding holes 50 in a workpiece 12. More specifically, fastener mounting assemblies 56 are used to mount fasteners 54 into corresponding holes 50 in the workpiece 12. Thus, each fastener mounting assembly 56 attached to the fixture 22 is used to mount a corresponding fastener 54 into a corresponding hole 50 in the workpiece 12. Typically, the fastener mounting assembly 56 is operated after the hole 50 has been formed via a drilling assembly. Alternatively, a measuring device (such as a probing assembly) may be operated after the hole 50 has been formed and before the fastener mounting assembly 56 has been operated. The following discussion focuses on one fastener mounting assembly 56, but it should be understood that each fastener mounting assembly 56 may be constructed identically, and therefore, while primarily discussing one fastener mounting assembly 56, the following discussion applies to any number of fastener mounting assemblies 56.

[0085] Go to Figures 5 to 8The fastener mounting assembly 56 includes a container 58 and a plurality of retainer assemblies 60 supported by the container 58. The container 58 can be any suitable construction, and a non-limiting example is a track, a circular construction, a rectangular or elongated construction, or any other suitable construction in which the container 58 can rotate about a central axis 62 to correspondingly rotate the retainer assemblies 60, and in a rectangular or elongated construction, the container 58 moves linearly to correspondingly move the retainer assemblies 60 linearly.

[0086] The arrangement of the retainer assemblies 60 can vary depending on the construction of the container 58. When the container 58 is generally circular, it can be referred to as a roller, and the plurality of retainer assemblies 60 can be radially spaced apart from each other in a circular orientation relative to the central axis 62, such as... Figure 8 The best example shown is...

[0087] Typically, the retainer assembly 60 is used to retain a corresponding fastener 54 for use in the fastener 54 installation process. (See reference) Figure 9 and Figure 10 Each retainer assembly 60 includes a plurality of fingers 64A, 64B configured to hold a corresponding fastener 54 in a pre-installed position between the fingers 64A, 64B. That is, the retainer assembly 60 orients the corresponding fastener 54 in a specific direction to mount the fastener 54 in the hole 50 in the desired orientation. Figures 7 to 11 Fastener 54 is shown in its pre-installed position.

[0088] In some configurations, the plurality of fingers 64A, 64B in each retainer assembly 60 are further defined as first fingers 64A and second fingers 64B disposed adjacent to each other. Typically, the first fingers 64A and second fingers 64B in each retainer assembly 60 are arranged adjacent to each other to define an opening 66 therebetween. Typically, the opening 66 of each retainer assembly 60 provides space for a corresponding fastener 54 to be received therein. Thus, the opening 66 of each retainer assembly 60 is configured to receive a corresponding fastener 54 in a pre-installed position.

[0089] refer to Figure 9 and Figure 11Each retainer assembly 60 may have an opening 66 extending along a longitudinal axis 68, and the plurality of longitudinal axes 68 are spaced apart from each other relative to a central axis 62. The first finger 64A and the second finger 64B of each retainer assembly 60 may include inwardly facing surfaces 70 to define the opening 66 therebetween. The inwardly facing surfaces 70 of the first finger 64A and the second finger 64B of each retainer assembly 60 may include a lip 72 extending into the respective opening 66. The lips 72 of the first finger 64A and the second finger 64B of each retainer assembly 60 cooperate to retain a corresponding fastener 54 in a pre-installed position. That is, when the corresponding fastener 54 is in the pre-installed position, a portion of the corresponding fastener 54 (such as the head 74 of the fastener 54) engages and / or rests on the lip 72 of the corresponding retainer assembly 60.

[0090] Optionally, the inward surface 70 of the first finger 64A and the inward surface 70 of the second finger 64B of each retainer assembly 60 may include a protrusion 76 extending into the corresponding opening 66 and spaced apart from the corresponding lip 72. The protrusion 76 of each retainer assembly 60 may help stabilize the corresponding fastener 54 within the opening 66 in a pre-installed position. Thus, as Figure 11 As best shown, when in the pre-installed position, the protrusion 76 of each retainer assembly 60 can engage a portion of the corresponding fastener 54, such as the shank 78 of the fastener 54.

[0091] refer to Figure 9 and Figure 11 Each retainer assembly 60 may include a first finger 64A and a second finger 64B spaced apart from each other along a longitudinal axis 68, with a first end 80 and a second end 82. In some configurations, an opening 66 is provided along the longitudinal axis 68 and extends from the first end 80 to the second end 82. Typically, the second end 82 of each retainer assembly 60 is positioned closer to the workpiece 12 than the first end 80 of each retainer assembly 60.

[0092] In some configurations, the lip 72 of each retainer assembly 60 is positioned closer to the first ends 80 of the corresponding first fingers 64A and the corresponding second fingers 64B, rather than closer to the second ends 82 of the corresponding first fingers 64A and the corresponding second fingers 64B. Thus, the head 74 of the corresponding fastener 54 is positioned closer to the first ends 80 of the corresponding first fingers 64A and the corresponding second fingers 64B, rather than closer to the second ends 82 of the corresponding first fingers 64A and the corresponding second fingers 64B, such that during assembly, the shank 78 of the corresponding fastener 54 enters the corresponding hole 50 of the workpiece 12 before the head 74 of the corresponding fastener 54.

[0093] Return to Figure 5 and Figure 6 The fastener mounting assembly 56 also includes a first actuator 84 configured to move a corresponding fastener 54 to the mounting position by ejecting a corresponding fastener 54 from the corresponding retainer assembly 60 and inserting it into a hole 50 in the workpiece 12. The first actuator 84 can be any suitable actuator that moves the fastener 54 into the corresponding hole 50 in the workpiece 12, and non-limiting examples may include a motor, such as an electric motor, a hydraulic motor, a pneumatic motor, etc.

[0094] Continue to refer to Figure 5 The fastener mounting assembly 56 may also include a bracket 86 disposed near the container 58. A first actuator 84 is also disposed near the container 58 and attached to the bracket 86. That is, the bracket 86 supports the first actuator 84.

[0095] Continue to refer to Figure 5 The bracket 86 may define an interface hole 88 disposed along the bracket axis 90, and the first actuator 84 may be at least partially aligned with the bracket axis 90. The interface hole 88 provides the first actuator 84 with a path to a fastener 54 held by the retainer assembly 60, such that the first actuator 84 can eject the fastener 54 aligned with the interface hole 88 to install the fastener 54 into the workpiece 12.

