Offset Fastener Mounting System and Method

Abstract

This application relates to an offset fastener mounting system and method. The system automatically senses the position of a structural protrusion relative to the fastener for mounting the fastener system into a hole using an offset collar mount. The offset collar mount is moved about a rotation axis to this position, holding the collar in the fastener system above the hole. The offset collar mount is attached to a platform and is rotatable about the rotation axis. The collar is then fastened to an engagement feature for a bolt in the hole.

Description

[0001] This application is a divisional application of Chinese invention patent application "Offset Fastener Mounting System" filed on February 25, 2019, with a priority date of March 16, 2018 and application number of February 25, 2019. Technical Field

[0002] This disclosure generally relates to a manufacturing system, and more specifically to a method, apparatus, and system for installing a fastener system. More specifically, this disclosure provides an offset fastener mounting system and method for installing a fastener system in an aircraft structure. Background Technology

[0003] Manufacturing an aircraft can involve assembling a large number of parts to form the aircraft. For example, an aircraft in the form of a medium-sized commercial jet airliner may have millions of parts that are manufactured and assembled to form the jet airliner.

[0004] Fastener systems can be used to assemble components into structures that include main components and sub-components. Factory-level automation for aircraft assembly includes automated drilling of holes and insertion of fasteners. For example, the connection of different sections of an aircraft fuselage can be automated using equipment such as robots and flexible tracked vehicles.

[0005] An aircraft fuselage may comprise a monocoque or semi-monocoque fuselage, in which a series of circumferential frames in the cross-sectional shape of the fuselage are attached to longitudinal stringers. This structure is covered with skin material. Most modern large aircraft use several large sections, which are then fastened, riveted, or joined together to form the complete fuselage of the aircraft.

[0006] The number of fastener systems required to assemble an aircraft can be enormous. For example, a medium-sized commercial jet may have millions of fastener systems installed to connect different components together.

[0007] In situations involving a large number of fastener systems, the time required to install fasteners can be longer than expected. Furthermore, the varying geometries of aircraft components, assemblies, subassemblies, and other structures can lead to immediate access to equipment used to automate the installation of the fastener system. Additionally, the orientation accuracy of the holes in the fastener system can also increase the difficulty of automating its installation.

[0008] Fastener holes, even those drilled by automated machinery, are often not drilled exactly along the surface normal. These holes are within tolerance and perfectly suitable for manufacturing purposes. However, due to the angularity of the inserted fastener, there may be a significant lateral deviation of the fastener end relative to the insertion of the hole.

[0009] Lateral deviation is a function of the angle of the bolt normal and the length of the bolt extension beyond the hole. When automating the installation of collars onto bolts, this lateral deviation is difficult to compensate for quickly and automatically, especially when space is limited by protruding structures.

[0010] For example, because the bolt in the hole is further away from the surface normal than the set tolerance, automated equipment may fail to successfully move the collar to receive the bolt on the inner mold line side of the structure. As a result, the use of automated equipment may be limited, requiring operators to manually install the fastener system in some holes, or the automated equipment may take longer than expected to install the fastener system.

[0011] Therefore, it is desirable to have a method and apparatus that take into account at least some of the aforementioned problems, as well as other possible problems. For example, it is desirable to have a method and apparatus that overcomes the technical problems of automating the installation of fastener systems. Summary of the Invention

[0012] One embodiment of this disclosure provides a fastener mounting system including a platform configured to be movably positioned on a structure and an offset collar mount associated with the platform. The offset collar mount is rotatable about a rotation axis and holds the collar in a position offset from the rotation axis to fasten the collar to a bolt having engagement features, wherein the offset collar mount swings to a position offset from the rotation axis.

[0013] Another embodiment of this disclosure provides a method for mounting a fastener system. The position of the fastener system relative to a protrusion on the structure is automatically sensed for mounting the fastener system in a hole using a biased collar mount. The biased collar mount is moved about a rotation axis to this position, such that the collar in the fastener system is held above the hole. The biased collar mount is attached to a platform and is rotatable about the rotation axis. The engagement feature of the bolt that fastens the collar to the hole is described.

[0014] The following paragraphs set forth some specific implementation details of the fastener installation system and method disclosed herein.

[0015] A1. A fastener mounting system (120), comprising: Platform (122) is configured to be movably positioned on structure (104); and An offset collar mount (124) is connected to a platform (122), wherein the offset collar mount (124) is rotatable about a rotation axis (128) and holds the collar (110) in a position (126) off the rotation axis (128) and fastens the collar (110) to a bolt (108) having an engagement feature (112), and wherein the offset collar mount (124) swings to a position (126) off the rotation axis (128).

[0016] A2. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the offset collar mount (124) comprises: A collar retainer (134) is configured to hold a collar (110) in position (126) to receive a bolt (108); and The connector (136) is configured to fasten the collar (110) to the bolt (108).

[0017] A3. A fastener mounting system (120) according to paragraph A1 is also provided, further comprising: A moving system (138) is connected to a platform (122), wherein the moving system (138) is connected to an offset collar mount (124) and is configured to move the offset collar mount (124) about a rotation axis (128) for the platform (122).

[0018] A4. A fastener mounting system (120) according to paragraph A3 is also provided, wherein, in addition to moving the offset collar mount (124) about the rotation axis (128), the moving system (138) is also configured to move the platform (122) along the axis (144).

[0019] A5. A fastener installation system (120) according to paragraph A3 is also provided, wherein the moving system (138) includes: A bearing assembly (148) is connected to an offset collar mount (124), wherein the bearing assembly (148) is configured to move about a rotation axis (128); Gear ring (150), connected to the bearing assembly (148); and A drive assembly (152) is movably connected to the gear ring (150), wherein movement of the drive assembly (152) causes movement of the bearing assembly (148) via the gear ring (150).

[0020] A6. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the bolt (108) is a pin (1300) and further includes: A vacuum system (140) is connected to a platform (122), wherein the vacuum system (140) is configured to remove at least one of the debris (154) around the hole (116) or the pin tail (1310) separated from the pin (1300) after the collar (110) is forged into the pin (1300).

[0021] A7. A fastener mounting system (120) according to paragraph A6 is also provided, wherein the vacuum system (140) includes a port configured to receive the pin tail (1310) and further includes: The pin tail (1310) deflector is configured to guide the pin tail (1310) to a port in the vacuum system (140) after the pin tail (1310) separates from the pin (1300).

[0022] A8. A fastener mounting system (120) according to paragraph A1 is also provided, further comprising: A sensor system (142) is connected to the platform (122).

[0023] A9. A fastener mounting system (120) according to paragraph A8 is also provided, wherein the sensor system (142) is selected from at least one of a camera system, a laser sensor, an ultrasonic sensor, or a light detection and ranging scanner.

[0024] A10. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the offset collar mount (124) is a first offset collar mount (164) and further includes: The alteration component (162) is connected to the platform (122), wherein the first bias collar mount (164) is detachably connected to the alteration component (162), wherein the first bias collar mount (164) can be replaced by the second bias collar mount (166) without the use of tools.

[0025] A11. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the platform (122) is configured to move on at least one of a flexible track system, a dual track system or a flexible vacuum track system configured to be attached to the structure (104).

[0026] A12. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the structure (104) is selected from the group comprising components, sub-components, fuselage sections, wings, wing boxes, horizontal stabilizers, landing gear systems, hydraulic systems, skin panels, stringers, fuselage sections, composite fuselage sections and support structures having frame protrusions (132).

[0027] A13. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the platform (122) and the offset collar mount (124) form an inner mold line machine (168) located on the inner mold line side (170) of the structure (104) and further includes: The outer mold line machine (168) is configured to insert the pin (1300) through the hole (116) from the outer mold line side (174) of the structure (104).

[0028] A14. A fastener mounting system (120) according to paragraph A1 is also provided, wherein the collar (110) is selected from the group consisting of flanged collars, threaded collars and nuts.

[0029] A15. A fastener installation system (120) according to paragraph A1 is also provided, wherein the bolt (108) is selected from the group including pins (1300), pins (1300) having a pin tail (1310), threaded bolts and locking bolts.

[0030] A16. A method for manufacturing a part of an aircraft using a fastener mounting system (120) as described in paragraph A1.

[0031] According to another aspect of this method, the following is provided: B1. A method for installing a fastener system (102), comprising: The position (126) on the structure (104) is automatically sensed relative to the protrusion (132) on the structure (104) for mounting the fastener system (102) in the hole (116) using the offset collar mount (124); The offset collar mount (124) is moved to position (126) about the rotation axis (128), such that the collar (110) in the fastener system (102) is held in position (126) above the hole (116), wherein the offset collar mount (124) is connected to the platform (122) and is rotatable about the rotation axis (128); and The engagement feature that fastens the collar (110) to the bolt (108) for use in the hole (116).

[0032] B2. also provides the method according to paragraph B1, wherein the position (126) is located below the protrusion (132) on the structure (104).

[0033] B3. also provides the method described in paragraph B1, which further includes: Move the platform (122) on the structure (104) to the hole (116) in the structure (104).

[0034] B4. The method according to paragraph B1 is also provided, wherein the bolt (108) is a pin (1300), and wherein the retaining collar (110) comprises: A retaining collar (110) is used for forging to a pin (1300) having engagement features. The collar (110) retainer in the offset collar mount (124) is inserted into the pin through a hole (116), wherein the collar (110) is held in a position (126) offset from the axis of rotation (128) by the collar retainer (134); and The process of fastening the collar (110) to the bolt (108) includes: The collar (110) is forged to the pin (1300) using a forging assembly on the offset collar mount (124), the forging assembly being configured to forge the collar (110) to engage the engagement feature (112) on the pin (1300).

[0035] B5. also provides the method described in paragraph B1, which further includes: The offset collar mount (124) is moved about the rotation axis (128) using a moving system (138) connected to the platform (122), wherein the moving system (138) is connected to the offset collar mount (124).

[0036] B6. also provides the method described in paragraph B5, which further includes: The platform (122) is moved along axis (144) using the moving system (138).

[0037] B7. The method according to paragraph B5 is also provided, wherein the moving system (138) includes: a bearing assembly (148) connected to an offset collar mount (124), wherein the bearing assembly (148) is configured to move about a rotation axis (128); a gear ring (150) connected to the bearing assembly (148); and a drive assembly (152) connected to the gear ring (150), wherein movement of the drive assembly (152) moves the bearing assembly (148) via the gear ring (150).

[0038] B8. The method according to paragraph B1 is also provided, wherein the bolt (108) is a pin (1300) having a pin tail (1310) and further includes: After forging the collar (110) into the pin (1300) using the vacuum system (140) connected to the platform (122), remove at least one of the debris (154) around the hole (116) or the pin tail (1310) separated from the pin (1300).

[0039] B9. also provides the method according to paragraph B8, wherein removing the pin tail (1310) includes: When the pin tail (1310) separates from the pin (1300), the pin tail (1310) is deflected into the port in the vacuum system (140); and The pin tail (1310) is received into the vacuum system (140) through the port.

[0040] B10. A method according to paragraph B1 is also provided, wherein the biased collar mount (124) is a first biased collar mount (164) and further includes: Replace the first bias collar mount (164) with the second bias collar mount (166) using the change component (162), wherein the change component (162) is detachably connected to the change component (162), wherein the first bias shaft mount (164) can be replaced with the second bias collar mount (166) without the use of tools.

[0041] B11. The method described according to paragraph B1 also includes: The platform (122) is moved on the structure (104) using at least one of the flexible track system, dual track system or flexible vacuum track system configured to be attached to the structure (104).

