Automated fastener system and method having fastener conductivity testing

Abstract

To provide an automated fastener system having fastener conductivity testing.SOLUTION: The fastener system having fastener conductivity testing has: a fastener holder assembly; a fastener shuttle assembly having shuttle cups; a fastener inspection system having an inspection center shaft and inspection gripper fingers; a delivery system having a delivery device; a fastener installation system having an end effector with an end effector center shaft, and end effector gripper fingers; an eddy current conductivity probe system; and a processing system. The system has an eddy current conductivity probe assembly integrated in one of the shuttle cups, the shaft, the fingers, the shaft, or the fingers. The assembly contacts a selected fastener to perform the fastener conductivity testing, and to obtain an electrical conductivity measurement.SELECTED DRAWING: Figure 3A

Description

[Technical Field]

[0001] The present disclosure relates generally to automated fastener systems and methods, and more particularly to automated fastener systems and methods with fastener conductivity testing, where fasteners are installed on a structure, such as an aircraft structure. [Background technology]

[0002] Fasteners, such as bolts, rivets, screws, pins, and bushings, are typically used to join two or more structural members together to assemble a structure. With the increase in automated assembly and manufacturing processes, such fasteners may be automatically installed in structures, such as aircraft structures, spacecraft structures, rotorcraft structures, watercraft structures, and other vehicles and structures, to join structural members together. Particular fasteners may have the same or similar appearance, size, and / or color, but may be made from different materials, resulting in different strength characteristics. Furthermore, even if such fasteners are marked to indicate the fastener type, such markings may be inadvertently removed or rendered illegible during the installation and assembly process. Potential adverse effects can occur if the wrong fastener is automatically installed in a structure, for example, an aircraft structure, for which the fastener is not designed strength.

[0003] For example, known color vision systems exist that match colors contained within an image to predetermined colors to determine the type of fastener based on color. However, such known color vision systems cannot distinguish between the colors of the same or similar fasteners. Furthermore, if the fastener is coated with the wrong color, such known color vision systems cannot detect what material the fastener is made of. Therefore, such known color vision systems may be unreliable.

[0004] Additionally, there are known hardness testing methods that measure the hardness of fastener materials against deformation. The results of such known hardness testing methods for fasteners of unknown material can be compared to known material hardness to determine the material's hardness. However, such known hardness testing methods involve applying an external force, such as indenting, scratching, or compressing, to the surface of the fastener material. The application of such external force can result in undesirable damage to the fastener.

[0005] Therefore, there is a need in the art for an improved automated fastener system and method with fastener conductivity testing of fasteners that uses conductivity measurement probes integrated into various points of the automated fastener system and determines the base material of the fastener using conductivity measurements without damaging the fastener, providing advantages over known systems and methods. Summary of the Invention [Means for solving the problem]

[0006] Exemplary embodiments of the present disclosure provide improved automated fastener systems and methods with fastener conductivity testing. As described in the detailed description below, versions of the improved automated fastener systems and methods may offer significant advantages over known systems and methods.

[0007] In one version of the present disclosure, an automated fastener system with fastener conductivity testing is provided. The automated fastener system includes an automated fastener holder assembly that holds and dispenses one or more fasteners. The automated fastener system further includes an automated fastener shuttle assembly having one or more shuttle cups, where a selected shuttle cup receives a selected fastener from the automated fastener holder assembly and transports the selected fastener within the selected shuttle cup.

[0008] The automated fastener system further comprises an automated fastener inspection system having an inspection central shaft and two or more inspection gripper fingers configured to pick up, inspect, and release selected fasteners. The automated fastener system further comprises an automated transport system having a transport device configured to transport the selected fasteners. The automated fastener system further comprises an automated fastener installation system having an end effector having an end effector central shaft and two or more end effector gripper fingers configured to pick up selected fasteners from the transport device transported by the automated transport system and install the selected fasteners within a structure.

[0009] The automated fastener system further includes an automated eddy current conductivity probe system including an eddy current conductivity probe assembly integrated into one of the one or more shuttle cups, the inspection center shaft, the two or more inspection gripper fingers, the end effector center shaft, or the two or more end effector gripper fingers. The eddy current conductivity probe assembly contacts selected fasteners to perform a fastener conductivity test and obtain electrical conductivity measurements of the selected fasteners.

[0010] The automated fastener system further includes a processing system for processing the electrical conductivity measurements of the selected fasteners. The processing system includes a computer system having a computer with a computer console and a computer software program implementing control logic. The control logic implemented by the computer software program compares the electrical conductivity measurements of the selected fasteners with a predetermined electrical conductivity value range for a predetermined fastener material to obtain a fastener material determination for the selected fasteners, and accepts or rejects the selected fasteners based on the fastener material determination.

[0011] In another version of the present disclosure, an automated fastening system with fastener conductivity testing of aircraft fasteners is provided. The automated fastening system includes an automated fastener holder assembly having one or more fastener holders that hold and dispense one or more aircraft fasteners. The automated fastening system further includes an automated fastener shuttle assembly having one or more shuttle cups, where a selected shuttle cup receives a selected aircraft fastener from the one or more fastener holders and transports the selected aircraft fastener within the selected shuttle cup.

[0012] The automated fastener system further comprises an automated fastener inspection system having an inspection center shaft and two or more inspection gripper fingers configured to pick up selected aircraft fasteners from selected shuttle cups, configured to grip and inspect the selected aircraft fasteners, and configured to release and return the selected aircraft fasteners to the selected shuttle cups. The automated fastener system further comprises an automated transport system having a transfer device configured to transport the selected aircraft fasteners away from the automated fastener inspection system. The automated fastener system further comprises an automated fastener installation system having an end effector having an end effector center shaft and two or more end effector gripper fingers configured to pick up selected aircraft fasteners from the transfer device transported by the automated transport system and configured to install the selected aircraft fasteners into an aircraft structure.

[0013] The automated fastener system further includes an automated eddy current conductivity probe system. The automated eddy current conductivity probe system includes an eddy current conductivity probe assembly integrated into one of the one or more shuttle cups, the inspection center shaft, the two or more inspection gripper fingers, the end effector center shaft, or the two or more end effector gripper fingers. The eddy current conductivity probe assembly contacts the selected aircraft fasteners to perform a fastener conductivity test and obtain electrical conductivity measurements of the selected aircraft fasteners.

[0014] The automated fastener system further includes a processing system for processing the electrical conductivity measurements. The processing system includes a computer system having a computer with a computer console and a computer software program implementing control logic. The control logic implemented by the computer software program compares the electrical conductivity measurements of the selected aircraft fasteners with a predetermined electrical conductivity value range for a predetermined fastener material to obtain a fastener material determination for the selected aircraft fasteners, and accepts or rejects the selected aircraft fasteners based on the fastener material determination.

[0015] In another version of the present disclosure, an automated method for performing a fastener conductivity test on an automated fastener system is provided. The automated method includes providing an automated fastener system. The automated fastener system includes an automated fastener holder assembly that holds and dispenses one or more fasteners. The automated fastener system further includes an automated fastener shuttle assembly having one or more shuttle cups, wherein a selected shuttle cup receives a selected fastener from the automated fastener holder assembly and transports the selected fastener within the selected shuttle cup.