[0096] Go to Figure 5 and Figure 6The first actuator 84 may include a housing 92 fixed to the bracket 86 and a rod 94 movable relative to the housing 92 from an initial position to an extended position to eject a corresponding fastener 54 from the corresponding retainer assembly 60 to a mounting position. Typically, the rod 94 is movable along the bracket axis 90 between the initial and extended positions, i.e., axially relative to the bracket axis 90. Furthermore, the longitudinal axis 68 and the bracket axis 90 are substantially aligned with each other to prepare the fastener 54 for insertion into the hole 50 of the workpiece 12. Therefore, when the first actuator 84 is operated to move the rod 94 to the extended position, the rod 94 extends through the interface hole 88 of the bracket 86 and engages the fastener 54 to push the fastener 54 past the lip 72, out of the opening 66, and into the hole 50 of the workpiece 12.

[0097] Figures 11 to 14 The operation of rod 94 is shown when fastener 54 is inserted into hole 50 of workpiece 12. Figure 11 In the diagram, rod 94 is shown moving toward the extended position in the direction of arrow B. Figure 12 and Figure 13 In the middle, rod 94 continues to move toward the extended position in the direction of arrow B, wherein rod 94 moves through the opening 66 between the corresponding first finger 64A and the corresponding second finger 64B, and begins to insert fastener 54 into hole 50 of workpiece 12. Figure 14 In the middle position, rod 94 reaches the extended position, in which fastener 54 is fully positioned in hole 50 of workpiece 12. (Refer to...) Figure 15 Once the fastener 54 is fully inside the hole 50, the rod 94 moves from the extended position back to the initial position in the direction of arrow C.

[0098] After the first actuator 84 operates to eject a corresponding fastener 54 into the mounting position, the bracket 86 or container 58 becomes movable to cycle through another retainer assembly 60 that holds another fastener 54 in a pre-installed position, thus allowing the installation process to proceed at another hole 50. Depending on which of the brackets 86 or containers 58 is movable, the other is stationary. Therefore, for example, if bracket 86 is movable, then container 58 is stationary, and thus bracket 86 cycles through aligning the first actuator 84 with the other retainer assembly 60. As another example, if container 58 is movable, then bracket 86 is stationary, and thus container 58 cycles through aligning that retainer assembly 60 with the first actuator 84 of the other retainer assembly 60.

[0099] Thus, either the support 86 or the container 58 can be moved to the actuated position, while the other of the support 86 or the container 58 is in a fixed position. For example, in some configurations, the container 58 can be moved to the actuated position and the support 86 is positioned in a fixed position, such that the container 58 can be moved to the actuated position relative to the support 86.

[0100] To move the bracket 86 or the container 58, the fastener mounting assembly 56 may also include a second actuator 96. The second actuator 96 is coupled to the bracket 86 and / or the container 58, depending on which is movable. In a non-limiting example, the second actuator 96 is attached to the bracket 86 and operatively coupled to the container 58. Thus, the second actuator 96 may be configured to move the container 58 to an actuated position to perform a cycle aligning a corresponding fastener 54 of each retainer assembly 60 with the first actuator 84. Figure 6 Arrow A is shown to indicate a possible directional movement of container 58 relative to the first actuator 84, i.e., rotation of the container relative to the first actuator in this example. The second actuator 96 can be any suitable actuator that moves container 58 or support 86 to align the next fastener 54 with the first actuator 84, and non-limiting examples may include motors such as electric motors, hydraulic motors, pneumatic motors, etc.

[0101] In some cases, the end effector tool 16 is aligned with the workpiece 12 such that the corresponding fastener 54 is slightly off-center relative to the corresponding hole 50 of the workpiece 12. Therefore, sometimes the alignment of one or more machining tools 24 requires slight adjustment. Therefore, refer to... Figures 9 to 14 The machining tool 24, such as each fastener mounting assembly 56, may include a compliance device 98 that allows one or more fasteners 54 to be compliant with the workpiece 12 to accommodate the tolerances of one or more workpieces 12 when the respective fastener 54 is inserted into the respective hole 50 of the workpiece 12. Generally, the compliance device 98 in each machining tool 24 provides a passive compliance feature. The compliance device 98 may help improve the alignment of the fastener 54 and / or help reduce jamming of the fastener 54 during insertion into the hole 50 of the workpiece 12.

[0102] Therefore, each retainer assembly 60 may also include a compliance device 98 configured to allow the corresponding fastener 54 and the corresponding fingers 64A, 64B to move independently of each other when the first actuator 84 moves the corresponding fastener 54 from the pre-installed position to the installed position, so that the corresponding fastener 54 is self-aligned with the corresponding hole 50.

[0103] refer to Figure 9Each retainer assembly 60 may include a first finger 64A and a second finger 64B facing away from the corresponding opening 66, and typically, a conforming device 98 is coupled to the outward surface 100 to suspend the corresponding first finger 64A and the corresponding second finger 64B within the container 58. More specifically, the container 58 defines a plurality of recesses 102 spaced apart from each other, and the corresponding retainer assembly 60 is suspended within the corresponding recesses 102 via the corresponding conforming device 98. That is, the first finger 64A and the second finger 64B of each retainer assembly 60 are suspended within the corresponding recess 102. Typically, the corresponding recesses 102 are arranged along a corresponding longitudinal axis 68.

[0104] That is, the compliant device 98 is coupled to the outward surface 100 to allow the first finger 64A and the second finger 64B of each retainer assembly 60 to move independently of each other as a corresponding fastener 54 moves between a pre-installed position and an installed position. Reference Figures 12 to 14 These figures illustrate examples of independent movement of the first finger 64A and the second finger 64B when the fastener 54 is slightly offset or misaligned relative to the hole 50 of the workpiece 12. The corresponding recess 102 is larger than the corresponding retainer assembly 60 to allow independent movement of the corresponding first finger 64A and the corresponding second finger 64B without interference from the container 58.