[0042] B12. The method according to paragraph B1 is also provided, wherein the structure (104) is selected from the group comprising components, sub-components, fuselage sections, wings, wing boxes, horizontal stabilizers, landing gear systems, hydraulic systems, skin panels, stringers, fuselage sections, composite fuselage sections and support structures having frame protrusions (132).

[0043] B13. The method according to paragraph B1 is also provided, wherein the platform (122) and the offset collar mount (124) form an inner mold line machine (168) located on the inner mold line side (170) of the structure (104) and further includes: Using an external mold line machine (172), a pin (1300) is inserted through a hole (116) from the external mold line side (174) of the structure (104).

[0044] B14. The method according to paragraph B1 is also provided, wherein the collar (110) is selected from the group including flanged collars, threaded collars and nuts.

[0045] B15. A method according to paragraph B1 is also provided, wherein the bolt (108) is a pin (1300), and wherein fastening the collar (110) to the bolt (108) comprises: Forge the collar (110) into the pin (1300).

[0046] B16. The method according to paragraph B1 is also provided, wherein the bolt (108) is a threaded bolt, and wherein the engagement feature (112) for fastening the collar (110) to the bolt (108) in the hole (116) comprises: Rotate the collar (110) to engage the engagement feature (112) on the threaded bolt.

[0047] B17. The method according to paragraph B1 is also provided, wherein the bolt (108) is selected from the group including pin (1300), pin (1300) having a pin tail (1310), threaded bolt and locking bolt.

[0048] B18. A part of an aircraft assembled according to the method described in paragraph B1.

[0049] Features and functions may be implemented independently in various embodiments of this disclosure, or may be combined in other embodiments, wherein further details can be seen with reference to the following description and accompanying drawings. Attached Figure Description

[0050] Novel features considered to be characteristic of the illustrative embodiments are set forth in the appended claims. However, the illustrative embodiments, preferred modes of use, further objectives, and features thereof will be best understood by referring to the following detailed description of the illustrative embodiments of this disclosure when read in conjunction with the accompanying drawings, wherein: Figure 1 An illustration of a block diagram of a manufacturing environment for mounting a fastener system according to an illustrative embodiment of a fastener mounting system; Figure 2 This is an illustration of a block diagram of a manufacturing environment for a mounting fastener system according to an illustrative embodiment. Figure 3 A diagram of an inner mold line machine in a fastener mounting system according to an illustrative embodiment; Figure 4 This is a diagram of a bottom view of an inner molding machine according to an illustrative embodiment; Figure 5 This is a diagram of a portion of an inner molding machine according to an illustrative embodiment; Figures 6 to 15 This is an illustration of an inner mold line machine operating according to an illustrative embodiment of a fastener mounting system; Figures 16 to 18 This is an illustration of a process for connecting a bias collar mount according to an illustrative embodiment; Figure 19 A diagram illustrating a pin in a hole in a structure according to an illustrative embodiment; Figures 20 to 26 This is an illustration of an improved process for installing a fastener system according to an illustrative embodiment; Figure 27 This is a flowchart illustrating a process for installing a fastener system according to an illustrative embodiment. Figure 28 This is a flowchart illustrating a process for installing a fastener system according to an illustrative embodiment. Figure 29 This is a flowchart illustrating a process for a mobile installation system according to an illustrative embodiment. Figure 30 This is a flowchart illustrating a process for installing a fastener system according to an illustrative embodiment. Figure 31 A more detailed illustration of a process flow diagram for a positioning collar according to an illustrative embodiment; Figure 32 This is a flowchart illustrating a process for installing a fastener system in an outer mold line machine using an inner mold line machine according to an illustrative embodiment. Figure 33 This is a flowchart illustrating a process for installing a fastener system according to an illustrative embodiment. Figure 34 This is an illustration of a block diagram of a data processing system according to an illustrative embodiment; Figure 35 This is an illustration of a block diagram of an aircraft manufacturing and maintenance method according to an illustrative embodiment; Figure 36 An illustration of a block diagram of an aircraft that can implement an illustrative embodiment; and Figure 37 This is an illustration of a block diagram of a product management system according to an illustrative embodiment. Detailed Implementation

[0051] The illustrative embodiments recognize and consider one or more different considerations. For example, the illustrative embodiments recognize and consider that fastener systems can be installed in holes located below protrusions in a structure. The illustrative embodiments recognize and consider that the height of currently available fastener mounting systems may not be able to install fastener systems in holes below protrusions in a structure. For example, using currently available fastener mounting systems, automatically installing collars in these areas may be more difficult than expected. The illustrative embodiments recognize and consider that the height of fastener mounting systems may be too high to fit below certain protrusions. For example, structures with protrusions may include fuselage frames and other structures located inside the structure, which may have restrictive structures that make automatic fastener installation more difficult than expected. For example, using currently available fastener mounting systems, it may not be possible to automatically perform the installation of collars to the ends of bolts inside the fuselage.

[0052] Therefore, illustrative embodiments provide a method, apparatus, and system for mounting a fastener system. In one illustrative example, the fastener mounting system includes a platform and a bias collar mount. The platform is configured to be movably positioned on a structure. The bias collar mount is connected to the platform.

[0053] When one component is "connected" to another component, the connection is physically associated. For example, a first component (such as a bias collar mount) may be considered physically connected to a second component (such as a platform) by at least one of the following: securing to the second component, joining to the second component, mounting to the second component, welding to the second component, fastening to the second component, or connecting to the second component in some other suitable manner. The first component may also be connected to the second component using a third component. The first component may also be considered physically connected to the second component by being formed as part of the second component, an extension of the second component, or both.

[0054] In this illustrative example, the offset collar mount holds a collar for mounting at a position offset from the axis of rotation and fastens the collar to a bolt with engagement features. The offset collar mount rotates about the axis of rotation to swing to this position.

[0055] Furthermore, the illustrative embodiments recognize and consider that the orientation of the hole or the manner in which the bolt is inserted into the hole can cause the collar to be non-orthogonal to the surface of the structure but within tolerances when the collar is installed. In other words, the axis extending centrally through the hole is not orthogonal to the surface of the structure. For example, the centerline through the hole may deviate from the surface perpendicular to the inner die line by an angle. This situation can be caused by drilling along the outer die line or by design specifications. The illustrative embodiments recognize and consider that the collar can be positioned at an angle of up to 5 degrees from the surface of the inner die line and still meet structural requirements. These embodiments also recognize and consider that collar orientation is sensitive for single-flange collars where the flange contacts the surface of the inner die line. Forging tools can perform off-angle forging (less than 3 degrees) and still meet requirements.

[0056] The illustrative embodiments recognize and take into account that in current fastener systems, bolts in the form of pins are inserted from the outer mold line side of the structure and extend through the hole to the inner mold line side of the structure until the pin is fully in place.

[0057] The illustrative embodiments recognize and consider that in a fastener system, a collar moves toward the end of a pin on the inner die line side, such that the pin is received through a hole in the collar. The collar is forged to engage engagement features on the pin.

[0058] The illustrative embodiments recognize and consider that installing a fastener system using automated equipment can be more difficult when the bolt is not orthogonal to the inner mold line surface. The illustrative embodiments also recognize and consider that if the bolt is further away from the normal than the set tolerance, the automated equipment cannot successfully move the collar to receive the pin on the inner mold line side of the structure.

[0059] Therefore, illustrative embodiments provide a method, apparatus, and system for installing a fastener system (e.g., collars and pins). In one illustrative example, a method for installing a fastener system is provided. Before inserting the pin in the fastener system into the hole from the outer die line side, the process positions a collar in the fastener system onto a hole on the inner die line side of the workpiece. This process forges a collar such that when the pin is inserted into the hole from the outer die line side, the collar engages a locking feature on the pin.

[0060] Now refer to the attached diagram for details. Figure 1 The illustration depicts a block diagram of a manufacturing environment for mounting a fastener system according to an illustrative embodiment. In this illustrative example, manufacturing environment 100 is the environment in which fastener system 102 can be mounted in structure 104 for object 106 by fastener mounting system 120.

[0061] Fastener system 102 includes bolts 108 and collars 110. In this illustrative example, bolts 108 may be selected from a group including pins, pins with pin tails, threaded bolts, and locking bolts.

[0062] As shown in the figure, bolt 108 includes engagement feature 112. Engagement feature 112 may be, for example, a thread, a set of protrusions, a set of grooves, a flange, a set of annular grooves, or some other suitable type of feature, which can be engaged by collar 110 and fasten collar 110 and bolt 108 to each other. Collar 110 may be selected from a group including flanged collars, threaded collars, nuts, and some other suitable structures configured to receive and fasten to bolt 108.

[0063] Structure 104 can take many different forms. For example, structure 104 can be selected from a group including components, sub-components, fuselage sections, wings, wing boxes, horizontal stabilizers, landing gear systems, hydraulic systems, skin panels, stringers, fuselage sections, composite fuselage sections, support structures with frame protrusions, and some other structures, wherein fastener system 102 can be installed to connect two components to each other in structure 104.

[0064] Object 106 can take many different forms. For example, object 106 can be, for example, a mobile platform, a fixed platform, a land-based structure, a water-based structure, and an air-based structure. More specifically, object 106 can be a surface ship, an aircraft, a tank, a personnel carrier, a train, a spacecraft, a space station, a satellite, a submarine, an automobile, a power plant, a bridge, a dam, a house, a manufacturing facility, a building, and other suitable types of objects.

[0065] As shown in the figure, structure 104 includes a hole 116 at location 118. In this illustrative example, fastener mounting system 120 is configured to mount fastener system 102 in hole 116. In this illustrative example, fastener mounting system 120 includes platform 122 and offset collar mount 124.

[0066] During operation of the fastener mounting system 120, the platform 122 is configured to be movably positioned on the structure 104. An offset collar mount 124 is attached to the platform 122. The offset collar mount 124 retains the collar 110 for mounting at a position 126 off-axis of rotation 128 and can fasten the collar 110 to the bolt 108 via the engagement feature 112. As shown, the offset collar mount 124 can pivot to the position 126 off-axis of rotation 128. For example, the offset collar mount 124 can rotate about the axis of rotation 128 to the position 126 off-axis of rotation 128 to mount the fastener system 102 in the hole 116.

[0067] In this illustrative example, the protrusion 132 prevents all fastener mounting systems 120 from moving on structure 104 to fit beneath the protrusion 132. As shown, the offset collar mount 124 is configured to rotate offset about axis of rotation 128 into position 126, thereby allowing the offset collar mount 124 to fit beneath the protrusion 132, enabling the collar 110 to be positioned and secured to the bolt 108 in hole 116. In other words, a portion of the offset collar mount 124 can fit beneath the protrusion 132 or other restricted area where other currently available collar mounts in the automated collar mounting system cannot fit.

[0068] In this illustrative example, the fastener mounting system 120 includes a collar retainer 134 and a coupling 136. As shown, the collar 134 is configured to retain a collar 110 in position 126 to receive a bolt 108. In this example, the collar 110 is stationary, while the bolt 108 moves through the hole 116. In another illustrative example, the bolt 108 is stationary in the hole 116, while the collar 110 moves toward the hole 116 to receive the bolt 108.

[0069] The connector 136 is configured to fasten the collar 110 to the bolt 108. For example, the connector 136 may forge the collar 110 to the bolt 108, thereby fastening the collar 110 to the bolt 108. In another illustrative example, the connector 136 may rotate the collar 110 relative to the bolt 108 to fasten the collar 110 to the bolt 108. As shown, the collar retainer 134 and the connector 136 form an offset collar mount 124.

[0070] In this illustrative example, the fastener mounting system 120 includes many other components. For example, the fastener mounting system 120 also includes a movement system 138, a vacuum system 140, and a sensor system 142.

[0071] As shown, the mobile system 138 is connected to the platform 122. The mobile system 138 can be configured to move at least one of the platform 122 or the bias collar mount 124.