[0016] The automated fastener system further comprises an automated fastener inspection system having an inspection central shaft and two or more inspection gripper fingers configured to pick up, inspect, and release selected fasteners. The automated fastener system further comprises an automated transport system having a transport device configured to transport the selected fasteners. The automated fastener system further comprises an automated fastener installation system having an end effector having an end effector central shaft and two or more end effector gripper fingers configured to pick up selected fasteners from the transport device transported by the automated transport system and install the selected fasteners within a structure.

[0017] The automated fastener system further comprises an automated eddy current conductivity probe system comprising an eddy current conductivity probe assembly integrated into one of the one or more shuttle cups, the inspection center shaft, the two or more inspection gripper fingers, the end effector center shaft, or the two or more end effector gripper fingers. The automated fastener system further comprises a processing system comprising a computer system having a computer with a computer console, and a computer software program implementing control logic.

[0018] The automated method further includes performing a fastener conductivity test on the selected fastener by contacting the selected fastener with an eddy current conductivity probe assembly integrated into one of the one or more shuttle cups, the inspection center shaft, the two or more inspection gripper fingers, the end effector center shaft, or the two or more end effector gripper fingers to obtain an electrical conductivity measurement of the selected fastener. The automated method further includes using control logic of the processing system to compare the electrical conductivity measurement of the selected fastener with a predetermined electrical conductivity value range for a predetermined fastener material to obtain a fastener material determination for the selected fastener. The automated method further includes accepting or rejecting the selected fastener based on the fastener material determination.

[0019] The described features, functions, and advantages can be achieved independently in various versions of the present disclosure or can be combined in yet further versions, further details of which can be understood with reference to the following description and drawings.

[0020] The present disclosure can be better understood by reference to the following detailed description in conjunction with the accompanying drawings, which show preferred exemplary versions, but which are not necessarily drawn to scale, and which are examples and are not meant to be limitations on the specification or claims. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a block diagram of an exemplary automated fastener system of the present disclosure. [Figure 2A] FIG. 1 is a perspective view of an exemplary fastener that may be used in versions of the automated fastener system of the present disclosure. [Figure 2B] FIG. 10 is a perspective view of another exemplary fastener that may be used in versions of the automated fastener system of the present disclosure. [Figure 3A]FIG. 1 is a front view of a fastener having one version of an eddy current conductivity probe assembly contacting the top portion of the fastener head. [Figure 3B] FIG. 3B is a front view of the fastener of FIG. 3A with one version of an eddy current conductivity probe assembly contacting a side portion of the fastener head. [Figure 3C] FIG. 3B is a front view of the fastener of FIG. 3A with one version of an eddy current conductivity probe assembly contacting a shank side portion of the fastener shank. [Figure 3D] FIG. 3B is a front view of the fastener of FIG. 3A with one version of an eddy current conductivity probe assembly contacting a rear end portion of the fastener shank. [Figure 4A] FIG. 1 is a front view of a fastener held by gripper fingers showing a central shaft with an eddy current conductivity probe assembly contacting an upper end portion of the fastener head of the fastener. [Figure 4B] FIG. 4B is a front view of the fastener of FIG. 4A held by gripper fingers with an eddy current conductivity probe assembly contacting a side portion of the fastener's fastener head. [Figure 4C] FIG. 4C is a top cross-sectional view of the fastener of FIG. 4B held by gripper fingers with an eddy current conductivity probe assembly contacting a side portion of the fastener's fastener head. [Figure 5A] FIG. 10 is a partial cross-sectional front view of a version of a fastener countersunk into a shuttle cup with an eddy current conductivity probe assembly contacting a side portion of the fastener's fastener head. [Figure 5B] 10 is a partial cross-sectional front view of another version of a fastener countersunk into a shuttle cup with an eddy current conductivity probe assembly contacting a shank side portion of the fastener's fastener shank. [Figure 6] FIG. 1 is a schematic diagram of a process flow using one version of an exemplary automated fastener system of the present disclosure, illustrating fastener conductivity testing of fasteners using an eddy current conductivity probe assembly integrated into the inspection gripper fingers. [Figure 7]FIG. 10 is a schematic diagram of a process flow using another version of an exemplary automated fastener system of the present disclosure, illustrating fastener conductivity testing of fasteners using an eddy current conductivity probe assembly integrated into the shuttle cup. [Figure 8] FIG. 10 is a schematic diagram of a process flow using another version of an exemplary automated fastener system of the present disclosure, illustrating fastener conductivity testing of fasteners using an eddy current conductivity probe assembly integrated into the end effector gripper fingers. [Figure 9] FIG. 1 is a front perspective view of an exemplary automated fastener inspection system used in one version of the automated fastener system and automated method of the present disclosure, showing inspection gripper fingers holding a fastener. [Figure 10A] FIG. 10 is a top front perspective view of an exemplary version of a shuttle cup of an automated fastener shuttle assembly used in one version of the automated fastener system and automated method of the present disclosure. [Figure 10B] FIG. 10 is a top front perspective view of another exemplary version of a shuttle cup of an automated fastener shuttle assembly used in one version of the automated fastener system and automated method of the present disclosure. [Figure 11] FIG. 1 is a top front perspective view of an exemplary version of a transport device of an automated transport system used in one version of the automated fastener system and automated method of the present disclosure, showing fasteners held within the transport device. [Figure 12A] FIG. 1 is a side perspective view of a version of an automated fastener installation system for use in one version of the automated fastener system and automated method of the present disclosure, showing a robotic system having an end effector coupled to an end effector center shaft having an eddy current conductivity probe assembly that contacts the fastener. [Figure 12B]FIG. 10 is a side perspective view of another version of an automated fastener installation system for use in one version of the automated fastener system and automated method of the present disclosure, showing a gantry system having an end effector coupled to end effector gripper fingers having eddy current conductivity probe assemblies that contact the fasteners. [Figure 13] FIG. 1 is a block diagram of an exemplary version of a computer system of a processing system used in one version of the automated fastener system and automated method of the present disclosure. [Figure 14] FIG. 1 is a flow diagram of an exemplary version of the automated method of the present disclosure. [Figure 15] 1 is a perspective view of an aircraft incorporating an aircraft structure having fasteners of a type that can be subjected to fastener conductivity testing with a version of the automated fastener system and automated method of the present disclosure. FIG. [Figure 16] FIG. 1 is a flow diagram of an exemplary aircraft manufacturing and service method. [Figure 17] FIG. 1 is an exemplary block diagram of an aircraft. DETAILED DESCRIPTION OF THE INVENTION

[0022] The figures shown in this disclosure represent various aspects of the versions presented, and only the differences are described in detail.

[0023] The disclosed versions will now be described more fully below with reference to the accompanying drawings, in which some, but not all, of the disclosed versions are shown. Moreover, several different versions may be provided and should not be construed as limited to the versions set forth herein. Rather, these versions are provided so that this disclosure will be thorough and will fully convey the scope of the disclosure to those skilled in the art.

[0024] This specification includes references to "one version" or "a version." Instances of the phrases "one version" or "a version" do not necessarily refer to the same version. Particular features, structures, or characteristics may be combined in any suitable manner consistent with the present disclosure. All features disclosed in this specification, including the claims, abstract, and drawings, and all steps of any disclosed method or process, may be combined in any combination, except combinations in which at least some of such features and / or steps are mutually exclusive. Each feature disclosed in this specification, including the claims, abstract, and drawings, may be replaced by an alternative feature serving the same, equivalent, or similar purpose, unless otherwise specified.