[0105] As described above, the corresponding compliant device 98 suspends the corresponding retainer assembly 60. Therefore, as... Figure 9 As best illustrated, the compliance device 98 of each retainer assembly 60 may include a first arm 104 supporting a corresponding first finger 64A and a second arm 106 supporting a corresponding second finger 64B. The corresponding first finger 64A is rotatable relative to the corresponding first arm 104, and the corresponding second finger 64B is rotatable relative to the corresponding second arm 106 to allow the corresponding fastener 54 to self-align with the corresponding hole 50 as the corresponding fastener 54 moves from a pre-installed position to an installed position.

[0106] Furthermore, container 58 may define a plurality of channels 108 extending along arm axes 110 transverse to longitudinal axis 68 and / or central axis 62. A corresponding first arm 104 of a corresponding first finger 64A is disposed in a corresponding channel 108, and a corresponding second arm 106 of a corresponding second finger 64B is disposed in another corresponding channel 108. Thus, container 58 supports the corresponding first arm 104 and corresponding second arm 106 of the corresponding compliant device 98.

[0107] Continue to refer to Figure 9The container 58 may include a first wall 112 and a second wall 114 spaced apart from each other and radially spaced relative to the central axis 62. Both the first wall 112 and the second wall 114 may surround the central axis 62. Furthermore, the second wall 114 may be disposed between the first wall 112 and the central axis 62. Additionally, each retainer assembly 60 is disposed between the first wall 112 and the second wall 114.

[0108] refer to Figure 8 and Figure 9 Typically, the first arm 104 of each retainer assembly 60 is attached to the first wall 112, and the second arm 106 of each retainer assembly 60 is attached to the second wall 114. More specifically, the corresponding channel 108 of the container 58 intersects with the first wall 112 and the second wall 114 (see [link to relevant documentation]). Figure 8 and Figure 9 ), and intersects with the corresponding recess 102 (see Figure 9 ).

[0109] Each retainer assembly 60's compliance device 98 may further include a first biasing plunger 116 coupled to a corresponding first arm 104 and a second biasing plunger 118 coupled to a corresponding second arm 106. The corresponding first biasing plunger 116 is linearly movable relative to the corresponding first arm 104 (along arm axis 110), and the corresponding second biasing plunger 118 is linearly movable relative to the corresponding second arm 106 (along arm axis 110) to allow the corresponding first finger 64A and the corresponding second finger 64B to have compliance, allowing a corresponding fastener 54 to self-align relative to a corresponding hole 50 during movement from a pre-installed position to an installed position. The first biasing plunger 116 and the second biasing plunger 118 may each include one or more of a biaser 120, a biasing member, a spring, or any other suitable resilient material to allow the corresponding first biasing plunger 116 and the corresponding second biasing plunger 118 to be biased. The first biasing plunger 116 and the second biasing plunger 118 may each include a plunger 122 against which the biaser 120 acts, such that the respective plunger 122 is continuously biased toward the respective first finger 64A and the respective second finger 64B.

[0110] Optionally, the outward surfaces 100 of the corresponding first finger 64A and the corresponding second finger 64B define seats 124 to receive the tips of the first biased plunger 116 and the second biased plunger 118, respectively. The seats 124 of the corresponding first finger 64A and the corresponding second finger 64B can help allow the corresponding first finger 64A and the corresponding second finger 64B to pivot about the corresponding first biased plunger 116 and the corresponding second biased plunger 118.

[0111] After the corresponding fastener 54 has been ejected from the corresponding retainer assembly 60, it is desirable to reload the container 58 using more fasteners 54. Therefore, the features of reloading the container 58 are discussed.

[0112] refer to Figures 16 to 18 The fastener 54 enters the opening 66 of the retainer assembly 60 from the second end 82 in the direction of arrow D. The inward surface 70 of the first finger 64A and the second finger 64B of each retainer assembly 60 may include a guide 126 extending into the opening 66. When a corresponding fastener 54 is inserted into the corresponding opening 66 from the first direction (see arrow D) to set the corresponding fastener 54 in a pre-installed position, the guide 126 is configured to guide the fastener 54 into the opening 66 and to open the first finger 64A and the second finger 64B of each retainer assembly 60 to receive the corresponding fastener 54.

[0113] In some configurations, the guide portion 126 of each retainer assembly 60 is positioned closer to the second end 82 of the corresponding first finger 64A and the second end of the corresponding second finger 64B, rather than closer to the first end 80 of the corresponding first finger 64A and the first end of the corresponding second finger 64B. In some configurations, the guide portion 126 is located at the second end 82 of the corresponding first finger 64A and the second end of the corresponding second finger 64B. The guide portion 126 may include a first tapered portion 128 extending toward the longitudinal axis 68 as the guide portion 126 extends away from the second end 82 to assist the retainer assembly 60 in opening as the head 74 of the next fastener 54 is fed into the opening 66 (see...). Figure 17 ), and includes a second tapered portion 130 extending away from the longitudinal axis 68 as the fastener 54 continues to extend toward the first end 80, which allows the retainer assembly 60 to close after the head 74 has passed the guide portion 126 (see Figure 18 ).

[0114] Furthermore, each retainer assembly 60 may include a stop 132 for restricting movement of a corresponding fastener 54 in a first direction (see arrow D). In some configurations, both the first finger 64A and the second finger 64B of each retainer assembly 60 include the stop 132. Typically, the stop 132 is positioned closer to the first end 80 than to the second end 82. In some configurations, the stop 132 is positioned at the first end 80 of the first finger 64A and at the first end 80 of the second finger 64B to partially close the opening 66 at the first end 80. Thus, the head 74 of the fastener 54 may engage the stop 132 to prevent further movement of the fastener 54, and thus, positioning the head 74 of the fastener 54 between the lip 72 and the stop 132 ensures that the fastener 54 is positioned in a pre-installed position within the retainer assembly 60.

[0115] refer to Figure 8 and Figure 9 To house the retainer assembly 60 within the container 58, the container 58 may include a top side 134 and a bottom side 136 spaced apart from each other relative to a central axis 62. A first wall 112 and a second wall 114 are disposed between the top side 134 and the bottom side 136. A recess 102 may be defined by one of the top side 134 or the bottom side 136 to allow access to the retainer assembly 60. In some configurations, these recesses 102 are defined to extend through the top side 134 and be spaced apart from the second side, such that the retainer assembly 60 can be assembled and detached from one side relative to the container 58.