[0072] As used here, the phrase "at least one," when used with a list of items, means that different combinations of one or more of the listed items may be used, and only one of each item in the list may be required. In other words, "at least one" means any combination of items and the number of items that can be used from the list, but not all items in the list are required. The item can be a specific object, thing, or category.

[0073] For example, but not limited to, "at least one of Item A, Item B, or Item C" can include Item A, Item A and Item B, or Item B. The example could also include Item A, Item B, and Item C, or Item B and Item C. Of course, any combination of these items can exist. In some illustrative examples, "at least one" can be, for example, but not limited to, two of Item A; one of Item B; ten of Item C; four of Item B and seven of Item C; or other suitable combinations.

[0074] For example, the moving system 138 is connected to the bias collar mount 124 and configured to move the bias collar mount 124 about the rotation axis 128. Furthermore, in addition to moving the bias collar mount 124 about the rotation axis 128, the moving system 138 is further configured to move the platform 122 along axis 144.

[0075] In one illustrative example, the moving system 138 may be coupled to or placed on the track system 146. As shown, it can move relative to the track system 146 along axis 144. Axis 144 may be, for example, two axes, three axes, or some other number of axes, depending on the specific implementation. In this illustrative example, the platform 122 is configured to move on the track system 146, which is selected from at least one of the following: a flexible track system, a dual-track system, a flexible vacuum track system configured to be attached to structure 104, or some other suitable type of track system.

[0076] In another illustrative example, the moving system 138 may use multiple different components to move the bias collar mount 124 about the rotation axis 128. As shown, these components in the moving system 138 include a bearing assembly 148, a gear ring 150, and a drive assembly 152.

[0077] As shown, bearing assembly 148 is connected to offset collar mount 124. Bearing assembly 148 is configured to move about rotation axis 128. Gear ring 150 is connected to bearing assembly 148. Drive assembly 152 is movably connected to gear ring 150. In this illustrative example, drive assembly 152 is configured to move gear ring 150. As a result, movement of drive assembly 152 moves bearing assembly 148 via gear ring 150.

[0078] In this illustrative example, vacuum system 140 is connected to platform 122. Vacuum system 140 is configured to remove debris 154 around hole 116. Debris may be, for example, particles generated by drilling hole 116. In another example, when bolt 108 is in the form of a pin with a pin tail, debris 154 may include the pin tail that separates from the pin after the collar is forged into the pin. For example, when bolt 108 is a pin with a pin tail, a pin tail deflector (not shown) may guide the pin tail to a port (not shown) in vacuum system 140 after the pin tail separates from the pin.

[0079] In this illustrative example, sensor system 142 is also connected to platform 122. As shown, sensor system 142 is a physical hardware system that detects information about the environment surrounding fastener mounting system 120.

[0080] Sensor system 142 is configured to generate sensor data 156. Sensor data 156 may include information about structure 104, the position of offset collar mount 124, the position of platform 122 relative to structure 104, an image of hole 116, and other information that can be used to control the operation of fastener mounting system 120. Sensor system 142 may include at least one of a camera system, a laser sensor, an ultrasonic sensor, a light detection and ranging scanner, or some other suitable type of sensor.

[0081] Sensor data 156 is sent to a controller 158 located in a computer system 160. The controller 158 can be implemented using at least one of software or hardware. When software is used, the operations performed by the controller 158 can be implemented in program code configured to run on hardware, such as a processor unit. When firmware is used, the operations performed by the controller 158 can be implemented using program code and data, and stored in permanent memory for execution on a processor unit. When hardware is used, the hardware may include circuitry configured to perform the operations in the controller 158.

[0082] In the illustrative examples, the hardware may take the form of at least one selected from circuit systems, integrated circuits, application-specific integrated circuits (ASICs), programmable logic devices, or some other suitable type of hardware configured to perform multiple operations. For a programmable logic device, the device may be configured to perform multiple operations. The device may be reconfigured later or may be permanently configured to perform multiple operations. Programmable logic devices include, for example, programmable logic arrays, programmable array logic, field-programmable logic arrays, field-programmable gate arrays, and other suitable hardware devices. Furthermore, the process may be implemented in an organic component integrated with inorganic components and may consist entirely of organic components other than those found in humans. For example, the process may be implemented as a circuit in an organic semiconductor.

[0083] Computer system 160 is a physical hardware system and includes one or more data processing systems. When more than one data processing system exists, those systems communicate with each other using a communication medium. The communication medium may be a network. The data processing system may be selected from at least one of a computer, a server computer, a tablet computer, or some other suitable data processing system.

[0084] The controller 158 controls the operation of the fastener mounting system 120 using program 161. Program 161 may be, for example, a computer numerical control (CNC) program or some other suitable program code that can be used to control the operation of the fastener mounting system 120. For example, the fastener mounting system 120 may be a computer numerical control (CNC) machine using Cartesian coordinates.

[0085] The controller 158 can use sensor data 156 to control the operation of different components in the fastener mounting system 120. Although shown as separate components, in some illustrative examples, the controller 158 and the computer system 160 may be located on or within the platform 122.

[0086] Furthermore, the fastener mounting system 120 may also include a replacement assembly 162 connected to the platform 122. In this example, the bias collar mount 124 is the first bias collar mount 164 and is indirectly connected to the platform 122 via the replacement assembly 162. The first bias collar mount 164 is removably connected to the replacement assembly 162. As a result, the first bias collar mount 164 can be replaced with a second bias collar mount 166 without the use of tools (not shown). Different bias collar mounts can be configured to mount at least one fastener system of different sizes or configurations. In other words, quick replacement between bias collar mounts is possible to mount fastener systems of different sizes.

[0087] Furthermore, in this illustrative example, platform 122, offset collar mount 124, movement system 138, vacuum system 140, and sensor system 142 form an inner mold line machine 168 located on the inner mold line side 170 of structure 104. Additionally, fastener mounting system 120 may also include an outer mold line machine 172 configured to insert bolts 108 (such as pins) through holes 116 from the outer mold line side 174 of structure 104. In this illustrative example, the outer mold line machine 172 may also be controlled by a controller 158 in computer system 160 to perform coordinated mounting of fastening system 102 in holes 116 in structure 104.

[0088] In one illustrative example, there are one or more technical solutions to overcome the technical problem of installing a fastener system in a structure 104 having a protrusion 132 and a hole 116 to be installed in the protrusion. In the illustrative example, the first height 176 for the inner molding machine 168 may be large enough that the inner molding machine 168 cannot be fitted below the protrusion 132.

[0089] As a result, one or more technical solutions can provide the technical effect of configuring the biased collar mount 124 such that the biased collar mount 124 moves about a rotation axis 128 for the platform 122. The biased collar mount 124 has a second height 178 that is less than the first height 176. Furthermore, the second height 178 allows the biased collar mount 124 to swing about the rotation axis 128 into the hole 116 located below the protrusion 132. In other words, the biased collar mount 124 has a sufficiently low second height 178 to allow the biased collar mount 124 to swing or rotate into position to position the collar 110 above the hole 116 and to fasten the collar 110 to the bolt 108 located in the hole 116. As a result, the fastener mounting system 120 can install the fastener system 102 in a manner that avoids the current problems of the fastener mounting system relative to the protrusion 32.

[0090] Next reference Figure 2The illustration depicts a block diagram of a manufacturing environment for mounting a fastener system, according to an illustrative embodiment. Manufacturing environment 200 is an environment in which a fastener system 202 can be mounted in a structure 204 for an object 206 using a fastener mounting system 208. Structure 204 and object 206 may adopt a similar configuration to that described above. Figure 1 The structure 204 and object 106 described herein may take various forms. For example, but not limited to, structure 204 may include a metal structure, a composite structure, a metal and composite workpiece, a joint, a butt joint, a joint for two fuselage sections, or some other suitable structure.

[0091] As shown in the figure, the fastener system 202 includes a pin 214 and a collar 212. In this illustrative example, the collar 212 may be forged to the pin 214. In other words, the collar 212 may be deformable to engage an engagement feature 216 on the pin 214. The pin 214 may also include a pin tail 218. In this illustrative example, the engagement feature 216 may be, for example, a thread, a set of protrusions, a set of grooves, a flange, or some other suitable type of feature, which can be engaged by the collar 212 and secure the collar 212 to the pin 214.

[0092] As shown in the figure, the fastener mounting system 208 includes a forging assembly 220 configured to engage a collar 212 with a pin 214. In this illustrative example, the forging assembly 220 is... Figure 1 An example of the offset collar mount 124 includes a collar retainer 222 and a forging tool 224. The collar retainer 222 is configured to retain the collar 212. The forging tool 224 is configured to cause the collar 212 to engage an engagement feature 216 on a pin 214. In this example, the pin 214 and pin tail 218 are inserted into the collar 212. In other words, after the collar 212 has been positioned in the hole 232, the pin 214 and pin tail 218 move through the collar 212.

[0093] The pin tail 218 is the component connected to the pin 214. In this particular example, the forging tool 224 engages the pin tail 218 and pushes the pin 214 through the collar 212 in such a way that the collar 212 deforms to engage the engagement feature 216. The engagement feature 216 is a feature on the pin 214, not the pin tail 218. The engagement feature 216 may be at least one of a set of threads, a set of grooves, a set of annular grooves, or other types of features to which the collar 212 may be forged to engage the pin 214.

[0094] In this illustrative example, engaging the collar 212 with the engagement feature 216 can be performed in any number of different ways. For example, a force 233 can be applied to at least one of the collar 212 or the pin tail 218 along a centerline 251 extending centrally through the collar 212 until the pin tail 218 separates from the pin 214, such that when the pin 214 with the pin tail 218 is inserted into the hole 232 from the second side 258, the collar 212 engages the engagement feature 216 on the pin 214. In other words, a force 233 can be applied to one or both of the collar 212 or the pin tail 218, causing the collar 212 to be forged such that the collar 212 engages the engagement feature 216 on the pin 214.

[0095] In this illustrative example, the forging assembly 220 may be Figure 1 The offset collar mounting part 124. The collar retainer 222 can be... Figure 1 An example of the collar retainer 134, and the forging tool 224 may be... Figure 1 An example of connector 136 in the example.

[0096] As shown in the figure, the forging assembly 220 is connected to the platform 226. In this illustrative example, the platform 226 takes the form of an internal die line platform 228. In this illustrative example, the internal die line platform 228 can be selected from a group including flexible track tracks, robotic arms, and some other suitable types of platforms.

[0097] In one example, the forging assembly 220 is an offset forging assembly 238, such that the collar 212 is kept offset from the rotation axis 230 of the forging assembly 220. Depending on the implementation, the forging assembly 220 may or may not be offset from the rotation axis 230.

[0098] As shown in the figure, the collar retainer 222 in the forging assembly 220 is configured to position the collar 212 onto the hole 232. In this illustrative example, positioning is performed such that the collar 212 is concentrically aligned with the hole 232. For example, the centerline 251 for the collar 212 intersects the centerline 252 for the hole 232.

[0099] In this illustrative example, the collar 212 is positioned on the hole 232 such that, before the pin 214 is inserted into the hole 232 on the inner mold line side 234 of the structure 204, the collar 212 receives the pin 214. As shown, the pin 214 moves through the hole 232 and the collar 212 in a single motion.

[0100] When the pin 214 is inserted into the hole 232, the outer die line side 236 moves to extend through the collar 212, and the forging assembly 220 forges the collar 212 such that the collar 212 engages the engagement feature 216 on the pin 214.