[0025] As used herein, "comprising" is an open-ended term and, when used in the claims, the term does not exclude additional structures or steps.

[0026] As used herein, "configured to" means that various parts or components may be described or claimed as being "configured to" perform one or more tasks. In this context, "configured to" is used to refer to structure, indicating that the part or component includes a structure that performs such one or more tasks during operation. Thus, a part or component may be said to be configured to perform a task even when the specified part or component is not currently operating (e.g., not on).

[0027] As used herein, the terms "first," "second," etc. are used as labels for the nouns they precede and do not imply any type of ordering (e.g., spatial, temporal, logical, etc.).

[0028] As used herein, a singular listed element or step preceded by the word "a" or "an" should be understood not to necessarily exclude a plurality of elements or steps. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. Also, as used herein, the term "combinations thereof" includes combinations having at least one of the associated listed items, and the combination may further include additional items, such as unlisted items.

[0029] As used herein, the phrase "at least one of," when used in conjunction with a list of items, means that one or more different combinations of the listed items may be used, and that only one of each item in the list may be required. In other words, "at least one of" means that any combination of items, and that some items from the list may be used, but not necessarily all items from the list are required. An item may be a particular object, thing, or category.

[0030] 1, which is a block diagram of an exemplary automated fastening system 10 having fastener conductivity testing 12, such as fastener electrical conductivity testing capability 12a, to obtain electrical conductivity measurements 14 of electrical conductivity 16 of fasteners 18 prior to installation of fasteners 18, such as aircraft fasteners 20, on a structure 22 (see also FIG. 15), such as aircraft structure 24 (see also FIG. 15). Fasteners 18 may also include other suitable fasteners for installation on another suitable structure, such as a spacecraft structure, a rotorcraft structure, an unmanned aerial vehicle structure, a watercraft structure, an automobile structure, a truck structure, a train structure, a building structure, or any other suitable structure.

[0031] The blocks in FIG. 1 represent elements, and the lines connecting the various blocks do not imply any particular dependency relationships among the elements. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent exemplary functional relationships and / or physical couplings between the various elements, but it should be noted that other alternative or additional functional relationships or physical connections may exist in the versions disclosed herein. When implemented in the illustrative example, one or more of these blocks may be combined, divided, or combined and divided into different blocks. Furthermore, the illustration of the automated fastener system 10 in FIG. 1 does not imply physical or architectural limitations to the manner in which the illustrative example may be implemented. Other components may be used in addition to or in place of the illustrated components. Some components may be unnecessary.

[0032] The automated fastening system 10 includes one or more fasteners 18, such as one or more aircraft fasteners 20, that are used to join together multiple portions of a structure 22, such as an aircraft structure 24. As shown in FIG. 1 , one of the one or more fasteners 18 selected for use with the automated fastening system 10, including the fastener conductivity test 12, includes a selected fastener 18a. After the selected fastener 18a undergoes the fastener conductivity test 12, the selected fastener 18a includes either an accepted fastener 18b (see FIG. 1 ) or a rejected fastener 18c (see FIG. 1 ), as described in further detail below.

[0033] 1, one of the one or more aircraft fasteners (AF) 20 selected for use in the automated fastener system 10, which includes the fastener conductivity test 12, comprises a selected aircraft fastener (AF) 20a. After the selected aircraft fastener 20a undergoes the fastener conductivity test 12, the selected aircraft fastener 20a comprises either an accepted aircraft fastener (AF) 20b (see FIG. 1) or a rejected aircraft fastener (AF) 20c (see FIG. 1).

[0034] As shown in FIG. 1 , each of the one or more fasteners 18, such as one or more aircraft fasteners 20, includes one of a bolt 25, a rivet 26, a screw 28, a pin 30, a bushing 32, or another suitable fastener.

[0035] 1, each of the one or more fasteners 18, such as the one or more aircraft fasteners 20, is made from a base fastener material (MAT.) 34. As shown in FIG. 1, the base fastener material 34 may include a metal material (MAT.) 36, including titanium (TI) 36a, aluminum (AL) 36b, nickel (NI) 36c, steel 36d, copper (CU) 36e, silver (AG) 36f, zinc (Zn) 36g, or another suitable metal material. The base fastener material 34 may further include a metal alloy material (MAT.) 38, including a nickel-chromium alloy 38a, brass 38b, bronze 38c, titanium (TI) alloy 38d, aluminum (AL) alloy 38e, nickel (NI) alloy 38f, steel alloy 38g, copper (CU) alloy 38h, silver (AG) alloy 38i, zinc (Zn) alloy 38j, or another suitable metal alloy. In other versions of the fastener 18, the base fastener material 34 may comprise another suitable material.

[0036] In one version, each of the one or more fasteners 18, such as the one or more aircraft fasteners 20, is coated with a coating, such as a dry film lubricant coating, a painted coating, or another suitable coating. Preferably, the coating is a non-conductive coating that cannot conduct electricity. In another version, each of the one or more fasteners 18, such as the one or more aircraft fasteners 20, is uncoated, or has one or more uncoated portions.

[0037] As shown in FIG. 1 , the automated fastener system 10 includes an automated fastener holder assembly 40 configured to hold and dispense one or more fasteners 18, such as one or more aircraft fasteners 20. The automated fastener holder assembly 40 includes one or more fastener holders 42 (see FIGS. 1 , 6-8 ), e.g., in the form of one or more vertical tubes, cassettes, chutes, hangers, or other suitable fastener holder structures. The fastener holders 42 may accommodate fasteners 18 of different diameters; for example, one fastener holder 42 may hold fasteners 18 of one diameter size, while another fastener holder 42 may hold fasteners 18 of another diameter size. The fastener holders 42 may receive the fasteners 18, such as aircraft fasteners 20, from a fastener feeder device (not shown), such as a bowl feeder or other suitable fastener feeder device, located upstream of the automated fastener holder assembly 40 of the automated fastener system 10.

[0038] As further shown in FIG. 1 , the automated fastener system 10 includes an automated fastener shuttle assembly 44 having one or more shuttle cups 46. A selected shuttle cup 46a of the one or more shuttle cups 46 receives a selected fastener 18a of the one or more fasteners 18 from the automated fastener holder assembly 40, and the selected shuttle cup 46 transports the selected fastener 18a in the selected shuttle cup 46a. The selected shuttle cup 46a is configured to receive the selected fastener 18a from a fastener holder 42 of the automated fastener holder assembly 40; for example, the selected fastener 18a may drop from the fastener holder 42 into the selected shuttle cup 46a positioned below the fastener holder 42. The selected fastener 18a is selected based on its kind or type, its diameter, and its length. The selected shuttle cup 46a supports and retains the selected fastener 18a within the selected shuttle cup 46a, and in one version, the selected shuttle cup 46a does not have a retention mechanism, such as a clamp or other type of retention mechanism, to retain the selected fastener 18a within the selected shuttle cup 46a. The shuttle cup 46 is described in further detail below with respect to Figures 5A-5B and 10A-10B.

[0039] 1 , the automated fastener system 10 includes an automated fastener inspection system 48. The selected shuttle cup 46 transports the selected fastener 18 a from the automated fastener holder assembly 40 to the automated fastener inspection system 48 via an automated transport mechanism (not shown) of the automated fastener shuttle assembly 44; for example, the automated transport mechanism may include a rail or track system along which the selected shuttle cup 46 automatically moves back and forth between the automated fastener holder assembly 40 and the automated fastener inspection system 48. The automated transport mechanism may also include another suitable transport system for automatically moving the shuttle cup 46 between the automated fastener holder assembly 40 and the automated fastener inspection system 48.