[0116] Container 58 may define a plurality of inlet orifices 138 spaced apart from each other. Optionally, container 58 may include a cap 140 defining the inlet orifices 138 and a body 142 defining recesses 102 and supporting retainer assembly 60. Thus, cap 140 may close the recesses 102 relative to the top side 134 of body 142. Each inlet orifice 138 may be aligned with a corresponding opening 66 of retainer assembly 60. That is, inlet orifices 138 may be positioned along longitudinal axis 68. The inlet orifices 138 are sized to allow a rod 94 of first actuator 84 to extend through them. In some configurations, the outer diameter of inlet orifice 138 is smaller than that of recess 102.

[0117] Furthermore, container 58 may define a plurality of outlet orifices 144 aligned with corresponding inlet orifices 138 of container 58. That is, outlet orifices 144 may be provided along longitudinal axis 68. Outlet orifices 144 may be defined through the bottom side 136 of body 142. The outlet orifices 144 are sized to allow fasteners 54 to extend through outlet orifices 144. In some configurations, outlet orifices 144 have an outer diameter smaller than the outer diameter of recess 102. Rod 94 is aligned with one of the inlet orifices 138 such that rod 94 is movable through inlet orifice 138 and into corresponding opening 66 to eject a corresponding fastener 54 from corresponding retainer assembly 60 and through outlet orifice 144 to insert a corresponding fastener 54 into a corresponding hole 50 of workpiece 12 in the installation position.

[0118] The invention also includes a method for installing a plurality of fasteners 54 into corresponding holes 50 in the workpiece 12. For example... Figure 1 As shown, workpiece 12 is provided. As discussed above, workpiece 12 can be any suitable construction, and Figure 1 For illustrative purposes. The appropriate end effector tool 16 is selected based on the desired workpiece 12 and / or the desired manufacturing process. In this example, an end effector tool 16 with at least a fastener mounting assembly 56 will be selected.

[0119] An end effector tool 16 is selected to perform a task on the work surface 14. The machine 18 is then attached to the selected end effector tool 16 to control it. A fastener 54 is mounted in a pre-installed position in each retainer assembly 60 of the container 58 of the fastener mounting assembly 56. As described above, each retainer assembly 60 includes fingers 64A, 64B configured to hold a corresponding fastener 54 in the pre-installed position between the fingers 64A, 64B. Thus, each retainer assembly 60 of each container 58 is fitted with a fastener 54 such that the fastener 54 is received within the container 58 in a pre-installed position before the end effector tool 16 is aligned relative to the workpiece 12 to perform processing on the workpiece 12.

[0120] Next, controller 36 controls machine 18 to position end effector tool 16 relative to workpiece 12. When end effector tool 16 is positioned at the desired location, it is attached to workpiece 12 via gripper 40. First, controller 36 uses data from position sensor 30 to position end effector tool 16 relative to work surface 14 at the desired location and orientation (i.e., desired positioning). Then, controller 36 activates vacuum assembly 44, causing gripper 40 to hold the selected end effector tool 16 to a predetermined position on workpiece 12, enabling the task to be performed. For example, vacuum assembly 44 is activated via controller 36 to create suction between gripper 40 and workpiece 12 to vacuum attach end effector tool 16 to workpiece 12 at the predetermined position. Typically, vacuum assembly 44 is activated before operation of machining tool 24.

[0121] The controller 36 is configured to control the end effector tool 16, including the control machining tool 24. The controller 36 controls the operation of the end effector tool 16 such that it positions the end effector tool 16 relative to the workpiece 12 to align a fastener 54 of the fastener mounting assembly 56 with a hole 50. For example, the controller 36 controls the movement of the end effector tool 16 to position the machining tool 24 relative to a work surface 14, aligning a predetermined pattern at a predetermined position relative to the work surface 14. In this example, the controller 36 positions the fastener mounting assembly 56 relative to the corresponding hole 50.

[0122] Furthermore, the operation of the machining tool 24 is controlled by the controller 36, causing the machining tool 24 to perform a task on the work surface 14 to form a first machining area 39 at a predetermined location on the work surface 14. Typically, the operation of the machining tool 24 is performed after the end effector tool 16 is aligned and fixed relative to the work surface 14. In some configurations, the operation of the machining tool 24 may include operating the first actuator 84 via the controller 36.

[0123] The controller 36 can control the machining tools 24 as needed. In some configurations, the control operations of multiple first machining tools 24 (or any one of the other machining tools 24, i.e., second machining tool 24, third machining tool 24, fourth machining tool 24, etc.) occur simultaneously. In other words, all the first machining tools 24 can operate simultaneously. Optionally, the control operations of multiple first machining tools 24 (or any one of the other machining tools 24, i.e., second machining tool 24, third machining tool 24, fourth machining tool 24, etc.) can be performed one at a time, either sequentially or in a pattern. The controller 36 can be programmed with programs / data, etc., to control and operate the end effector tool 16 and the corresponding machining tools 24.

[0124] After the fixture 22 is attached to the workpiece 12 via the holder 40, the fastener 54 can be installed. One fastener 54 is aligned with a hole 50 in the workpiece 12. That is, each fastener 54 is aligned with a corresponding hole 50 in the workpiece 12 at a predetermined position for the fastener 54 installation process.

[0125] Next, the operation of the machining tool 24 can be activated via the controller 36 to insert the fastener 54 into the corresponding hole 50. That is, the first actuator 84 is operated to eject a corresponding fastener 54 from the corresponding retainer assembly 60. More specifically, the controller 36 activates the first actuator 84, which causes the lever 94 to move from the initial position to the extended position. When the lever 94 moves to the extended position, the corresponding lever 94 engages the corresponding fastener 54, and each fastener 54 engages in one direction (i.e., the second direction) (see...). Figures 11 to 14 The corresponding retainer assembly 60 opening 66 is popped out on arrow B) to set the fastener 54 in the installation position.

[0126] The controller 36 can enable each of the fastener mounting components 56 in any order, and for example, the first actuator 84 of each fastener mounting component 56 can be enabled individually at a time, enabled by mode, enabled simultaneously, or enabled in any combination, group, etc.