[0101] As shown in the figure, the positioning of the collar 212 on the hole 232 causes the collar 212 to contact the inner die line side 234. In other illustrative examples, when the collar 212 is positioned on the hole 232, the collar 212 may not contact the inner die line side 234. In this example, the forging tool 224 engages and pushes the pin tail 218, such that the pin tail 218 and the pin 214 move through the collar 212 in such a way that the collar 212 is forged into engaging features 216 on the pin 214.

[0102] Before inserting the pin 214 from the second side 258 into the hole 232, the collar 212 is positioned on the hole 232 on the first side 256 of the structure 204. The forging assembly 220 holds the collar 212 in the collar retainer 222 within the forging assembly 220 and moves the collar 212 such that it is positioned on the hole 232 on the inner die line side 234 of the structure 204. In this illustrative example, the first side 256 is the inner die line side 234, and the second side 258 is the outer die line side 236.

[0103] In another example, before inserting the pin 214 from the outer die line side 236 into the hole 232, the collar 212 is positioned on the hole 232 on the inner die line side 234 of the structure 204. The forging assembly 220 normalizes the collar 212 to the inner die line side 234 and moves the collar 212 onto the hole 232 on the inner die line side 234 of the structure 204. Normalization involves moving the collar 212 on one or more axes. In this example, this movement is performed to provide concentricity between the collar 212 and the hole 232.

[0104] In addition, the fastener system 202 may also include similar components. Figure 1 Sensor system 240 of sensor system 142 in the structure 204. When positioning collar 212 on hole 232, sensor system 240 identifies the position 242 of hole 232 on inner die line side 234, and before pin 214 is inserted into hole 232 from outer die line side 236, forging assembly 220 moves collar 212 to hole 232 at position 242 on inner die line side 234 of structure 204. As shown, collar 212 is positioned such that there is concentricity between collar 212 and hole 232. This concentricity allows pin 214 to extend through collar 212, so that collar 212 can be fastened to pin 214.

[0105] In this illustrative example, sensor system 142 is a physical hardware system for detecting information about the environment surrounding fastener mounting system 208. Sensor system 240 is configured to generate sensor data 215. Sensor system 240 may include one or more types of sensors. For example, sensor system 240 may be selected from at least one of a camera system, a vision system, a laser rangefinder, or some other suitable type of sensor. Sensor data 215 generated by sensor system 240 can be used to perform alignment of collar 212 with hole 232. This alignment is performed to create concentricity between collar 212 and hole 232, such that pin tail 218 and pin 214 can be inserted through hole 232 and extend through collar 212 in a desired manner.

[0106] In this illustrative example, the forging assembly 220 and the platform 226 form an inner die-cutting machine 244. Furthermore, in this illustrative example, the fastener mounting system 208 also includes an outer die-cutting machine 246. The outer die-cutting machine 246 is configured to insert a pin 214 through a hole 232 from the outer die-cutting side 236 of the structure 204. As shown, before the pin tail 218 and the pin 214 move through the hole 232 to extend through the collar 212, the collar 212 is aligned with the hole 232 on the inner die-cutting side 234.

[0107] In this illustrative example, the inner molding machine 244 and the outer molding machine 246 may be controlled by a controller 248 in the computer system 250 to perform coordinated installation of the fastening system 202 in the holes 232 in the structure 204.

[0108] Sensor data 215 is transmitted to a controller 248 located in a computer system 250. The controller 248 can be implemented using at least one of software or hardware. When software is used, the operations performed by the controller 248 can be implemented in program code configured to run on hardware, such as a processor unit. When firmware is used, the operations performed by the controller 248 can be implemented using program code and data, and stored in permanent memory for execution on a processor unit. When hardware is used, the hardware may include circuitry configured to perform the operations in the controller 248.

[0109] In the illustrative examples, the hardware may take the form of at least one selected from circuit systems, integrated circuits, application-specific integrated circuits (ASICs), programmable logic devices, or some other suitable type of hardware configured to perform multiple operations. For a programmable logic device, the device may be configured to perform multiple operations. The device may be reconfigured later or may be permanently configured to perform multiple operations. Programmable logic devices include, for example, programmable logic arrays, programmable array logic, field-programmable logic arrays, field-programmable gate arrays, and other suitable hardware devices. Furthermore, the process may be implemented in an organic component integrated with inorganic components and may consist entirely of organic components other than those found in humans. For example, the process may be implemented as a circuit in an organic semiconductor.

[0110] Computer system 250 is a physical hardware system and includes one or more data processing systems. When more than one data processing system exists, those systems communicate with each other using a communication medium. The communication medium may be a network. The data processing system may be selected from at least one of a computer, a server computer, a tablet computer, or some other suitable data processing system.

[0111] The controller 248 controls the operation of the fastener mounting system 208 using program 254. Program 254 may be, for example, a computer numerical control (CNC) program or some other suitable program code that can be used to control the operation of the fastener mounting system 208.

[0112] The controller 248 can use sensor data 215 to control the operation of different components in the fastener mounting system 208. Although shown as separate components, in some illustrative examples, the controller 248 and the computer system 250 may be located on or within the platform 226.

[0113] In one illustrative example, the fastener mounting system 208 includes a collar retainer 222, a sensor system 240, and a controller 248. In this example, the collar retainer 222 is configured to hold a collar 212 within the fastener system 202. The sensor system 240 is configured to generate sensor data 215 for a first side 256 of the structure 204. As described in this example, the controller 248 controls the operation of the sensor system 240 and the collar retainer 222. The controller 248 uses the sensor data 215 to identify the position 242 of the hole 232 in the first side 256 of the structure 204 and automatically positions the collar 212 held by the collar retainer 222 onto the hole 232 at position 242 by moving the collar 222.

[0114] In one illustrative example, there are one or more technical solutions to overcome the technical problems of automating the installation of fastener systems. Currently, installing fasteners using current processes may be infeasible when the holes are off-normal.

[0115] The illustrative embodiments recognize and consider that currently used machines, such as those moving on tracks attached to structure 204, may not be able to place the collar 212 onto the pin 214 inserted into the hole 232, depending on how much the hole 232 deviates from the normal to the surface of structure 204. For example, the illustrative embodiments recognize and consider that for currently available fastener installation systems, a deviation from the normal (but within tolerance) of two degrees or more may prevent current machines from accurately placing the collar 212 to automatically install the fastener system 202.

[0116] The illustrative example provides a technical solution in which the collar 212 is positioned on the hole 232 before the pin 214 is inserted through the hole 232 and the collar 212 is inserted. As a result, one or more technical solutions can provide the technical effect that a collar can be installed on a pin in a hole that is offset from the normal to the surface of structure 204, even if the hole is still within tolerance.

[0117] As a result, the technical solution in the illustrative example can have the technical effect of reducing cycle time and increasing positional accuracy when the holes are angled rather than substantially orthogonal to the surface of structure 204. In this illustrative example, the collar 212 is positioned on structure 204 before the pin 214 is inserted.

[0118] Figure 1 Manufacturing environment 100 and Figure 2 The illustration of manufacturing environment 200 is not intended to imply physical or structural limitations on the manner in which the illustrative embodiments can be implemented. Other components besides those shown or in place of the shown components may be used. Some components may be unnecessary. Furthermore, these boxes are presented to illustrate functional components. When implemented in an illustrative embodiment, one or more of these boxes may be combined, divided, or divided and combined into different boxes.

[0119] For example, the bias collar mount 124, the movement system 138, the vacuum system 140, and the sensor system 142 have been described as capable of forming an inner mold line machine 168 located on the inner mold line side 170 of the structure 104. In other illustrative examples, these components may be part of an outer mold line machine, wherein the inner mold line machine inserts bolts 108 from the inner mold line side 170 of the structure 104. As another example, in other embodiments, the first side 256 may be the outer mold line side 236, while the second side 258 may be the inner mold line side 234.

[0120] refer to Figure 3An illustration of an inner molding machine 300 in a fastener mounting system is depicted according to an illustrative embodiment. In this illustrative example, the inner molding machine 300 moves on a track system 302. The track system 302 includes a first track 304 and a second track 306.

[0121] As shown in the figure, the inner mold liner 300 is an example of one embodiment of the inner mold liner 168 used in the fastener mounting system 120. As shown, the inner mold liner 300 includes a platform 308, an offset forging assembly 310, a moving system 312, a vacuum system 314, and a camera 316. In this illustrative example, the platform 308 is used for... Figure 1 An example of one embodiment of platform 122 is shown in a box. The offset forging assembly 310 is for use with... Figure 1 An example of an embodiment of the offset collar mount 124, depicted in a box. Vacuum system 314 is for... Figure 1 An example of an embodiment of the vacuum system 140 is shown in a box. Camera 316 is used for... Figure 1 An example of an implementation of the sensor system 142 is shown in block form.

[0122] As shown in the figure, the moving system 312 is configured to move the inner mold machine 300 in multiple different directions. For example, the moving system 312 is configured to move the platform 308 in the directions of x-axis 318, y-axis 320, and z-axis 322.

[0123] Furthermore, the moving system 312 is also configured to move the offset forging assembly 310 about the rotation axis 324. In other words, the moving system 312 can cause the offset forging assembly 310 to oscillate about the rotation axis 324. In this illustrative example, the rotation axis 324 is parallel to the z-axis 322.

[0124] As shown in the figure, the motorized wheel system 326 is configured to move platform 308 along the x-axis 318. The ball screw drive 328 is configured to move platform 308 along the y-axis 320. The ball screw drive 330 is configured to move platform 308 along the z-axis 322.

[0125] As shown in the figure, the moving system 312 is configured to move the offset forging assembly 310 together with the bearing assembly 332 about the rotation axis 324. In this view, the gear ring 334 and the outer ring 336 are visible in the bearing assembly 332.

[0126] In this figure, the offset forging assembly 310 is connected to the gear ring 334 in the bearing assembly 332. As shown, in this example, the gear ring 334 rotates about the rotation axis 324. The outer ring 336 is connected to the platform 308, and the gear ring 334 is configured to rotate within the outer ring 336. Furthermore, the vacuum system 314 and the camera 316 are also connected to the bearing assembly 332, so that these components can also rotate about the rotation axis 324. In this example, the offset forging assembly 310 is removably attached to the platform 308 via an adapter 333.

[0127] Next reference Figure 4 An illustration depicts a bottom view of an inner molding machine 300 according to an illustrative embodiment. In this example, from... Figure 3 The bottom view of line 4-4 shows the inner mold line machine 300.

[0128] As shown in this example, the moving system 312 is configured to move the offset forging assembly 310 together with the bearing assembly 332 about the rotation axis 324.

[0129] As shown in the figure, the gear ring 334 is connected to the platform 308. The gear ring 334 is also movably connected to the platform 308.

[0130] In this illustrative example, the offset forging assembly 310, vacuum system 314, and camera 316 are shown connected to the gear ring 334. In other words, these components are configured to rotate about the rotation axis 324 as the gear ring 334 rotates about the rotation axis 324. Different components may be connected directly or indirectly to the gear ring 334.

[0131] As shown in the figure, the actuator 400 is a motor unit configured to rotate the offset forging assembly 310, the vacuum system 314 and the camera 316 about the rotation axis 324 by moving the gear ring 334.

[0132] In this illustrative example, laser sensor 402 is adjacent to camera 316. Laser sensor 402 detects the distance from laser sensor 402 to the inner mold line surface (not shown).

[0133] In this example, the bearing assembly 332 with a toothed ring 334 and an outer ring 336, and the driver 400 allow the offset forging assembly 310, the vacuum system 314, the camera 316, and the laser sensor 338 to rotate 360 ​​degrees about the rotation axis 324. In this way, the offset forging assembly 310 is configured to swing to a desired position off the rotation axis 324.