[0040] As shown in FIG. 1, the automated fastener inspection system 48 includes an inspection (INSPECT.) central shaft 50 (see also FIG. 9) and two or more inspection (INSPECT.) gripper fingers 52 (see also FIG. 9). The inspection gripper fingers 52, such as in the form of claws, are configured to automatically pick up a selected fastener 18a, automatically grip and automatically inspect the selected fastener 18a, and automatically release the selected fastener 18a. In one version, as shown in FIG. 1, the automated fastener inspection system 48 includes a camera 54 and a laser scanner 55 for inspecting the selected fastener 18a. The automated fastener inspection system 48 may also include additional components suitable for inspecting the selected fastener 18a.

[0041] As further shown in FIG. 1 , the automated fastener system 10 includes an automated transport system 56 having a delivery (DELIV) device 58 configured to transport and deliver selected fasteners 18 a from the automated fastener inspection system 48. In one version, the delivery device 58 includes a delivery (DELIV) shuttle 60 (see FIGS. 1 , 6-8 , and 11 ), such as a receptacle or cup, or another suitable delivery container device. The delivery shuttle 60 is designed to enclose the selected fasteners 18 a within the delivery shuttle 60. As shown in FIG. 1 , the automated transport system 56 further includes a transfer tube 62, such as a vacuum (VAC) tube 62 a, a pressure (PRESS) tube 62 b, or another suitable transfer tube, for transporting or transporting the delivery device 58, such as the delivery shuttle 60, carrying the selected fasteners 18 a after the selected fasteners 18 a have been inspected and passed inspection by the automated fastener inspection system 48. The transport device 58, such as the transport shuttle 60, is described in further detail below with respect to FIG.

[0042] As further shown in FIG. 1 , the automated fastener system 10 includes an automated fastener installation system 64. The selected fasteners 18 a are transported from the automated fastener inspection system 48 to the automated fastener installation system 64 by an automated transfer system 56. As shown in FIG. 1 , the automated fastener installation system 64 has an end effector (EE) 66 coupled to an end effector (EE) center shaft 68 (see also FIG. 12A ) and coupled to two or more end effector (EE) gripper fingers 70 (see also FIG. 12B ). The end effector gripper fingers 70 are configured to pick up the selected fasteners 18 a from a transport device 58, such as a transport shuttle 60, transported by the automated transport system 56, and the automated fastener installation system 64 is configured to install the selected fasteners 18 a to a structure 22 (see FIGS. 1 , 15 ), such as an aircraft structure 24 (see FIGS. 1 , 15 ), or another suitable structure.

[0043] In one version, as shown in Figure 12A, the automated fastener installation system 64 further includes an end effector 66 coupled to a robotic system 72 having a robot 74. The robotic system 72 is described in more detail below with respect to Figure 12A. In another version, as shown in Figure 12B, the automated fastener installation system 64 further includes an end effector 66 coupled to a gantry system 76 having a gantry 78. The gantry system 76 is described in more detail below with respect to Figure 12B.

[0044] As further shown in Figure 1, the automated fastener system 10 includes an automated eddy current conductivity probe system 80 that includes one or more eddy current conductivity probe assemblies 82. As shown in Figure 1, the eddy current conductivity probe assembly 82 includes one or more eddy current conductivity probes 84 having one or more coils 86 coupled to electrical (ELECT.) wiring 88. As further shown in Figure 1, the eddy current conductivity probe assembly 82 includes a sensor 90 that is preferably housed in a control box 92. The sensor 90 is coupled to the one or more eddy current conductivity probes 84 via the electrical wiring 88.

[0045] The eddy current conductivity probe 84 is a contact probe that may include one of an eddy current conductivity surface probe 84a (see FIG. 3A), an eddy current conductivity pencil probe 84b (see FIG. 3B), an eddy current conductivity annular probe 84c (see FIG. 3C), or another suitable type of eddy current conductivity probe 84. The eddy current conductivity surface probe 84a, which is a contact probe, may be used to scan a large area and enable deeper penetration to obtain larger electrical conductivity measurements 14 (see FIG. 1) of the base fastener material 34. The coil configuration of the eddy current conductivity surface probe 84a may include a pancake coil. The eddy current conductivity pencil probe 84b, which is a contact probe, may include a small surface coil housed in an elongated housing to enable measurement or scanning of small areas. The eddy current conductivity annular probe 84c, which is a contact probe, may be suitable for measuring enclosed or interior areas, such as a pipe or other suitable interior area of ​​an object or structure.

[0046] Generally, an eddy current conductivity probe 84 comprises a coil 86 of conducting wire through which an alternating current flows, generating an oscillating magnetic field. When the eddy current conductivity probe 84 and its magnetic field are brought close to a conductive material, such as the metallic material 36 (see FIG. 1) of a fastener 18 (see FIG. 1), a circular flow of electrons, known as eddy currents, begins to move through the metallic material 36. The eddy currents flowing through the metallic material 36 then generate their own magnetic field, which interacts with the coil 86 and its magnetic field via mutual inductance. The eddy current conductivity probe 84 is used to measure the electrical conductivity 16 (see FIG. 1) of a fastener 18, such as an aircraft fastener 20.

[0047] 5A-5B, the eddy current conductivity probe assembly 82 also includes an actuator 94 (see also FIG. 1) coupled to the one or more eddy current conductivity probes 84 for moving the one or more eddy current conductivity probes 84 relative to the selected fasteners 18a. The actuator 94 is described in further detail below with respect to FIGS. 5A-5B.

[0048] An eddy current conductivity probe assembly 82 is integrated into one of one or more shuttle cups 46, inspection center shaft 50, two or more inspection gripper fingers 52, end effector center shaft 68, or two or more end effector gripper fingers 70. Each eddy current conductivity probe assembly 82 contacts a selected fastener 18a to perform a fastener conductivity test 12 and obtain electrical conductivity measurements 14 for the selected fastener 18a. An automated eddy current conductivity probe system 80 having one or more eddy current conductivity probe assemblies 82 is described in further detail below with respect to Figures 3A-5B.

[0049] 1, the automated eddy current conductivity probe system 80 further includes a data connection 96 for transmitting the electrical conductivity measurements 14 made by the eddy current conductivity probe assembly 82. The data connection 96 may include a wired data connection 96a (see FIG. 1) or a wireless data connection 96b (see FIG. 1).

[0050] 1, the automated fastener system 10 includes a processing system 98 for processing the electrical conductivity measurements 14 of the selected fasteners 18a. As shown in FIG. 1, the processing system 98 includes a control system 100, one or more power sources 102, a computer system 104 having a computer 106 with a computer console 108, and a computer software program 110 that implements control logic 112. As shown in FIG. 1, the control logic 112 implemented by the computer software program 110 uses the electrical conductivity measurements 14 of the selected fasteners 18a, such as the selected aircraft fasteners 20a, to compare them with a predetermined (PREDETER.) electrical conductivity value range 114 of a predetermined (PREDETER.) fastener material (MAT.) 115 to obtain a fastener material (MAT.) determination 116 for the selected fasteners 18a, such as the selected aircraft fasteners 20a. The control logic 112 compares the electrical conductivity measurements 14 to a predetermined electrical conductivity value range 114 for a given fastener material 115 to obtain a fastener material determination 116 based on the difference in values ​​between the actual measured electrical conductivity measurements 14 and the predetermined electrical conductivity value range 114. As used herein, "predetermined electrical conductivity value range" means a standard or known electrical conductivity value range for a known fastener material as measured by an eddy current conductivity probe.