[0127] A corresponding fastener 54 is inserted into a hole 50 of the workpiece 12 via a first actuator 84 to reach an installation position. Also as discussed above, each retainer assembly 60 includes a compliance device 98 configured to allow the corresponding fastener 54 and corresponding fingers 64A, 64B to move independently of each other when the first actuator 84 moves the corresponding fastener 54 from a pre-installed position to the installation position, so that the corresponding fastener 54 self-aligns with the corresponding hole 50. In some configurations, inserting the corresponding fastener 54 into a hole 50 also includes adjusting the orientation of the corresponding fastener 54 relative to the corresponding hole 50 via the compliance device 98, so that the corresponding fastener 54...

[0128] Optionally, two or more workpieces 12 may be stacked relative to each other such that the holes 50 of the corresponding workpieces 12 are aligned with each other, and the fastener mounting assembly 56 may be implemented to mount the corresponding fasteners 54 through the corresponding holes 50 of the stacked workpieces 12.

[0129] After the corresponding fastener 54 is in the installation position, the controller 36 actuates the first actuator 84 to retract the corresponding lever 94 to the initial position (see...). Figure 15(Arrow C). After the rod 94 leaves the container 58, the controller 36 can activate the second actuator 96 to cycle the container 58 to the next fastener 54 contained in the next retaining assembly 60 so that the fastener 54 is aligned with the first actuator 84 to repeat the process for another hole 50 of the workpiece 12 in another area to be processed.

[0130] Once the fastener 54 installation process is completed at this location, and if the end effector tool 16 consists only of the fastener installation assembly 56, the controller 36 can deactivate the vacuum assembly 44 to remove suction, causing the gripper 40 to release the end effector tool 16 from the workpiece 12. Furthermore, if the end effector tool 16 consists only of the fastener installation assembly 56, the machine 18 can repeat the process at another location on the workpiece 12, or restart the process for another workpiece 12.

[0131] After inserting a predetermined number of fasteners 54, the container 58 will need to be reloaded with more fasteners 54. Therefore, turning... Figures 16 to 18 This illustrates the reloading of a fastener 54 relative to a retainer assembly 60; however, it should be understood that all retainer assemblies 60 are compatible with... Figures 16 to 18 The same illustration was reloaded.

[0132] refer to Figure 16 and Figure 17 Each fastener 54 in the first direction (see Figure 16 and Figure 17 The fastener 54 is mounted on the arrow D) into the opening 66 between the corresponding fingers 64A, 64B of the respective retainer assembly 60 to hold the fastener 54 in a pre-installed position. The corresponding fingers 64A, 64B open as the head 74 of the fastener 54 enters the retainer assembly 60 from the second end 82. In some configurations, mounting a fastener 54 in each retainer assembly 60 further includes inserting each fastener 54 into the opening 66 between the corresponding fingers 64A, 64B of the respective retainer assembly 60 until the corresponding fastener 54 passes through the lip 72 that holds the corresponding fastener 54 within the corresponding opening 66. The fastener 54 can continue to move in the direction of arrow D until the head 74 of the fastener 54 engages the stop 132, which helps ensure that the head 74 of the fastener 54 passes over the lip 72 to position the fastener 54 in the pre-installed position. The lip 72 helps hold the corresponding fastener 54 in the pre-installed position within the opening 66. In some configurations, the first direction and the second direction are opposite to each other.

[0133] Fastener 54 can be installed into container 58 manually, automatically, or by any other suitable process. After container 58 is reloaded, machine 18 can repeat the above process for another location of workpiece 12 or restart the process for another workpiece 12.

[0134] It should be understood that the order or sequence of performing the methods as described herein is for illustrative purposes, and other orders or sequences are within the scope of this teaching. It should also be understood that the method may include other features described herein.

[0135] Although the best mode and other constructions for carrying out this disclosure have been described in detail, those skilled in the art will recognize that various alternative designs and constructions for carrying out this disclosure are available within the scope of the appended claims. Furthermore, the features of the constructions shown in the drawings or the various constructions mentioned in this specification should not be construed as constructions independent of each other. Rather, each feature described in one example of a construction may be combined with one or more other desired features from other constructions to produce other constructions not described in words or by reference to the drawings. Therefore, these other constructions fall within the scope of the appended claims.

[0136] As used herein, a system, apparatus, structure, article, element, artifact, or hardware "constructed" to perform a specified function is indeed capable of performing the specified function without any changes, rather than merely having the possibility of performing the specified function after further modification. In other words, a system, apparatus, structure, article, element, artifact, or hardware "constructed" to perform a specified function is specifically selected, created, implemented, utilized, programmed, and / or designed for the purpose of performing the specified function. As used herein, "constructed" means the existing characteristics of a system, apparatus, structure, article, element, artifact, or hardware that enable the system, apparatus, structure, article, element, artifact, or hardware to perform the specified function without further modification. For the purposes of this disclosure, a system, apparatus, structure, article, element, artifact, or hardware described as "constructed" to perform a particular function may additionally or alternatively be described as "suitable" and / or "operable to" perform that function.

[0137] The following terms provide some exemplary constructions of the fastener mounting assembly 56, end effector tool 16, and methods disclosed herein.

[0138] Clause 1: A fastener mounting assembly for mounting a plurality of fasteners into corresponding holes in a workpiece, the fastener mounting assembly comprising: a container; a plurality of retainer assemblies supported by the container, wherein each retainer assembly includes a plurality of fingers configured to hold a corresponding fastener in a pre-installed position between the fingers; a first actuator disposed adjacent to the container and configured to move a corresponding fastener to a mounting position by ejecting the corresponding fastener from the corresponding retainer assembly and inserting the corresponding fastener into a hole in the workpiece; and wherein each retainer assembly includes a compliant device configured to allow the corresponding fastener and the corresponding fingers to move independently of each other, such that the corresponding fastener is self-aligned with the corresponding hole, when the first actuator moves the corresponding fastener from the pre-installed position to the mounting position.

[0139] Clause 2: The fastener mounting assembly according to Clause 1, wherein: the plurality of fingers of each retainer assembly are further defined as first and second fingers disposed adjacent to each other; and the first and second fingers of each retainer assembly include inward surfaces facing each other to define an opening therebetween, and the opening of each retainer assembly is configured to receive a corresponding fastener in a pre-installed position.