[0134] refer to Figure 5The illustration depicts a portion of an internal molding machine 300 according to an illustrative embodiment. In this illustrative example, the offset forging assembly 310 is within the gear ring 334, and other components for the internal molding machine 300 are not shown. This partial illustration is intended to depict the components in the offset forging assembly 310 in a manner that avoids obscuring the illustration and description of these components.

[0135] In this illustrative example, the offset forging assembly 310 includes several different components. As shown, the offset forging assembly 310 includes a collar retainer 500, a collar forging tool 502, and a reservoir 504. The collar retainer 500 is... Figure 1 An example of one embodiment of the collar retainer 134 is shown in a box. The collar-type forging tool 502 is... Figure 1 An example of an embodiment of the connector 136 is shown in a box.

[0136] In this illustrative example, the collar retainer 500 is configured to receive a collar (not shown) from a reservoir 504 and retain the collar for forging by a collar forging tool 502. As shown, the reservoir 504 is connected to the collar retainer 500 via a pipe 506. The reservoir 504 retains the collar (not shown).

[0137] As shown, the collar retainer 500 holds the collar (not shown) on an axis 508 parallel to the axis of rotation 324. As illustrated in this illustrative example, the offset forging assembly 310 is configured to rotate about the axis of rotation 324 as the gear ring 334 moves. When the offset forging assembly 310 rotates, the axis 508 rotates about the axis of rotation 324 and can move from one side of the axis of rotation 324 to the other.

[0138] In the example depicted, Figure 5 The reservoir 504 is in the form of a box 510. Collars (not shown) stored in the box 510 are fed from the box 510 to the collar retainer 500 using a collar injector 512. The collar injector 512 can be a cam or cam-driven collar feed mechanism, and compressed air can be used to feed collars (not shown) from the reservoir 504 to the collar retainer 500 via pipe 506. In this way, the box 510 serves as an on-machine supply of collars for the offset forging assembly 310 in the inner die-cutting machine 300.

[0139] Figures 3 to 5The illustration of the internal molding machine 300 is not intended to limit the ways in which an internal molding machine or other machines employing offset collar mounts can be implemented. For example, other types of fastener systems can be used instead of the offset forging assembly 310, in which the pin and collar are inserted via forging. For example, another type of offset collar mount can be engaged by rotating at least one of the collar or bolt, such that the threads or grooves in these components engage with each other.

[0140] In another illustrative example, other types of rotary systems may be implemented, where there are movement degrees other than 360 degrees. In another illustrative example, the offset forging assembly 310 moves about the rotation axis 324 by 90 degrees, 180 degrees, 270 degrees, or some other amount. In yet another illustrative example, the vacuum system 314 may be omitted from the inner die-cutting machine 300. In yet another illustrative example, these components may be implemented as part of an outer die-cutting machine.

[0141] In other illustrative examples, other types of storage devices may be implemented. For example, a remote hopper may be used instead of the box used for storage device 504.

[0142] Go to Figures 6 to 15 The illustrations depict an internal molding machine operating as an installation fastening system according to an illustrative embodiment. These figures show the operation of installing the fastening system using an offset forging assembly 310.

[0143] First refer to Figure 6 An illustration of a track system 302 attached to the inner mold line side 600 of the fuselage section 602 is depicted according to an illustrative embodiment. As shown, a fastener system (not shown) may be mounted in a frame 604 on the fuselage section 602. For example, the fastener system may use an offset forging assembly 310 for an inner mold line machine 300 mounted below a protrusion 606 in the frame 604. In this illustrative example, the frame 604 has an I-shaped cross-section, thereby creating the protrusion 606.

[0144] As shown in the figure, the offset forging assembly 310 for the inner mold line machine 300 is positioned at the front side 608 of the frame 604 to install the fastener system.

[0145] As shown in this illustrative example, axis A 620 is also present in the inner die-cutting machine 300. A axis A 620 is centered and perpendicular to the axis of rotation 324. The offset forging assembly 310 can rotate about axis A 620 in the direction of arrow 622. This type of rotation can be used when outlining the inner die-cutting side 600. This rotation can be used to normalize the offset forging assembly 310 to the inner die-cutting side 600.

[0146] In the example depicted, during some operation of these components, the vacuum system 314 and the camera 316 are aligned with the axis of rotation 324.

[0147] refer to Figure 7 The illustration shows the movement of the offset forging assembly 310 and the vacuum system 314 toward the inner die line side 600 in the direction of arrow 700. This movement of the offset forging assembly 310 and the vacuum system 314 is performed to prepare for the installation of the fastener system (now shown) to connect the frame 604 to the fuselage section 602.

[0148] exist Figure 8 In the figure, the inner molding machine 300 moves in the direction of arrow 800. As shown, the end 802 of the vacuum system 314 is located above position 804. Position 804 is the location where a fastener system (not shown) will be installed in the frame 604 to connect the frame 604 to the body section 602.

[0149] Next reference Figure 9 An illustration depicts the extension of a vacuum system 314 according to an illustrative embodiment. As shown, the vacuum system 314 moves in the direction of arrow 900. This movement extends the vacuum system 314 such that its end 802 contacts the frame 604 at position 804. In this position, the camera 316 and laser sensor 402 are protected by the vacuum system 314 from debris (not shown) that could be generated during drilling (not shown) in position 804. In this position, the vacuum system 314 can be clamped to the frame 604. This clamping of the vacuum system 314 allows for the removal of debris generated during the formation of a hole (not shown) at position 804. In this illustrative example, clamping allows drilling without the need for separation, deburring, and cleaning of filler. In this example, a joint sealant is already present before drilling and subsequent fastener installation.

[0150] Now for reference Figure 10 An illustration of a hole 1000 is depicted according to an illustrative embodiment. In this illustrative example, the hole 1000 has been formed at position 804 through the frame 604 and the fuselage section 602. In this view, the hole 1000 is shown on the inner mold line side 600 of the fuselage section 602. The end 802 of the vacuum system 314 is positioned to remove debris (not shown) formed by the drilled hole 1000. In this illustrative example, the hole 1000 is formed by an outer mold line machine (not shown).

[0151] exist Figure 11The illustration depicts an inspection hole 1000 according to an illustrative embodiment. In this illustrative example, the vacuum system 314 is moved away from position 804 in a manner that enables the camera 316 to generate an image including position 804 of the hole 1000. In this way, the camera 316 generates data for repositioning the offset forging assembly 310 to install a fastener system (not shown).

[0152] Go to Figure 12 An illustration of a repositioning offset forging assembly 310 is depicted according to an illustrative embodiment. As shown, a platform 308 moves about at least one of a y-axis 320 or an x-axis 318. This movement of the platform 308 causes the offset forging assembly 310 to move above position 804 of the bore 1000. Additionally, a collar 1200, shown in dashed lines, is supplied to a collar retainer 500 in the offset forging assembly 310 at position 804 in the bore 1000.

[0153] As shown in the figure, the offset forging assembly 310 is movable to position the offset forging assembly 310 relative to the hole 1000 in a desired orientation. Alignment can be performed in a variety of different ways. For example, the offset forging assembly 310 can be moved along at least one of the x-axis 318, y-axis 320, or z-axis 322. Furthermore, the offset forging assembly 310 can be rotated about a rotation axis 324 to position the offset forging assembly 310 relative to the hole 1000. Additionally, the offset forging assembly 310 can be rotated about an A-axis 620. Rotation of the offset forging assembly 310 about the A-axis 620 can be performed to align the collar 1200 in the collar retainer 500 with at least one of the inner die line side 600 or the center line 1202 for the hole 1000 relative to the center line 1204 for the collar 1200.

[0154] In some illustrative examples, this alignment can be performed on the end of the pin used for insertion through hole 1000. This type of alignment can be performed if the pin is inserted into hole 1000 before the locating collar 1200.

[0155] refer to Figure 13 An illustration depicts a pin 1300 inserted through a hole 1000 according to an illustrative embodiment. In this illustrative example, the pin 1300 is inserted through the hole 1000 such that the pin 1300 is completely within the hole 1000. In this example, the pin 1300 extends through a collar 1200, shown in dashed lines. The pin 1300 and the collar 1200 form a fastener system 1302. In this example, a pin tail 1310 is attached to the pin 1300 at its end 1312.

[0156] Go to Figure 14A diagram of a forged fastener system 1302 is depicted according to an illustrative embodiment. In this figure, for the pin 1300 extending through the collar 1200, the collar retainer 500 has been moved away from the hole 1000 at position 804. The collar forging 502 in the biased forging assembly 310 has been moved in the direction of arrow 1400 to insert the collar 1200 into the pin tail 1310 at the end 1312 of the pin 1300 for forging, so that the collar 1200 and the pin 1300 in the fastener system 1302 are fastened to each other.

[0157] exist Figure 15 The illustration depicts an installed fastener system 1302 according to an illustrative embodiment. As shown, the offset forging assembly 310 is moved away from the fastener system 1302, which is now installed to connect the frame 604 and the fuselage section 602 to each other. As depicted in these examples, the installation of the fastener system 1302 is performed using the offset forging assembly 310 for the inner molding machine 300, located below the protrusion 606 of the frame 604.

[0158] Provided utilization Figures 6 to 15 The illustration shows an internal molding machine 300 with an offset forging assembly 310 mounting a fastener system 1302, intended to illustrate one method of mounting the fastener system 1302. The operation and components shown are not intended to limit the methods of mounting fasteners using the internal molding machine 300. For example, the vacuum system 314 may be omitted in some examples. For example, a hole 1000 may have been previously drilled. In the illustrative example, the camera 316 is positioned away from the platform 308.

[0159] Figures 16 to 18 A process for connecting a bias collar mount is illustrated according to an illustrative embodiment. First, refer to... Figure 16 An illustration depicts a bias collar mount 1600 and a base 1602 according to an illustrative embodiment. As shown, the bias collar mount 1600 includes an adapter 1604 that allows for quick connection and disconnection from the base 1602. The adapter 1604 and the base 1602 are for implementation purposes. Figure 1 An example of a component of the replacement assembly 162 is shown in a box.

[0160] Next, turn to Figure 17 An illustration of an adapter 1604 for engaging a base 1602 is depicted according to an illustrative embodiment. As shown in the figure, when the bias collar mount 1600 and the adapter 1604 move together in the direction of arrow 1704, the top 1700 of the adapter 1604 engages the alignment pin 1702. Further movement of the bias collar mount 1600 in the direction of arrow 1704 will cause the cam pin 1706 to engage the cam lock 1708.

[0161] Next, in Figure 18 In this figure, according to an illustrative embodiment, a bias collar mount 1600 is depicted connected to a base 1602. In this figure, an actuated cam lock 1708 is used to engage a cam pin 1706 (not shown) on an adapter 1604.

[0162] Next reference Figure 19 An illustration of a pin 1900 in a hole 1902 in structure 1904 is depicted according to an illustrative embodiment. In this illustrative example, pin 1900 is located on axis 1906. As shown, pin 1900 on axis 1906 is offset from normal 1908 by two degrees. When a collar (not shown) engages with pin 1900, the deviation of axis 1906 from normal 1908 is within tolerance. As the deviation of axis 1906 from normal 1908 increases, the lateral distance 1912 of the insertion end 1910 increases.

[0163] Although within tolerance, this deviation, along with other deviations, makes it difficult or impossible to install fasteners using currently available fastener mounting systems. Collars can be used. Figure 2 The fastener mounting system 208, shown in a box, is mounted on the pin 1900, even if it has a described deviation from the normal 1908.

[0164] Now for reference Figures 20 to 26 An illustration of an improved process for installing a fastener system is described according to an illustrative embodiment. In this example, different operations can be performed to install fasteners that are off-vertical.