[0051] Based on the fastener material determination 116 of either pass, meaning the correct fastener material, or fail, meaning the incorrect fastener material, an automated command 118 (see FIG. 1) is sent, where if pass, the selected fastener 18a, such as selected aircraft fastener 20a, is accepted to obtain a fastener acceptance 120 (see FIG. 1) for the accepted fastener 18b (see FIG. 1), such as accepted aircraft fastener 20b (see FIG. 1), and if fail, the selected fastener 18a, such as selected aircraft fastener 20a, is rejected to obtain a fastener rejection 122 (see FIG. 1) for the rejected fastener 18c (see FIG. 1), such as rejected aircraft fastener 20b (see FIG. 1).

[0052] 1, the automated fastener system 10 preferably includes a fastener reject receptacle 124 (see also FIGS. 6-8), such as in the form of a bin, can, box, basket, or another suitable type of container. The fastener reject receptacle 124 is configured to accept rejected fasteners 18c, such as rejected aircraft fasteners 20c. The fastener reject receptacle 124 is used to discard selected fasteners 18a, such as selected aircraft fasteners 20a, that are determined to be rejected fasteners 18c after the fastener material determination 116 and the automated command 118 of fastener rejection 122.

[0053] In another version of the present disclosure, an automated fastening system 10 having a fastener conductivity test 12 for aircraft fasteners 20 (see FIG. 1) used for installation in an aircraft structure 24 (see FIG. 1, 15) is provided. The automated fastening system 10 includes an automated fastener holder assembly 40 (see FIG. 1, 6-8) having one or more fastener holders 42 (see FIG. 1, 6-8) configured to hold and dispense one or more aircraft fasteners 20. The automated fastening system 10 further includes an automated fastener shuttle assembly 44 (see FIG. 1) having one or more shuttle cups 46 (see FIG. 1, 5A-5B, 10A-10B), wherein a selected shuttle cup 46a (see FIG. 1) receives a selected aircraft fastener 20a (see FIG. 1) from the one or more fastener holders 42 and transports the selected aircraft fastener 20a within the selected shuttle cup 46a.

[0054] The automated fastener system 10 further includes an automated fastener inspection system 48 having an inspection center shaft 50 and two or more inspection gripper fingers 52 (see FIGS. 1 and 6) configured to pick up selected aircraft fasteners 20a from selected shuttle cups 46a, to grip and inspect the selected aircraft fasteners 20a, and to release the selected aircraft fasteners 20a back into the selected shuttle cups 46a if the inspection passes. The automated fastener system 10 further includes an automated transport system 56 (see FIGS. 1 and 6) having a transport device 58 (see FIGS. 1 and 6), such as a transport shuttle 60 (see FIGS. 1 and 6), configured to transport and convey the selected shuttle cups 46a with the selected aircraft fasteners 20a held therein, away from the automated fastener inspection system 48. The automated fastener system 10 further includes an automated fastener installation system 64 (see FIG. 1 ) having an end effector 66 (see FIGS. 1 , 12A-12B) coupled to the end effector central shaft (see FIGS. 1 , 12A-12B) and coupled to two or more end effector gripper fingers 70 (see FIGS. 1 , 12A-12B) configured to pick up selected aircraft fasteners 20 a from a transfer device 58 transported by the automated transfer system 56 and to install the selected aircraft fasteners 20 a on the aircraft structure 24 (see FIG. 1 , 15).

[0055] The automated fastener system 10 further includes an automated eddy current conductivity probe system 80 (see FIG. 1 ). The automated eddy current conductivity probe system 80 includes one or more eddy current conductivity probe assemblies 82 (see FIGS. 1 , 3A-5B ) integrated into one of the one or more shuttle cups 46, the inspection center shaft 50, the two or more inspection gripper fingers 52, the end effector center shaft 68, or the two or more end effector gripper fingers 70. The eddy current conductivity probe assemblies 82 contact the selected aircraft fasteners 20 a to perform the fastener conductivity tests 12 and obtain electrical conductivity measurements 14 of the selected aircraft fasteners 20 a.

[0056] The automated fastener system 10 further includes a processing system 98 (see FIG. 1 ) for processing the electrical conductivity measurements 14. As shown in FIG. 1 , the processing system 98 includes a computer system 104 having a computer 106 with a computer console 108, and includes a computer software program 110 implementing control logic 112.

[0057] Control logic 112 implemented by computer software program 110 compares the electrical conductivity measurements 14 of the selected aircraft fasteners 20a with predetermined electrical conductivity value ranges 114 (see FIG. 1 ) of predetermined fastener materials 115 (see FIG. 1 ) to obtain fastener material determinations 116 (see FIG. 1 ) for the selected aircraft fasteners 20a, and accepts or rejects the selected aircraft fasteners 20a based on the fastener material determinations 116, which are based on the difference in value between the actual measured electrical conductivity measurements 14 and the predetermined electrical conductivity value ranges 114.

[0058] In one version of the automated fastener system 10 having fastener conductivity testing 12 of aircraft fasteners 20, the automated eddy current conductivity probe system 80 includes an eddy current conductivity probe assembly 82 including one or more eddy current conductivity probes 84 (see FIGS. 1, 3A-5B), each having one or more coils 86 (see FIGS. 1, 3A-5B) coupled to electrical wiring 88 (see FIGS. 1, 3B), and a sensor 90 (see FIGS. 1, 3A-4B, 5A-5B) in a control box 92 (see FIGS. 1, 3A-4B, 5A-5B). The sensor 90 is preferably coupled to the one or more eddy current conductivity probes 84 via the electrical wiring 88. The automated eddy current conductivity probe system 80 further includes a data connection 96 (see FIG. 1) for transmitting electrical conductivity measurements 14 to a computer 106. The data connection 96 includes one of a wired data connection 96a (see FIG. 1) or a wireless data connection 96b (see FIG. 1).

[0059] In one version of the automated fastener system 10 having fastener conductivity testing 12 of aircraft fasteners 20, an eddy current conductivity probe assembly 82 integrated into one or more shuttle cups 46 (see FIGS. 5A-5B, 7) includes one or more eddy current conductivity probes 84, each having one or more coils 86 coupled to an electrical wiring 88. The one or more eddy current conductivity probes 84 are configured to contact one of one or more side portions 128a (see FIG. 5A) of a side surface 128 of a fastener head 125 (see FIG. 5A) of a selected aircraft fastener 20a in a selected shuttle cup 46a (see FIG. 5A) of the one or more shuttle cups 46, or one or more shank side portions 131a (see FIG. 5B) of a fastener shank 130 (see FIG. 5B) of a selected aircraft fastener 20a in the selected shuttle cup 46. In this version, the eddy current conductivity probe assembly 82 further includes an actuator 94 (see FIGS. 5A-5B) coupled to the one or more eddy current conductivity probes 84 for moving the one or more eddy current conductivity probes 84 relative to the selected aircraft fasteners 20a. The eddy current conductivity probe assembly 82 further includes a sensor 90 (see FIGS. 5A-5B) within a control box 92 (see FIGS. 5A-5B). The sensor 90 is coupled to the one or more eddy current conductivity probes 84 via electrical wiring 88.