[0140] Clause 3: Fastener mounting assembly according to Clause 1 or 2, wherein: the first and second fingers of each retainer assembly include a first end and a second end spaced apart from each other along a longitudinal axis; the second end of the first finger and the second end of the second finger of each retainer assembly are positioned closer to the workpiece than the first end of the first finger and the first end of the second finger of each retainer assembly; and the opening is provided along the longitudinal axis.

[0141] Clause 4: Fastener mounting assembly according to Clause 2 or 3, wherein: the inward surface of the first finger and the inward surface of the second finger of each retainer assembly includes a lip extending into the respective opening; and the lips of the first and second fingers of each retainer assembly cooperate to retain a respective fastener in a pre-installed position.

[0142] Clause 5: Fastener mounting assembly according to Clause 4, wherein the lip of each retainer assembly is positioned closer to the first end of the corresponding first finger and the first end of the corresponding second finger, rather than closer to the second end of the corresponding first finger and the second end of the corresponding second finger.

[0143] Clause 6: A fastener mounting assembly pursuant to any of Clauses 2 to 4, wherein the inwardly facing surfaces of the first and second fingers of each retainer assembly include guides extending into an opening, and the guides are configured to open the first and second fingers of each retainer assembly to receive the corresponding fastener when the corresponding fastener is inserted into the corresponding opening from a first direction, so as to position the corresponding fastener in a pre-installed position.

[0144] Clause 7: Fastener mounting assembly according to Clause 6, wherein the guide portion of each retainer assembly is configured to be closer to the second end of the corresponding first finger and the second end of the corresponding second finger, rather than closer to the first end of the corresponding first finger and the first end of the corresponding second finger.

[0145] Clause 8: Fastener mounting assemblies according to Clause 6 or 7, wherein the first finger and / or second finger of each retainer assembly includes a stop that restricts the movement of a corresponding fastener in a first direction.

[0146] Clause 9: Fastener mounting assembly according to Clause 8, wherein a stop is provided at the first end of the first finger and the first end of the second finger to partially close the opening at the first end.

[0147] Clause 10: A fastener mounting assembly pursuant to any of the preceding clauses, wherein: the first and second fingers of each retainer assembly include an outwardly facing surface opposite to the respective opening; and a compliant device is coupled to the outwardly facing surface to allow the first and second fingers of each retainer assembly to move independently of each other as the respective fastener moves between a pre-installed position and an installed position.

[0148] Clause 11: A fastener mounting assembly according to any of the preceding clauses, wherein: the conformability device of each retainer assembly includes a first arm supporting a corresponding first finger and a second arm supporting a corresponding second finger; the corresponding first finger is rotatable relative to the corresponding first arm, and the corresponding second finger is rotatable relative to the corresponding second arm to allow the corresponding fastener to self-align with the corresponding hole when the corresponding fastener is moved from a pre-installed position to an installed position.

[0149] Clause 12: A fastener mounting assembly pursuant to any of the preceding clauses, wherein: the compliance device of each retainer assembly includes a first biasing plunger coupled to a respective first arm and a second biasing plunger coupled to a respective second arm; and the respective first biasing plunger is linearly movable relative to the respective first arm, and the respective second biasing plunger is linearly movable relative to the respective second arm, to allow the respective first finger and the respective second finger to have compliance, to allow the respective fastener to self-align relative to the respective hole during movement from a pre-installed position to an installed position.

[0150] Clause 13: A fastener mounting assembly pursuant to any of the preceding clauses, wherein: the container includes a first wall and a second wall spaced apart from each other, and each retainer assembly is disposed between the first wall and the second wall; and a first arm of each retainer assembly is attached to the first wall, and a second arm of each retainer assembly is attached to the second wall.

[0151] Clause 14: A fastener mounting assembly pursuant to any of the preceding clauses: further includes a bracket, the bracket being arranged adjacent to a container and a first actuator being attached to the bracket; and wherein the bracket or container is movable to an actuated position, and another of the brackets or containers is in a fixed position.

[0152] Clause 15: Fastener mounting assembly according to Clause 14, wherein the container is movable to an actuated position and the bracket is positioned in a fixed position such that the container is movable relative to the bracket to the actuated position.

[0153] Clause 16: The fastener mounting assembly pursuant to Clause 14 or 15 further includes a second actuator attached to the bracket and operatively coupled to the container, and the second actuator is configured to move the container to an actuated position to perform a cycle of aligning a corresponding fastener of each retainer assembly with the first actuator.

[0154] Clause 17: A fastener mounting assembly pursuant to any of Clauses 14 to 16, wherein: the first actuator includes a housing fixed to a bracket and a rod capable of moving relative to the housing from an initial position to an extended position to eject a corresponding fastener from the corresponding retainer assembly to a mounting position.

[0155] Clause 18: A fastener mounting assembly pursuant to any of Clauses 14 to 17, wherein: a plurality of fingers of each retainer assembly are further defined as first and second fingers arranged adjacent to each other to define an opening therebetween; a container defines a plurality of inlet orifices spaced apart from each other, and each inlet orifice is aligned with a corresponding opening of the retainer assembly; and a rod is aligned with an inlet orifice such that the rod is movable through the inlet orifice and into the corresponding opening to eject a corresponding fastener from the corresponding retainer assembly and insert the corresponding fastener into a corresponding hole in the workpiece.

[0156] Clause 19: An end effector tool for mounting a plurality of fasteners into corresponding holes in a workpiece, the end effector tool comprising: a clamp; and a plurality of fastener mounting assemblies attached to the clamp in a predetermined pattern, wherein each fastener mounting assembly includes: a container; a plurality of retainer assemblies supported by the container, wherein each retainer assembly includes a plurality of fingers configured to hold a corresponding fastener in a pre-installed position between the fingers; a first actuator disposed adjacent to the container, and the first actuator being configured to move a corresponding fastener to a mounting position by ejecting the corresponding fastener from the corresponding retainer assembly and inserting the corresponding fastener into a hole in the workpiece; and wherein each retainer assembly includes a compliance device configured to allow the corresponding fastener and the corresponding fingers to move independently of each other, such that the corresponding fastener is self-aligned with the corresponding hole, when the first actuator moves the corresponding fastener from the pre-installed position to the mounting position.