[0165] First refer to Figure 20 A diagram depicts a forging tool 2000 positioned relative to a structure 2004, according to an illustrative embodiment. Figure 20 The image shows a cross-sectional view of a forging tool 2000, an external die line tool 2002, and a portion of a structure 2004. In this illustrative example, the forging tool 2000 may be... Figure 2 Part of the fastener mounting system 208, or for use with Figure 3 An embodiment of the offset forging assembly 310 is described. In another illustrative example, the forging tool 2000 can be implemented using currently available forging tools.

[0166] Only a portion of these tools is shown to focus on the operations performed for installing the fastener system 2006, which includes a collar 2008 and a pin 2010. As shown, the pin tail 2011 is located at the end 2013 of the pin 2010. Other parts of these tools are not shown to avoid obscuring the illustration and description of the process.

[0167] As shown in the figure, structure 2004 is Figure 2 An example of an embodiment of structure 204 is shown in a box. Structure 2004 includes component 2012 and component 2014. A hole 2016 has been drilled through structure 2004.

[0168] As depicted in this example, the collar 2008 is aligned with the hole 2016 to achieve concentric alignment between the two components. In other words, the centerline 2030 for the collar 2008 can be aligned with the centerline 2032 for the hole 2016 to achieve concentric alignment between the two components. As depicted in this example, the centerline 2032 is substantially orthogonal to or perpendicular to the surface 2034 of the inner mold line side 2018. As a result, the collar 2008 is positioned such that the centerline 2030 is aligned or matched with the centerline 2032.

[0169] As shown in the figure, the forging tool 2000 is... Figure 2 An example of one embodiment of the forging tool 224 is shown in a box. The outer die line tool 2002 is... Figure 2 An example of an embodiment of the external die-cutting machine 246 is shown in a box. In this illustrative example, the forging tool 2000 is located on the inner die-cutting side 2018 of the structure 2004, while the external die-cutting tool 2002 is located on the outer die-cutting side 2020 of the structure 2004.

[0170] As shown in the figure, pin 2010 has been inserted into hole 2016 from the outer mold line side 2020 of structure 2004 using outer mold line tool 2002. In this example, as shown in the figure, only a portion of outer mold line tool 2002 is used to insert pin 2010.

[0171] refer to Figure 21 An illustration of a pin 2010 extending into a collar 2008 is depicted according to an illustrative embodiment. In this illustrative example, the pin 2010 extends through a hole 2016 and into the collar 2008.

[0172] In this example, collar 2008 is positioned above hole 2016 at a distance 2016 above hole 2016. Distance 2101 can be selected to allow line 2100 to deviate from the normal at hole 2016 relative to the inner mold line side 2018. In other words, distance 2101 can be selected such that end 2102 can extend through channel 2104 in collar 2008. As distance 2101 decreases, the amount of deviation of line 2100 from the normal decreases, allowing pin 2010 to be inserted through channel 2104 of collar 2008.

[0173] Turn now Figure 22An illustration of a pin 2010 in a fully seated position in a hole 2016 is depicted according to an illustrative embodiment. As shown, the pin 2010 is fully seated in the hole 2016. Furthermore, a pin tail 2011 connected to the end 2013 of the pin 2010 engages within the jaws 2202 of the forging tool 2000.

[0174] refer to Figure 23 A diagram illustrating a pin 2011 is shown according to an illustrative embodiment. In this illustrative example, the forging tool 200 is a hydraulic forging tool. The forging tool 2000 is actuated and pushes the pin 2011 in the direction of arrow 2300. This operation causes the anvil 2302 in the forging tool 2000 to move toward the inner die line side 2018 in the direction of arrow 2304. This movement applies a force to the collar 2008 in the direction of arrow 2304.

[0175] refer to Figure 24 An illustration of forging a collar 2008 is depicted according to an illustrative embodiment. In this illustrative example, as the anvil 2302 moves on the collar 2008, the collar 2008 moves against the inner die line side 2018, and the anvil 2302 forges the collar 2008. This force causes the collar 2008 to be forged, wherein the collar 2008 deforms and engages the engagement feature 2400 on the pin 2010.

[0176] Go to Figure 25 An illustration of a collar 2008 engaging with a pin 2010 is depicted according to an illustrative embodiment. In this illustrative example, the anvil 2302 has fully forged the collar 2008 onto the pin 2010.

[0177] Now go to Figure 26 The illustration depicts a complete installation of the fastener system 2006 according to an illustrative embodiment. As can be seen in this example, the pin tail 2011 (not shown) has been disconnected from the pin 2010. The engagement of the collar 2008 and the pin 2010 is completed in this figure.

[0178] Provided utilization Figures 20 to 26 The illustration of the forging tool 2000 mounting fastener system 1302 is intended to illustrate one manner in which the fastener system 1302 can be mounted. The operations and components shown are not intended to limit the manner in which the fastener system 2006 can be mounted using the forging tool 2000. For example, in some examples, the distance 2101 between the collar 2008 and the inner die line side 2018 may be substantially zero. In another illustrative example, the forging tool 2000 may not be an offset forging tool as shown in these examples.

[0179] Next, turn to Figure 27A flowchart illustrating a process for installing a fastener system is depicted according to an illustrative embodiment. Available for use Figure 1 The fastener installation system 120 is used for implementation. Figure 27 The process shown.

[0180] The process begins with automatic sensing of position 126 on structure 104 relative to protrusion 132 on structure 104 to mount fastener system 102 in hole 116 using offset collar mount 124 connected to platform 122 (operation 2700). The process moves offset collar mount 124 about axis of rotation 128 to position 126, such that collar 110 in fastener system 102 is held in position 126 above hole 116 (operation 2702). Offset collar mount 124 is connected to platform 122 and is rotatable about axis of rotation 128. As shown, fastener system 102 can take many different forms. For example, bolt 108 in fastener system 102 can be a threaded bolt, and collar 110 can be a nut that rotates to engage the threads on bolt 108. In another illustrative example, bolt 108 can be a pin with a pin tail, and collar 110 can be a collar forged to the pin.

[0181] The process fastens the collar 110 to the engagement feature 112 of the bolt 108 in the hole 116 (operation 2704). The process then terminates.

[0182] Next, turn to Figure 28 A flowchart illustrating a process for installing a fastener system is depicted according to an illustrative embodiment. Available for use Figure 1 The fastener installation system 120 is used for implementation. Figure 28 The process shown.

[0183] The process begins by moving the platform 122 on structure 104 into the hole 116 in structure 104 (operation 2800). The process retains the collar 110 for fastening to bolt 108, wherein the engagement feature 112 is inserted through the hole 116 using an offset collar mount 124 (operation 2802). When bolt 108 is a pin, the process retains the collar 110 for forging to the pin, wherein the engagement feature 112 is inserted through the hole 116 using a collar retainer 134 in the offset collar mount 124, wherein the collar 110 is held in a position 126 off-axis of rotation 128 by the collar retainer 134.

[0184] The process moves the offset collar mount 124 to a position 126 offset from the axis of rotation 128, such that the collar 110 is held in position 126 above the hole 116 and offset from the axis of rotation 128 for the platform 122 (operation 2804). The process then fastens the collar 110 to the bolt 108 (operation 2806). When the bolt 108 is a pin, the process uses a forging assembly on the offset collar mount to forge the collar 110 to the pin, the offset collar mount being configured to forge the collar 110 to engage the engagement feature on the pin. The process then terminates.

[0185] refer to Figure 29 A flowchart illustrating a process for a mobile installation system is depicted according to an illustrative embodiment. Implementable Figure 29 The process shown is to move Figure 2 Fastener mounting system 208. Available for use. Figure 1 The mobile system 138 in the middle is used to implement the process.

[0186] The process begins by moving platform 122 along the axis relative to position 126 for hole 116 (operation 2900). The process then moves offset collar mount 124 about axis of rotation 128 (operation 2902). This movement of offset collar mount 124 can be a rotational movement about axis of rotation 128, causing offset collar mount 124 to move from one side of axis of rotation 128 to the other. The movements in operations 2900 and 2902 can be used to move collar 110 to position 126 for hole 116. The process then terminates.

[0187] Now for reference Figure 30 A flowchart illustrating a process for installing a fastener system is depicted according to an illustrative embodiment. The process shown in the figure can be implemented in a manufacturing environment 200 to install the fastener system 202. Figure 2 In structure 204.

[0188] The process begins by automatically positioning the collar 212 in the fastener mounting system 208 onto the hole 232 on the first side 256 of the structure 204 (operation 3000) before inserting the pin 214 in the fastener system 202 from the second side 258 of the structure 204 into the hole 232. In operation 3000, the pin 214 has a pin tail 218. Furthermore, the collar 212 can either contact the hole 232 or be positioned away from the hole 232. As shown, the distance at which the collar 212 can be positioned away from the hole 232 depends on the alignment of the centerline 252 of the hole 232 with the centerline 251 of the collar 212.

[0189] In operation 3000, automatic positioning of collar 212 is performed, such that collar 212 is concentrically aligned with hole 232 on the first side 256 of structure 204. In operation 3000, the alignment results in concentricity between collar 212 and hole 232.

[0190] The process inserts a pin 214 through a collar 212, with the pin 214, bearing a tail 218, extending through the hole 232 and the collar 212 (operation 3002). In one example of operation 3002, the process causes the pin 214, bearing a tail 218, to be inserted through the hole 232 and the collar 212 in a single movement, with the pin 214, bearing a tail 218, extending through the hole 232 and the collar 212. In this example, the pin 214 is fully inserted such that the pin 214, bearing a tail 218, extends through the collar 212, and the collar 212 is forged to the pin 214. In this example, the pin 214, bearing a tail 218, is inserted through the hole 232 and the collar 212 in a single movement.

[0191] In another example, in operation 3002, a pin 214 may be inserted into the hole 232 prior to the positioning collar 212. Insertion ensures that the pin 214 does not interfere with the positioning of the collar 212 and the hole 232, thus achieving concentricity between the collar 212 and the hole 232.

[0192] The process applies force to at least one of the collar 212 or the pin tail 218 along a centerline 251 extending centrally through the collar 212 until the pin tail 218 separates from the pin 214, such that when the pin 214 with the pin tail 218 is inserted into the hole 232 from the second side 258, the collar 212 engages the engagement feature 216 on the pin 214 (operation 3004). The process then terminates.

[0193] Next, turn to Figure 31 A more detailed illustration of a flowchart of a process for locating a collar is depicted according to an illustrative embodiment. The process shown in this figure can be implemented in manufacturing environment 200 to install fastener system 202. Figure 2 In structure 204.

[0194] The process holds the collar 212 in the collar retainer 222 within the forging assembly 220 (operation 3100). The process normalizes the collar 212 to the inner die line side 234 (operation 3102). The process uses a sensor system 240 to identify the position 242 of the hole 232 on the inner die line side 234 (operation 3104).

[0195] Before inserting the pin 214 from the outer die line side 236 into the hole 232, the forging assembly 220 is used to move the collar 212 to the hole 232 at position 242 on the inner die line side 234 of the structure 204 (operation 3106). The process then terminates.

[0196] In operation 3106, when the collar 212 is positioned on the hole 232, the collar 212 may or may not contact the inner mold line side 234. In other words, a gap or distance may exist between the collar 212 and the surface of the inner mold line side 234. These operations result in the collar 212 being positioned on the hole 232 on the inner mold line side 234 of the structure 204 before the pin 214 is inserted from the outer mold line side 236 into the hole 232.

[0197] Figure 31 The process shown is merely an example of one method for positioning the collar 212. Figure 31 As shown, a positioning collar 212 is positioned relative to hole 232 before pin 214 is inserted into hole 232. In other examples, pin 214 may be placed in hole 232 but not moved to extend through collar 212 for engagement until positioning collar 212. In other words, positioning collar 212 is not required before pin 214 is inserted into hole 232.