[0060] In another version of the automated fastener system 10 having fastener conductivity testing 12 for aircraft fasteners 20, an eddy current conductivity probe assembly 82 integrated into either two or more inspection gripper fingers 52 (see FIG. 6) or two or more end effector gripper fingers 70 (see FIGS. 8, 12B) includes an eddy current conductivity probe 84 for each inspection gripper finger 52 or each end effector gripper finger 70, with each eddy current conductivity probe 84 having one or more coils 86 coupled to electrical wiring 88. The eddy current conductivity probe 84 is configured to contact one or more side portions 128a (see FIGS. 4B, 12B) of a side surface 128 of a fastener head 125 of a selected aircraft fastener 20a. Each eddy current conductivity probe assembly 82 further includes a sensor 90 (see FIG. 4B) within a control box 92 (see FIG. 4B). The sensor 90 is coupled to the eddy current conductivity probe 84 via the electrical wiring 88.

[0061] In yet another version of the automated fastener system 10 having fastener conductivity testing 12 of aircraft fasteners 20, an eddy current conductivity probe assembly 82 integrated into either the inspection center shaft 50 (see FIG. 4A) or the end effector center shaft 68 (see FIG. 12A) includes an eddy current conductivity probe 84 having one or more coils 86 coupled to electrical wiring 88. The eddy current conductivity probe 84 is configured to contact one or more upper end portions 126a (see FIG. 4A) of the upper end 126 (see FIG. 4A) of the fastener head 125 (see FIG. 4A) of the selected aircraft fastener 20a. The eddy current conductivity probe assembly 82 further includes a sensor 90 (see FIG. 4A) within a control box 92 (see FIG. 4A). The sensor 90 is coupled to the eddy current conductivity probe 84 via the electrical wiring 88.

[0062] 2A, which is a perspective view of an exemplary fastener 18 that may be used in versions of the automated fastener system 10 (see FIG. 1) of the present disclosure. The fastener 18 shown in FIG. 2A is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. As shown in FIG. 2A, the fastener 18 has a fastener head 125, such as countersunk fastener head 125a, and an upper end 126 having an alignment portion 127, or alignment mark or point, formed on a surface of the upper end 126. The alignment portion 127 is configured to align with an end 49 a (see FIG. 9 ) of a central shaft 49 (see FIG. 9 ), such as an end of an inspection central shaft 50 (see FIG. 9 ), of an automated fastener inspection system 48 (see FIG. 9 ), and is also configured to align with an end 49 a of a central shaft 49 (see FIG. 12A ), such as an end of an end effector central shaft 68 (see FIG. 12A ), of an automated fastener installation system 64 (see FIG. 12A ). The upper end 126 of the fastener head 125, in one version, has one or more upper end portions 126 a (see FIG. 3A ) that can be contacted by one or more eddy current conductivity probe assemblies 82 (see FIG. 3A ) having one or more eddy current conductivity probes 84 (see FIG. 3A ) to perform a fastener conductivity test 12 (see FIG. 1 ) on a fastener 18, such as a countersunk head fastener 18 d.

[0063] As further shown in FIG. 2A, fastener head 125 has side surfaces 128 that are angled or sloped inward and downward from top end 126. Side surfaces 128 underlie a portion of fastener head 125 positioned below top end 126. Side surfaces 128, in one version, have one or more side portions 128a (see FIG. 3B) that can be contacted by one or more eddy current conductivity probe assemblies 82 (see FIG. 3B) having one or more eddy current conductivity probes 84 (see FIG. 3B) to perform fastener conductivity test 12 (see FIG. 1) on fasteners 18, such as countersunk head fasteners 18d. As further shown in FIG. 2A, fastener head 125 has a lower end 129.

[0064] As further shown in FIG. 2A, fastener 18 has a fastener shank 130 having a first end 132, a second end 134, and a shank body 135 disposed between first end 132 and second end 134. Fastener shank 130, in one version, has a shank side 131 with one or more shank side portions 131a (see FIG. 3C) that can be contacted by one or more eddy current conductivity probe assemblies 82 (see FIG. 3C) having one or more eddy current conductivity probes 84 (see FIG. 3C) to perform fastener conductivity test 12 (see FIG. 1) on fastener 18, such as countersunk head fastener 18d. As shown in FIG. 2A, first end 132 of fastener shank 130 is integral with lower end 129 of fastener head 125.

[0065] As further shown in FIG. 2A , fastener 18 has a rear end 136 having a first end 138, a second end 140, and a thread body 142 disposed between first end 138 and second end 140. Rear end 136, in one version, has a rear end portion 136a (see FIG. 3D ) that can be contacted by one or more eddy current conductivity probe assemblies 82 (see FIG. 3D ) having one or more eddy current conductivity probes 84 (see FIG. 3D ) to perform fastener conductivity test 12 (see FIG. 1 ) on fastener 18, such as countersunk head fastener 18d. As shown in FIG. 2A , first end 138 of rear end 136 is integral with second end 134 of fastener shank 130. Thread body 142 has a plurality of threads 144 (see FIG. 2A ). Rear end 136 further has a pintail 145 (see FIG. 2A ) at second end 140. In one version, as shown in FIG. 3D, the rear end portion 136a contacted by the eddy current conductivity probe assembly 82 includes a pintail 145.

[0066] 2B, which is a perspective view of another exemplary fastener 18 that may be used in versions of the automated fastener system 10 (see FIG. 1) of the present disclosure. The fastener 18 shown in FIG. 2B is a counterbore fastener 18e in the form of a bolt 25, such as counterbore bolt 25b. As shown in FIG. 2B, the fastener 18 has a fastener head 125, such as a flat counterbore fastener head 125b, with an alignment portion 127, or alignment mark or point, formed on a surface of the upper end 126. Alignment portion 127 is configured to align with end 49a (see FIG. 9) of central shaft 49 (see FIG. 9), such as the end of inspection central shaft 50 (see FIG. 9) of automated fastener inspection system 48 (see FIG. 9), and is also configured to align with end 49a of central shaft 49 (see FIG. 12A), such as the end of end effector central shaft 68 (see FIG. 12A) of automated fastener installation system 64 (see FIG. 12A).

[0067] As further shown in Figure 2B, fastener head 125 has a side 128b that forms an approximately 90 degree angle with respect to top end 126. As further shown in Figure 2B, fastener head 125 has a bottom end 129.

[0068] 2B, fastener 18 has a fastener shank 130 having a shank side 131, a first end 132, a second end 134, and a shank body 135 disposed between first end 132 and second end 134. First end 132 of fastener shank 130 is integral with a lower end 129 of fastener head 125.

[0069] As further shown in FIG. 2B, fastener 18 has a back end 136 having a first end 138, a second end 140, and a thread body 142 disposed between first end 138 and second end 140. First end 138 of back end 136 is integral with second end 134 of fastener shank 130. Thread body 142 has a plurality of threads 144 (see FIG. 2B). Back end 136 further has a pintail 145 (see FIG. 2B) at second end 140.