[0157] Clause 20: A method of mounting a plurality of fasteners into corresponding holes in a workpiece, the method comprising: mounting a fastener in each of a plurality of retainer assemblies of a container of fastener mounting assemblies to a pre-installed position, wherein each retainer assembly includes a plurality of fingers configured to hold a corresponding fastener in the pre-installed position between the fingers; aligning a fastener with respect to a hole in the workpiece; operating a first actuator to eject the corresponding fastener from the corresponding retainer assembly, wherein the first actuator is positioned adjacent to the container; and inserting the corresponding fastener into a hole in the workpiece via the first actuator to a mounting position, wherein each retainer assembly includes a compliant device configured to allow the corresponding fastener and the corresponding fingers to move independently of each other as the first actuator moves the corresponding fastener from the pre-installed position to the mounting position, so as to self-align the corresponding fastener with the corresponding hole.

[0158] Clause 21: The method according to Clause 20, wherein inserting a corresponding fastener into a hole further comprises adjusting the orientation of the corresponding fastener relative to the corresponding hole via a conforming device to cause the corresponding fastener to self-align during insertion into the corresponding hole.

[0159] Clause 22: The method according to Clause 20 or 21, wherein each fastener is installed in a first direction into an opening between corresponding fingers of a corresponding retainer assembly to hold the fastener in a pre-installed position, and wherein each fastener is ejected from an opening of a corresponding retainer assembly in a second direction to set the fastener in an installed position, wherein the first direction and the second direction are opposite to each other.

[0160] Clause 23: The method according to any one of Clauses 20 to 22, wherein installing a fastener in each retainer assembly further comprises inserting each fastener into an opening between the respective fingers of the respective retainer assembly until the respective fastener passes through a lip that holds the respective fastener within the respective opening.

[0161] Clause 24: The method pursuant to any of Clauses 20 to 23 further includes controlling the operation of the end effector tool via a controller such that the controller positions the end effector tool relative to the workpiece to align a fastener of the fastener mounting assembly with a hole, and wherein operating the first actuator further includes operating the first actuator via the controller.

Claims

1. A fastener mounting assembly for mounting a plurality of fasteners into corresponding holes in a workpiece, the fastener mounting assembly comprising: Container (58); Multiple retainer assemblies (60) are supported by the container (58), wherein each retainer assembly (60) includes multiple fingers (64) configured to hold a corresponding fastener (54) between the fingers (64) in a pre-installed position; The first actuator (84) is positioned adjacent to the container (58) and configured to move the corresponding fastener (54) to the mounting position by ejecting the corresponding fastener (54) from the corresponding retainer assembly (60) and inserting the corresponding fastener (54) into a hole (50) in the workpiece (12); and Each of the retainer assemblies (60) includes a compliance device (98) configured to allow the corresponding fastener (54) and the corresponding finger (64) to move independently of each other when the first actuator (84) moves the corresponding fastener (54) from the pre-installed position to the installed position, so as to self-align the corresponding fastener (54) with the corresponding hole (50).

2. The fastener mounting assembly according to claim 1, wherein: The plurality of fingers (64) of each of the retainer assemblies (60) are further defined as first and second fingers disposed adjacent to each other; and The first and second fingers of each retainer assembly (60) include inwardly facing surfaces (70) to define an opening (66) between the first and second fingers, and the opening (66) of each retainer assembly (60) is configured to receive a corresponding fastener (54) in the pre-installed position.

3. The fastener mounting assembly according to claim 2, wherein: The first and second fingers of each of the retainer assemblies (60) include a first end (80) and a second end (82) spaced apart from each other along a longitudinal axis (68). The second end (82) of the first finger and the second end (82) of each retainer assembly (60) are configured to be closer to the workpiece (12) than the first end (80) of the first finger and the first end (80) of the second finger of each retainer assembly (60); and The opening (66) is provided along the longitudinal axis (68).

4. The fastener mounting assembly according to claim 3, wherein: The inward surface (70) of the first finger and the inward surface (70) of the second finger of each of the retainer assemblies (60) include a lip (72) extending into the corresponding opening (66); and The lips (72) of the first finger and the lips of the second finger of each retainer assembly (60) cooperate to hold a corresponding fastener (54) in the pre-installed position.

5. The fastener mounting assembly according to claim 4, wherein, The lip (72) of each of the retainer assemblies (60) is positioned closer to the first end (80) of the corresponding first finger and the first end of the corresponding second finger, rather than closer to the second end (82) of the corresponding first finger and the second end of the corresponding second finger.

6. The fastener mounting assembly according to claim 3, wherein, The inward surface (70) of the first finger and the inward surface of the second finger of each retainer assembly (60) include a guide (126) extending into the opening (66), and the guide (126) is configured to open the first finger and the second finger of each retainer assembly (60) to receive a corresponding fastener (54) when the corresponding fastener (54) is inserted into the corresponding opening (66) from the first direction (D) to set the corresponding fastener (54) in the pre-installed position.

7. The fastener mounting assembly according to claim 6, wherein, The guide (126) of each of the retainer assemblies (60) is positioned closer to the second end (82) of the corresponding first finger and the second end of the corresponding second finger, rather than closer to the first end (80) of the corresponding first finger and the first end of the corresponding second finger.

8. The fastener mounting assembly according to claim 6, wherein, Each of the retainer assemblies (60) includes a stop (132) for the first finger and / or the second finger, which restricts the movement of a corresponding fastener (54) in the first direction (D).

9. The fastener mounting assembly according to claim 8, wherein, The stop (132) is provided at the first end (80) of the first finger and at the first end (80) of the second finger to partially close the opening (66) at the first end (80).

10. The fastener mounting assembly according to claim 2, wherein: The first and second fingers of each of the retainer assemblies (60) include an outwardly facing surface (100) opposite to the corresponding opening (66); and The compliant device (98) is coupled to the outward surface (100) to allow the first and second fingers of each retainer assembly (60) to move independently of each other as a corresponding fastener (54) moves between the pre-installed position and the installed position.

11. The fastener mounting assembly according to claim 10, wherein: The compliance device (98) of each of the retainer assemblies (60) includes a first arm (104) supporting a corresponding first finger and a second arm (106) supporting a corresponding second finger; and The corresponding first finger can rotate relative to the corresponding first arm (104), and the corresponding second finger can rotate relative to the corresponding second arm (106) to allow the corresponding fastener (54) to self-align with the corresponding hole (50) when the corresponding fastener (54) moves from the pre-installed position to the installed position.