[0198] Now for reference Figure 32 The illustration depicts a flowchart illustrating a process for installing a fastener system using an inner mold liner within an outer mold liner, according to an illustrative embodiment. Figure 2 The process shown in the figure is implemented in the manufacturing environment 200. The process can be implemented using an inner molding machine 244 and an outer molding machine 246, which move on tracks attached to structure 204.

[0199] The process begins by moving the inner mold line machine 244 to position 242 of the hole 232 in structure 204 on the inner mold line side 234 (operation 3200). Then, the outer mold line machine 246 is moved to position 242 of the hole 232 on the outer mold line side 236 (operation 3202). In operation 3202, the hole 232 has not yet been formed. Although shown and described sequentially, operations 3200 and 3202 can be performed at substantially the same time.

[0200] The inner die-cutting machine 244 supplies the collar 212 to the collar retainer 222 in the forging assembly 220 (operation 3204). The inner die-cutting machine 244 normalizes the collar 212 to the surface of the inner die-cutting side 234 (operation 3206). The outer die-cutting machine 246 drills the hole 232 (operation 3208). The inner die-cutting machine 244 uses the sensor system 240 to generate sensor data 215 for the hole 232 (operation 3210). The inner die-cutting machine 244 finely adjusts the positioning of the collar 212 in the hole 232. In operation 3210, this process uses the sensor data 215 to align the collar 212 with the hole 232. In this example, alignment ensures that the collar 212 is concentrically aligned with the hole 232.

[0201] The outer die line machine 246 inserts the pin 214 through the hole 232 from the outer die line side 236 until the pin tail 218 engages with the forging tool 224 in the forging assembly 220 (operation 3212). In operation 3212, the pin tail 218 may engage in the jaws or clamps in the forging tool 224, which allows force to be applied when the pin tail 218 is pushed.

[0202] The inner die-forging machine then forges the collar 212 to engage the engagement feature 216 on the pin 214 (operation 3214). In this illustrative example, the collar 212 is forged by applying force to at least one of the collar 212 or the pin tail 218 along a centerline 251 extending centrally through the collar 212 until the pin tail 218 separates from the pin 214, such that when the pin 214 with the pin tail 218 is inserted into the hole 232 from the second side 258, the collar 212 engages the engagement feature 216 on the pin 214. Insertion of the pin 214 with the pin tail 218 is possible, such that the pin 214 with the pin tail 218 is inserted through the hole 232 and the collar 212 in a single movement.

[0203] The process then terminates. This process can be performed any number of times at different locations of the holes in structure 204.

[0204] This process can also be performed using an inner molding machine 244 and an outer molding machine 246, which are in the form of robotic arms.

[0205] Next reference Figure 33 A flowchart illustrating a process for installing a fastener system is depicted according to an illustrative embodiment. The process shown in the figure can be implemented in a manufacturing environment 200 to install the fastener system 202. Figure 2 In structure 204.

[0206] The process begins with positioning the collar 212 relative to the hole 232 on the first side 256 of the structure 204 (operation 3300). The process involves inserting a pin 214 with a pin tail 218 from the second side 258 of the structure 204 through the hole 232 and the collar 212 in a single movement (operation 3302). In operation 3302, the pin 214 with the pin tail 218 extends through the hole 232 and the collar 212.

[0207] The process applies force to at least one of the collar 212 or pin tail 218 along a centerline 251 extending centrally through the collar 212 until the pin tail 218 separates from the pin 214, such that when the pin 214 with the pin tail 218 is inserted through the hole 232 and the collar 212 from the second side 258 of the structure 204 in a single movement, the collar 212 engages the engagement feature 216 on the pin 214 (operation 3304). The process then terminates. In operation 3304, the process may apply force to the collar 212, the pin tail 218, or both the collar 212 and the pin tail 218 to achieve engagement with the engagement feature 216.

[0208] The flowcharts and block diagrams in the various described embodiments illustrate the architecture, functionality, and operation of some possible implementations of the apparatus and methods in the illustrative embodiments. In this regard, each block in a flowchart or block diagram may represent at least one of a module, segment, function, or operation or step. For example, one or more blocks may be implemented as program code, hardware, or a combination of program code and hardware. When implemented in hardware, the hardware may, for example, take the form of an integrated circuit manufactured or configured to perform one or more operations in the flowchart or block diagram. When implemented as a combination of program code and hardware, the implementation may take the form of firmware. Each block in the flowchart or block diagram may be implemented using a dedicated hardware system that performs different operations or combinations of dedicated hardware and program code executed by the dedicated hardware.

[0209] In some alternative implementations of the illustrative embodiments, one or more functions mentioned in the boxes may not occur in the order shown in the figures. For example, in some cases, two consecutively shown boxes may be executed substantially simultaneously, or sometimes the boxes may be executed in reverse order, depending on the functions involved. Moreover, other boxes may be added in addition to those shown in the flowchart or block diagram.

[0210] For example, the outer mold line machine 246 can be omitted. Figure 32 Operation 3208. The outer molding machine 246 can insert the pin without drilling. Different machines can form holes in structure 204.

[0211] Now go to Figure 34A block diagram of a data processing system is depicted according to an illustrative embodiment. The data processing system 3400 can be used for implementation. Figure 1 Computer system 160 and Figure 2 The computer system 250 is shown. In this illustrative example, the data processing system 3400 includes a communication framework 3402 that provides communication between a processor unit 3404, a memory 3406, a permanent memory 3408, a communication unit 3410, an input / output unit 3412, and a display 3414. In this example, the communication framework 3402 may take the form of a bus system.

[0212] Processor unit 3404 is used to execute instructions for software that can be loaded into memory 3406. Processor unit 3404 may be multiple processors, multiprocessor cores, or some other type of processor, depending on the specific implementation.

[0213] Memory 3406 and permanent memory 3408 are examples of storage device 3416. A storage device is any hardware capable of storing information, such as, for example, but not limited to, data on a temporary base, a permanent base, or both temporary and permanent bases, program code in a functional form, or other suitable information. In these illustrative examples, storage device 3416 may also be referred to as a computer-readable storage device. In these examples, memory 3406 may be, for example, random access memory or any other suitable volatile or non-volatile storage device. Permanent memory 3408 may take various forms depending on the specific implementation.

[0214] For example, permanent storage 3408 may include one or more components or devices. For example, permanent storage 3408 may be a hard disk drive, a solid-state hard disk drive, flash memory, a rewritable optical disk, a rewritable magnetic tape, or a combination of the above. The medium used by permanent storage 3408 may also be removable. For example, a removable hard disk drive may be used for permanent storage 3408.

[0215] In these illustrative examples, communication unit 3410 provides communication with other data processing systems or devices. In these illustrative examples, communication unit 3410 is a network interface card.

[0216] Input / output unit 3412 allows data input and output to other devices that can be connected to data processing system 3400. For example, input / output unit 3412 can provide connectivity for user input via at least one of a keyboard, mouse, or some other suitable input device. Furthermore, input / output unit 3412 can send output to a printer. Display 3414 provides a mechanism for displaying information to the user.

[0217] Instructions for at least one of an operating system, application, or program may be located in storage device 3416, which communicates with processor unit 3404 via communication frame 3402. Processor unit 3404 may use computer-implemented instructions to perform processing in various embodiments, which may be located in memory (such as memory 3406).

[0218] These instructions are referred to as program code, computer-usable program code, or computer-readable program code, which can be read and executed by a processor in processor unit 3404. The program code in different embodiments may be embodied on different physical or computer-readable storage media, such as memory 3406 or permanent memory 3408.

[0219] Program code 3418 is functionally located on a computer-readable medium 3420, which is selectively removable and can be loaded into or transferred to a data processing system 3400 for execution by a processor unit 3404. In these illustrative examples, program code 3418 and computer-readable medium 3420 form a computer program product 3422. In the illustrative examples, computer-readable medium 3420 is a computer-readable storage medium 3424.

[0220] In these illustrative examples, computer-readable storage medium 3424 is a physical or tangible storage device for storing program code 3418, rather than a medium for disseminating or transmitting program code 3418.

[0221] Alternatively, program code 3418 may be transmitted to data processing system 3400 using a computer-readable signal medium. The computer-readable signal medium may be, for example, a propagated data signal containing program code 3418. For example, the computer-readable signal medium may be at least one of electromagnetic signals, optical signals, or any other suitable type of signal. These signals may be transmitted over at least one communication link, such as a wireless communication link, fiber optic cable, coaxial cable, wire, or any other suitable type of communication link.

[0222] The different components shown for data processing system 3400 are not intended to impose architectural limitations on the ways in which different embodiments may be implemented. Different illustrative embodiments may be implemented in a data processing system that includes components other than or in lieu of those components shown for data processing system 3400. Figure 34 Other components shown may differ from the illustrative example shown. Different embodiments can be implemented using any hardware device or system capable of running program code 3418.

[0223] It is possible to do as Figure 35The aircraft manufacturing and maintenance method 3500 shown herein, and as such Figure 36 Illustrative embodiments of this disclosure are described within the context of the aircraft 3600 shown. First, turn to... Figure 35 The illustration depicts a block diagram of an aircraft manufacturing and maintenance method according to an illustrative embodiment. During the pre-production phase, the aircraft manufacturing and maintenance method 3500 may include... Figure 36 The specifications and design of the aircraft 3600 (3502) and the procurement of materials (3504) are as follows.

[0224] During production, Figure 36 The manufacturing of components and sub-assemblies of the aircraft 3600 is 3506, and system integration is 3508. Afterward, the aircraft 3600 can be certified and delivered 3510 for service 3512. When the customer uses 3512, the aircraft 3600 is scheduled for routine maintenance and repairs 3514, which may include modifications, reconfigurations, refurbishments, and other maintenance or repairs.

[0225] Each process of the aircraft manufacturing and maintenance method 3500 may be performed or carried out by a system integrator, a third party, an operator, or a combination thereof. In these examples, the operator may be the customer. For the purposes of this specification, the system integrator may include, but is not limited to, any number of aircraft manufacturers and main system subcontractors; the third party may include, but is not limited to, any number of vendors, subcontractors, and suppliers; and the operator may be an airline, leasing company, military entity, service organization, etc.

[0226] Now for reference Figure 36 The illustration depicts a block diagram of an aircraft, in which an illustrative embodiment can be implemented. In this example, the aircraft 3600 is composed of... Figure 35 The aircraft manufacturing and maintenance method 3500 produces an aircraft and may include a fuselage 3602 having multiple systems 3604 and an interior 3606. Examples of systems 3604 include one or more of a propulsion system 3608, an electrical system 3610, a hydraulic system 3612, and an environmental system 3614. Any number of other systems may be included. Although an aerospace example is shown, different illustrative embodiments may be applied to other industries, such as the automotive industry.

[0227] Available Figure 35The apparatus and methods embodied herein are employed during at least one stage of the aircraft manufacturing and maintenance method 3500. As shown, the fastener mounting system 120, fastener mounting system 208, and various processes described using these fastener systems can be implemented during at least one of component and sub-assembly manufacturing 3506, system integration 3508, or maintenance and repair 3514. Furthermore, the fastener mounting system 120, fastener mounting system 208, and various processes described using these fastener systems can be utilized to install fastener systems for at least one of the fuselage 3602 or interior 3606 of the aircraft 3600.

[0228] In an illustrative example, Figure 35 The parts and subassemblies manufactured in part 3506 can be similar to those in part 3600 of aircraft. Figure 35 The components or sub-assemblies produced during the use of 3512 are manufactured or constructed in a manner that allows for their production. As yet another example, one or more apparatus embodiments, method embodiments, or combinations thereof may be utilized during the production phase, such as... Figure 35 The manufacturing of components and sub-components is 3506, and system integration is 3508. When the aircraft 3600 enters service with 3512, in... Figure 35 During or during maintenance and repair 3514, one or more device embodiments, method embodiments, or combinations thereof may be used.