[0070] Similar to fasteners 18, such as countersunk head fastener 18d shown in FIG. 2A, fasteners 18, such as counterbore fastener 18e, have an upper end portion 126a of an upper end 126 of fastener head 125, a side portion 128a of a side surface 128 of fastener head 125, a shank side portion 131a of a shank side surface 131 of fastener shank 130, and a rear end portion 136a, each of which, in various versions, may be contacted by one or more of eddy current conductivity probe assemblies 82 (see FIG. 1) having one or more eddy current conductivity probes 84 (see FIG. 1) to perform a fastener conductivity test 12 (see FIG. 1) on fasteners 18, such as counterbore fastener 18e.

[0071] 3A, which is a front view of a fastener 18, such as aircraft fastener 20, with a version of eddy current conductivity probe assembly 82 contacting an upper end portion 126a of an upper end 126 of a fastener head 125 of fastener 18. The fastener 18 shown in FIG. 3A is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0072] As shown in FIG. 3A, an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 contacts an upper end portion 126a of an upper end 126 of a fastener head 125 of a fastener 18. As further shown in FIG. 3A, the eddy current conductivity probe 84 is in the form of an eddy current conductivity surface probe 84a having a probe body 146 or probe housing coupled to or integral with a contact tip 148 having a contact surface 150 that contacts the upper end portion 126a. The probe body 146 or probe housing preferably has a cylindrical or tubular shape, and the contact tip 148 preferably has a circular or disc shape. The diameter of the contact tip 148 is larger than the diameter of the probe body 146. The larger diameter of the contact tip 148 allows the contact surface 150 of the contact tip 148 to contact or scan a larger upper end portion 126a of the upper end 126 of the fastener head 125.

[0073] As further shown in FIG. 3A, eddy current conductivity probe 84 has a coil 86, such as internal coil 86a, coupled to or integral with electrical wiring 88. As further shown in FIG. 3A, eddy current conductivity probe assembly 82 further includes a sensor 90 within control box 92. Sensor 90 within control box 92 is preferably coupled to eddy current conductivity probe 84 via electrical wiring 88. In this version, with eddy current conductivity probe assembly 82, and particularly eddy current conductivity probe 84 contacting upper end portion 126a of upper end 126 of fastener head 125, eddy current conductivity probe assembly 82 may be integrated into a central shaft 49 (see FIG. 4A), such as inspection central shaft 50 (see FIG. 4A), or eddy current conductivity probe assembly 82 may be integrated into a central shaft 49 (see FIG. 12A), such as end effector central shaft 68 (see FIG. 12A).

[0074] 3B, which is a front view of a fastener 18, such as aircraft fastener 20 of FIG. 3A, with a version of eddy current conductivity probe assembly 82 contacting a side portion 128a of a side surface 128 of a fastener head 125 of fastener 18. The fastener 18 shown in FIG. 3B is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0075] As shown in Figure 3B, eddy current conductivity probe assembly 82, and in particular eddy current conductivity probes 84, are in contact with side portion 128a of side surface 128 of fastener head 125 of fastener 18. As further shown in Figure 3B, each eddy current conductivity probe 84 is in the form of an eddy current conductivity pencil probe 84b having a probe body 146 with a probe contact tip 152 in contact with side portion 128a.

[0076] As further shown in FIG. 3B, each eddy current conductivity probe 84 has a coil 86, such as an internal coil 86a, coupled to or integral with electrical wiring 88. As further shown in FIG. 3B, eddy current conductivity probe assembly 82 further includes a sensor 90 within control box 92. Sensor 90 within control box 92 is preferably coupled to eddy current conductivity probe 84 via electrical wiring 88. In this version, with eddy current conductivity probe assembly 82, and particularly eddy current conductivity probe 84, contacting side portion 128a of side surface 128 of fastener head 125, eddy current conductivity probe assembly 82 may be integrated into gripper fingers 51 (see FIG. 4B), such as inspection gripper fingers 52 (see FIG. 4B), or eddy current conductivity probe assembly 82 may be integrated into gripper fingers 51 (see FIG. 12B), such as end effector gripper fingers 70 (see FIG. 12B).

[0077] 3C, which is a front view of a fastener 18, such as aircraft fastener 20 of FIG. 3A, with a version of eddy current conductivity probe assembly 82 contacting shank side portion 131a of shank side 131 of fastener shank 130 of fastener 18. The fastener 18 shown in FIG. 3C is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0078] As shown in FIG. 3C, the eddy current conductivity probe assembly 82, and in particular the eddy current conductivity probe 84, is in contact with the shank side portion 131 a of the shank side surface 131 of the fastener shank 130 of the fastener 18. As further shown in FIG. 3C, in one version, the eddy current conductivity probe 84 is in the form of an eddy current conductivity annular probe 84 c having a probe body 146 or probe housing with a probe contact tip 152 in contact with the shank side portion 131 a and an end of a coil 86, such as external coil 86 b, in contact with the shank side portion 131 a and surrounding or coiled around an exterior portion of the probe body 146. In another version, the eddy current conductivity probe 84 is in the form of an eddy current conductivity pencil probe 84 b having a probe body 146 with a probe contact tip 152 in contact with the shank side portion 131 a and a coil 86, such as internal coil 86 a, within the probe body 146.

[0079] As further shown in FIG. 3C , a coil 86, such as external coil 86b, of an eddy current conductivity probe 84, such as eddy current conductivity annular probe 84c, is coupled to or integrated with electrical wiring 88. As further shown in FIG. 3C , the eddy current conductivity probe assembly 82 further includes a sensor 90 within a control box 92. The sensor 90 within the control box 92 is preferably coupled to the eddy current conductivity probe 84 via electrical wiring 88. In this version, the eddy current conductivity probe assembly 82 may be integrated into a shuttle cup 46 (see FIG. 5B), such as a selected shuttle cup 46a (see FIG. 5B), with the eddy current conductivity probe 84 contacting the shank side portion 131a of the shank side surface 131 of the fastener shank 130. As described below with respect to FIG. 5B , an actuator 94 may be coupled to the eddy current conductivity probe assembly 82 within the shuttle cup 46, such as a selected shuttle cup 46a.

[0080] 3D, which is a front view of a fastener 18, such as aircraft fastener 20 of FIG. 3A, with a version of eddy current conductivity probe assembly 82 in contact with a rear end portion 136a of a rear end 136 of fastener shank 130 of fastener 18. The fastener 18 shown in FIG. 3B is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0081] As shown in Figure 3D, eddy current conductivity probe assembly 82, and in particular eddy current conductivity probe 84, is in contact with rear end portion 136a of rear end 136 of fastener 18. As further shown in Figure 3D, eddy current conductivity probe 84 is in the form of an eddy current conductivity pencil probe 84b having a probe body 146 or probe housing with a probe contact tip 152 in contact with rear end portion 136a.

[0082] As further shown in FIG. 3D , each eddy current conductivity probe 84 has a coil 86, such as an internal coil 86 a, coupled to or integral with electrical wiring 88. As further shown in FIG. 3D , the eddy current conductivity probe assembly 82 further includes a sensor 90 within a control box 92. The sensor 90 within the control box 92 is preferably coupled to the eddy current conductivity probe 84 via the electrical wiring 88. In this version, the eddy current conductivity probe assembly 82, and particularly the eddy current conductivity probe 84, contacts the rear end portion 136 a of the rear end 136, thereby allowing the eddy current conductivity probe assembly 82 to be integrated into a selected shuttle cup 46, such as a selected shuttle cup 46 a.