12. The fastener mounting assembly according to claim 11, wherein: The compliance device (98) of each of the retainer assemblies (60) includes a first biasing plunger (116) coupled to a corresponding first arm (104) and a second biasing plunger (118) coupled to a corresponding second arm (106); and The corresponding first bias plunger (116) is linearly movable relative to the corresponding first arm (104), and the corresponding second bias plunger (118) is linearly movable relative to the corresponding second arm (106) to allow the corresponding first finger and the corresponding second finger to have compliance to allow the corresponding fastener (54) to self-align relative to the corresponding hole (50) during the movement from the pre-installed position to the installed position.

13. The fastener mounting assembly according to claim 11, wherein: The container (58) includes a first wall (112) and a second wall (114) spaced apart from each other, and each of the retainer assemblies (60) is disposed between the first wall (112) and the second wall (114); and The first arm (104) of each of the retainer assemblies (60) is attached to the first wall (112), and the second arm (106) of each of the retainer assemblies (60) is attached to the second wall (114).

14. The fastener mounting assembly according to claim 1: It also includes a support (86) arranged adjacent to the container (58) and the first actuator (84) attached to the support (86); and in, The support (86) or the container (58) can be moved to an actuated position, and the other of the support (86) or the container (58) is in a fixed position.

15. The fastener mounting assembly according to claim 14, wherein, The container (58) can be moved to the actuated position, and the support (86) is disposed in the fixed position such that the container (58) can be moved relative to the support (86) to the actuated position.

16. The fastener mounting assembly of claim 15 further includes a second actuator (96) attached to the bracket (86) and operatively coupled to the container (58), and the second actuator (96) is configured to move the container (58) to the actuated position to perform a cycle of alignment of a corresponding fastener (54) of each of the retainer assemblies (60) with the first actuator (84).

17. The fastener mounting assembly according to claim 14, wherein: The first actuator (84) includes a housing (92) fixed to the bracket (86) and a rod (94) movable relative to the housing (92) from an initial position to an extended position to eject a corresponding fastener (54) from the corresponding retainer assembly (60) to the mounting position.

18. The fastener mounting assembly according to claim 17, wherein: The plurality of fingers (64) of each of the retainer assemblies (60) are further defined as first and second fingers disposed adjacent to each other to define an opening (66) between the first and second fingers. The container (58) defines a plurality of spaced-apart inlet ports (138), and each of the inlet ports (138) is aligned with a corresponding opening (66) of the retainer assembly (60); and The rod (94) is aligned with an inlet orifice (138) such that the rod (94) can move through the inlet orifice (138) and into the corresponding opening (66) to eject a corresponding fastener (54) from the corresponding retainer assembly (60) and insert the corresponding fastener (54) into the corresponding hole (50) of the workpiece (12) to be in the mounting position.

19. An end effector tool for installing a plurality of fasteners into corresponding holes in a workpiece, the end effector tool comprising: Fixture (22); as well as Multiple fastener mounting components (56) are attached to the clamp (22) in a predetermined pattern, wherein each of the fastener mounting components (56) includes: Container (58); Multiple retainer assemblies (60) are supported by the container (58), wherein each retainer assembly (60) includes multiple fingers (64) configured to hold a corresponding fastener (54) between the multiple fingers (64) in a pre-installed position; The first actuator (84) is positioned adjacent to the container (58) and configured to move the corresponding fastener (54) to the mounting position by ejecting the corresponding fastener (54) from the corresponding retainer assembly (60) and inserting the corresponding fastener (54) into a hole (50) in the workpiece (12); and Each of the retainer assemblies (60) includes a compliance device (98) configured to allow the corresponding fastener (54) and the corresponding finger (64) to move independently of each other when the first actuator (84) moves the corresponding fastener (54) from the pre-installed position to the installed position, so as to self-align the corresponding fastener (54) with the corresponding hole (50).

20. A method for installing a plurality of fasteners into corresponding holes in a workpiece, the method comprising: A fastener (54) is installed in each of the plurality of retainer assemblies (60) in the container (58) of the fastener mounting assembly (56) to place the fastener in a pre-installed position, wherein each of the retainer assemblies (60) includes a plurality of fingers (64) configured to hold a corresponding fastener (54) between the plurality of fingers (64) in the pre-installed position. Align a fastener (54) with a hole (50) in the workpiece (12); Operate a first actuator (84) to eject a corresponding fastener (54) from a corresponding retainer assembly (60), wherein the first actuator (84) is positioned adjacent to the container (58); and A corresponding fastener (54) is inserted into a hole (50) in the workpiece (12) via the first actuator (84) to reach an installation position, wherein each of the retainer assemblies (60) includes a compliance device (98) configured to allow the corresponding fastener (54) and the corresponding finger (64) to move independently of each other when the first actuator (84) moves the corresponding fastener (54) from the pre-installation position to the installation position, so that the corresponding fastener (54) is self-aligned with the corresponding hole (50).

21. The method of claim 20, wherein inserting a corresponding fastener (54) into a hole (50) further comprises adjusting the orientation of the corresponding fastener (54) relative to the corresponding hole (50) via the compliance device (98) to cause the corresponding fastener (54) to self-align during insertion into the corresponding hole (50).

22. The method of claim 20, wherein each of the fasteners (54) is mounted along a first direction (D) into an opening (66) between corresponding fingers (64) of a corresponding retainer assembly (60) to hold the fastener (54) in the pre-installed position, and wherein each of the fasteners (54) is ejected along a second direction (B) from the opening (66) of the corresponding retainer assembly (60) to set the fastener (54) in the installed position, wherein the first direction (D) and the second direction (B) are opposite to each other.

23. The method of claim 22, wherein installing a fastener (54) in each of the retainer assemblies (60) further comprises inserting each of the fasteners (54) into an opening (66) between the respective fingers (64) of the respective retainer assembly (60) until the respective fastener (54) passes through a lip (72) that holds the respective fastener (54) inside the respective opening (66).

24. The method of claim 20, further comprising: The operation of the end effector tool (16) is controlled via the controller (36) such that the controller (36) positions the end effector tool (16) relative to the workpiece (12) so that a fastener (54) of the fastener mounting assembly (56) is aligned with a hole (50), and wherein operating the first actuator (84) further includes operating the first actuator (84) via the controller (36).

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