[0229] For example, at least one of the fastener mounting systems 120 for fastener mounting system 208 may operate during component and sub-assembly manufacturing 3506 to fasten components to each other, thereby forming a structure or fastening components to a structure. These mounting systems may also operate during maintenance and repair 3514 to fasten components to each other, thereby forming a structure or fastening components to a structure, when performing at least one of routine maintenance and repair 3514 (which may include modification, reconfiguration, refurbishment, and other maintenance or repair).

[0230] Using several different illustrative embodiments can greatly accelerate the assembly of aircraft 3600, reduce the cost of aircraft 3600, or both accelerate the assembly of aircraft 3600 and reduce the cost of aircraft 3600. One or more illustrative embodiments provide a capability to automate fastener installation while reducing operator labor. Because the fastener installation system can be automated, the manufacture and assembly of aircraft 3600 can be performed more quickly and at a lower cost.

[0231] Now go to Figure 37 The illustration depicts a block diagram of a product management system according to an illustrative embodiment. The product management system 3700 is a physical hardware system. In this illustrative example, the product management system 3700 may include at least one of a manufacturing system 3702 or a maintenance system 3704.

[0232] Manufacturing system 3702 is configured to manufacture products, such as Figure 36 The aircraft 3600 is shown in the figure. The manufacturing system 3702 includes manufacturing equipment 3706. Manufacturing equipment 3706 includes at least one of production equipment 3708 or assembly equipment 3710.

[0233] Production equipment 3708 is equipment that can be used to produce components for forming parts of aircraft 3600. For example, production equipment 3708 may include machines and tools. These machines and tools may be at least one of drills, hydraulic presses, furnaces, molds, composite tape laying machines, vacuum systems, lathes, or other suitable types of equipment. Production equipment 3708 can be used to produce at least one of metal parts, composite parts, semiconductors, circuits, fasteners, ribs, skin panels, wing spars, antennas, or other suitable types of components.

[0234] Assembly equipment 3710 is equipment for assembling parts to form aircraft 3600. Specifically, assembly equipment 3710 can be used to assemble components and parts to form aircraft 3600. Assembly equipment 3710 may also include machines and tools. These machines and tools may be at least one of a robotic arm, tracks, a fastener installation system, a track-based drilling system, or a robot. Assembly equipment 3710 can be used to assemble parts such as seats, level stabilizers, wings, engines, engine housings, landing gear systems, and other parts for aircraft 3600. In an illustrative example, assembly equipment 3710 may include... Figure 1 Fastener installation system 120 or Figure 2 At least one of the fastener mounting systems 208 in the system.

[0235] In this illustrative example, maintenance system 3704 includes maintenance equipment 3712. Maintenance equipment 3712 may include any equipment required to perform maintenance on aircraft 3600. Maintenance equipment 3712 may include tools for performing various operations on parts on aircraft 3600. These operations may include at least one of the following: disassembling parts, refurbishing parts, inspecting parts, reprocessing parts, manufacturing replacement parts, or other operations used to perform maintenance on aircraft 3600. These operations can be used for routine maintenance, inspection, upgrades, refurbishment, or other types of maintenance operations.

[0236] In this illustrative example, maintenance equipment 3712 may include ultrasonic inspection devices, X-ray imaging systems, vision systems, drills, tracks, and other suitable devices. In some cases, maintenance equipment 3712 may include production equipment 3708, assembly equipment 3710, or both to produce and assemble parts required for maintenance.

[0237] The product management system 3700 also includes a control system 3714. The control system 3714 is a hardware system and may also include software or other types of components. The control system 3714 is configured to control the operation of at least one of the manufacturing system 3702 or the maintenance system 3704. Specifically, the control system 3714 can control the operation of at least one of the production equipment 3708, the assembly equipment 3710, or the maintenance equipment 3712.

[0238] The hardware in the control system 3714 may include hardware such as computers, circuits, networks, and other types of devices. Control may take the form of direct control of the manufacturing equipment 3706. For example, robots, computer-controlled machines, and other equipment may be controlled by the control system 3714. In other illustrative examples, the control system 3714 may manage operations performed by operator 3716 during the manufacture or maintenance of aircraft 3600. For example, the control system 3714 may assign tasks, provide instructions, display models, or perform other operations to manage the operations performed by operator 3716. In these illustrative examples, Figure 1 The controller 158 in the computer system 160 and Figure 2 The controller 248 and computer system 250 can be implemented in the control system 3714 to manage Figure 36 At least one of the manufacturing or maintenance of the aircraft 3600. For example, these controllers can be implemented to automate the installation of fastener systems in the manufacture of the aircraft 3600 or other products.

[0239] In various illustrative examples, operator 3716 may operate or interact with at least one of manufacturing equipment 3706, maintenance equipment 3712, or control system 3714. This interaction may be performed to manufacture aircraft 3600.

[0240] Of course, the product management system 3700 can be configured to manage products other than aircraft 3600. Although the product management system 3700 has been described in relation to manufacturing in the aerospace industry, it can also be configured to manage products for other industries. For example, the product management system 3700 can be configured to manufacture products for the automotive industry and any other suitable industries.

[0241] Therefore, illustrative embodiments provide a method, apparatus, and system for installing fastener systems. These fastener systems can be installed in structures that may have obstructions (such as protrusions), which may require operator intervention for fastener installation. In one illustrative example, one or more processes shown in the flowchart may be used to produce a portion of a platform. For example, according to... Figures 27 to 33 One or more methods in the flowcharts assemble a part of the aircraft.

[0242] In addition, a method can be used to use Figures 1 to 26 This is part of the equipment production platform shown. For example, a method for manufacturing a part of an aircraft can be used. Figures 1 to 26 The device in the middle.

[0243] In one illustrative example, a bias collar mount is used as part of a fastener mounting system controlled by a computer program running on a computer system to mount the fastener in a location where obstructions, such as protrusions, may exist. For example, protrusions may be present at horizontal butt joints, lap joints, or both horizontal butt joints and lap joints located inside fuselage corners.

[0244] In another illustrative example, the fastener installation system positions a collar over the hole through which a pin is inserted. The collar may or may not contact the surface of the structure at the hole. When the hole is not orthogonal to the surface of the structure, positioning the collar before inserting the pin through the hole reduces the operator's need to install the fastener.

[0245] Various illustrative embodiments have been described for purposes of illustration and description, and are not intended to be exhaustive or limiting to the embodiments disclosed. The various illustrative examples describe components that perform actions or operations. In one illustrative embodiment, a component may be configured to perform the described actions or operations. For example, a component may have a configuration or design for a structure that provides the component with the ability to perform actions or operations described in the illustrative examples as being performed by the component.

[0246] Many modifications and variations will be apparent to those skilled in the art. Furthermore, different illustrative embodiments may provide different features compared to other desired embodiments. The selection and description of one or more embodiments are intended to best explain the principles of the embodiments, their practical application, and to enable those skilled in the art to understand this disclosure of various embodiments with various modifications suitable for the intended particular purpose.

Claims

1. A fastener mounting system (120), wherein, The fastener installation system (120) includes: Platform (122) is configured to be movably positioned on structure (104); and An offset collar mount (124) is connected to the platform (122), wherein the offset collar mount (124) is rotatable about a rotation axis (128) and holds a collar (110) for mounting at a position (126) off the rotation axis (128) and fastening the collar (110) to a bolt (108) having an engagement feature (112), and wherein the offset collar mount (124) swings to the position (126) off the rotation axis (128).

2. The fastener installation system (120) according to claim 1, wherein, The offset collar mounting component (124) includes: A collar retainer (134) is configured to retain the collar (110) in the position (126) to receive the bolt (108); and The coupling (136) is configured to fasten the collar (110) to the bolt (108).

3. The fastener installation system (120) according to claim 1 further includes: A moving system (138) is connected to the platform (122), wherein the moving system (138) is connected to the bias collar mount (124) and is configured to move the bias collar mount (124) about the rotation axis (128) for the platform (122).

4. The fastener installation system (120) according to claim 3, wherein, The mobile system (138) includes: A bearing assembly (148) is connected to the offset collar mount (124), wherein the bearing assembly (148) is configured to move about the rotation axis (128); Gear ring (150), connected to the bearing assembly (148); and A drive assembly (152) is movably connected to the gear ring (150), wherein movement of the drive assembly (152) causes movement of the bearing assembly (148) via the gear ring (150).

5. The fastener installation system (120) according to claim 1 further includes: A sensor system (142) is connected to the platform (122).

6. The fastener installation system (120) according to claim 1, wherein, The offset collar mount (124) is a first offset collar mount (164), and the fastener mounting system (120) further includes: A modification component (162) is connected to the platform (122), wherein the first bias collar mount (164) is detachably connected to the modification component (162), and wherein the first bias collar mount (164) can be replaced with a second bias collar mount (166) without the use of tools.

7. The fastener installation system (120) according to claim 1, wherein, The platform (122) is configured to move on at least one of a flexible track system, a dual track system, or a flexible vacuum track system configured to be attached to the structure (104).

8. The fastener installation system (120) according to claim 1, wherein, The platform (122) and the offset collar mount (124) form an inner mold line machine (168) located on the inner mold line side (170) of the structure (104), and the fastener mounting system (120) further includes: The outer mold line machine (168) is configured to insert a pin (1300) through a hole (116) from the outer mold line side (174) of the structure (104).

9. A method for installing a fastener system (102), wherein, The method includes: The position (126) on the structure (104) is automatically sensed relative to the protrusion (132) on the structure (104) for mounting the fastener system (102) in the hole (116) using the offset collar mount (124); The offset collar mount (124) is moved to position (126) about the rotation axis (128) such that the collar (110) in the fastener system (102) is held in position (126) above the hole (116), wherein the offset collar mount (124) is connected to the platform (122) and is rotatable about the rotation axis (128); and The engagement feature that fastens the collar (110) to the bolt (108) for the hole (116).

10. The method according to claim 9, wherein, The position (126) is located below the protrusion (132) on the structure (104).

11. The method of claim 9, further comprising: Move the platform (122) on the structure (104) to the hole (116) in the structure (104).

12. The method according to claim 9, wherein, The bolt (108) is a pin (1300), and wherein retaining the collar (110) comprises: The collar (110) is held for forging to a pin (1300) having engagement features. The pin is inserted through the hole (116) using the collar retainer (134) in the offset collar mount (124), wherein the collar (110) is held by the collar retainer (134) in the position (126) offset from the axis of rotation (128); and Fastening the collar (110) to the bolt (108) includes: The collar (110) is forged to the pin (1300) using a forging assembly on the offset collar mount (124), the forging assembly being configured to forge the collar (110) to engage the engagement feature (112) on the pin (1300).

13. The method of claim 9, further comprising: The offset collar mount (124) is moved about the rotation axis (128) using a moving system (138) connected to the platform (122), wherein the moving system (138) is connected to the offset collar mount (124).

14. The method according to claim 9, wherein, The bolt (108) is a pin (1300) with a pin tail (1310), and the method further includes: After forging the collar (110) into the pin (1300) using a vacuum system (140) connected to the platform (122), at least one of the debris (154) around the hole (116) and the pin tail (1310) separated from the pin (1300) is removed.

15. The method according to claim 9, wherein, The platform (122) and the offset collar mount (124) form an inner mold line machine (168) located on the inner mold line side (170) of the structure (104), and the method further includes: Using an external mold line machine (172), a pin (1300) is inserted through the hole (116) from the external mold line side (174) of the structure (104).

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