[0083] 4A, which is a front view of a fastener 18, such as aircraft fastener 20, holding a central shaft 49, such as inspection center shaft 50, by gripper fingers 51, such as inspection gripper fingers 52, at a side portion 128a of fastener head 125, with eddy current conductivity probe assembly 82 and eddy current conductivity probe 84 contacting an upper end portion 126a of an upper end 126 of fastener head 125 of fastener 18. The fastener 18 shown in FIG. 4A is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0084] In one version, as shown in FIG. 4A , an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 is integrated into a central shaft 49, such as inspection central shaft 50, of an automated fastener inspection system 48. In another version, the central shaft 49 comprises an end effector central shaft 68 (see FIG. 12A ), and the eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 is integrated into the end effector central shaft 68 of an automated fastener installation system 64 (see FIG. 1 ). As shown in FIG. 4A , the eddy current conductivity probe assembly 82, and in particular the eddy current conductivity probe 84, such as an eddy current conductivity surface probe 84a having a contact tip 148, contacts an upper end portion 126a of an upper end 126 of a fastener head 125 of a fastener 18 to perform a fastener conductivity test 12 (see FIG. 1 ) and measure the electrical conductivity 16 (see FIG. 1 ) of the fastener 18. FIG. 4A further shows the probe body 146 of the eddy current conductivity probe 84, a coil 86 such as an internal coil 86a coupled to or integral with electrical wiring 88, and a sensor 90 within a control box 92 coupled to the eddy current conductivity probe 84 via the electrical wiring 88.

[0085] Figure 4A further illustrates an automated eddy current conductivity probe system 80 including an eddy current conductivity probe assembly 82 and a data connection 96. Figure 4A further illustrates a processing system 98 coupled to the data connection 96 of the automated eddy current conductivity probe system 80. As shown in Figure 4A, the processing system 98 comprises at least a control system 100, one or more power supplies 102, and a computer system 104 having a computer 106.

[0086] Referring now to FIG. 4B, FIG. 4B is a front view of a fastener 18, such as aircraft fastener 20 of FIG. 4A, held by gripper fingers 51, such as inspection gripper fingers 52, at a side portion 128a of fastener head 125 and contacting side portion 128a of fastener head 125 of fastener 18, with eddy current conductivity probe assembly 82 and eddy current conductivity probe 84 integrated into inspection gripper fingers 52. The fastener 18 shown in FIG. 4B is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used. FIG. 4B further illustrates a central shaft 49, such as inspection central shaft 50, of automated fastener inspection system 48.

[0087] In one version, as shown in FIG. 4B , each eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 is integrated into an inspection gripper finger 52 of an automated fastener inspection system 48. In another version, gripper fingers 51 include end effector gripper fingers 70 (see FIG. 12B ), and each eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 is integrated into end effector gripper finger 70. As shown in FIG. 4B , eddy current conductivity probe assembly 82, and in particular eddy current conductivity probe 84, contacts side portion 128 a of side surface 128 of fastener head 125 of fastener 18 to perform fastener conductivity test 12 (see FIG. 1 ) and measure electrical conductivity 16 (see FIG. 1 ) of fastener 18. As further shown in Figure 34, the eddy current conductivity probes 84 are in the form of eddy current conductivity pencil probes 84b having a probe body 146 or probe housing with a probe contact tip 152 in contact with the side portion 128a. Figure 4B further shows the probe body 146 of each eddy current conductivity probe 84, a coil 86, such as internal coil 86a, coupled to or integral with electrical wiring 88, and a sensor 90 in a control box 92 coupled to the eddy current conductivity probe 84 via the electrical wiring 88.

[0088] Figure 4B further illustrates an automated eddy current conductivity probe system 80 including an eddy current conductivity probe assembly 82 and a data connection 96. Figure 4B further illustrates a processing system 98 coupled to the data connection 96 of the automated eddy current conductivity probe system 80. As shown in Figure 4B, the processing system 98 comprises at least a control system 100, one or more power supplies 102, and a computer system 104 having a computer 106.

[0089] 4C, which is a top cross-sectional view of a fastener 18, such as aircraft fastener 20 of FIG. 4B, held by gripper fingers 51, such as inspection gripper fingers 52, of automated fastener inspection system 48, with eddy current conductivity probe assembly 82 having eddy current conductivity probes 84 integrated into inspection gripper fingers 52 and in contact with side portion 128a of fastener head 125 of fastener 18. FIG. 4C further shows each eddy current conductivity probe 84 having a coil 86 coupled to or integrated with electrical wiring 88.

[0090] 4C shows three gripper fingers 51, such as three inspection gripper fingers 52, in one version, each having an eddy current conductivity probe assembly 82 with an eddy current conductivity probe 84, surrounding fastener head 125 and contacting a side portion 128a of fastener head 125 of fastener 18. However, in other versions, two gripper fingers 51, such as two inspection gripper fingers 52, or more than three gripper fingers 51, such as more than three inspection gripper fingers 52, may be used in automated fastener inspection system 48 to hold fastener 18. Similarly, with end effector 66 (see FIG. 12B) of automated fastener installation system 64 (see FIG. 1), one version of end effector 66 has three gripper fingers 51, such as three end effector gripper fingers 70, each having an eddy current conductivity probe assembly 82 with an eddy current conductivity probe 84 that contacts fastener 18. However, in other versions, two gripper fingers 51, such as two end effector gripper fingers 70, or more than three gripper fingers 51, such as more than three end effector gripper fingers 70, may be used in the automated fastener application system 64.

[0091] 5A, which is a partial cross-sectional front view of one version of a fastener 18, such as aircraft fastener 20, of an automated fastener shuttle assembly 44, for example, a selected fastener 18a countersunk within a shuttle cup 46, such as selected shuttle cup 46a, with an eddy current conductivity probe assembly 82 integrated within an interior 154 of the shuttle cup 46 and contacting a side portion 128a of a side surface 128 of a fastener head 125 of the fastener 18. The fastener 18 shown in FIG. 5A is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, a counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0092] 5A, the fasteners 18 are countersunk at countersunk positions 155 within an internal through-opening 156 formed through the center of a shuttle cup 46, such as a selected shuttle cup 46a. The fasteners 18 are supported within the shuttle cup 46 for transport by the automated fastener shuttle assembly 44 between the automated fastener holder assembly 40 (see FIGS. 1, 7) and the automated fastener inspection system 48 (see FIGS. 1, 7), although in one version, the fasteners 18 need not be held by any retention mechanism or device within the shuttle cup 46, such as the selected shuttle cup 46a.

[0093] As shown in FIGURE 5A, the eddy current conductivity probe assembly 82, and in particular the probe contact tip 152 of the eddy current conductivity probe 84, contacts the side portion 128a of the side surface 128 of the fastener head 125 of the fastener 18. As further shown in FIGURE 5A, in one version, the eddy current conductivity probe 84, such as in the form of an eddy current conductivity annular probe 84c, has a coil 86, such as an external coil 86b, that surrounds or is wrapped around an exterior portion of the probe body 146 and contacts the side portion 128a of the fastener head 125. The coil 86 is coupled to or integral with electrical wiring 88 (see FIGURE 5A).

[0094] As further shown in FIG. 5A, the eddy current conductivity probe assembly 82 further comprises a sensor 90 within a control box 92 coupled to the eddy current conductivity probe 84 via electrical wiring 88. In this version, with the eddy current conductivity probe assembly 82, and particularly the eddy current conductivity probe 84, in contact with the side portion 128a of the fastener head 125, the control box 92 houses the eddy current conductivity probe assembly 82 and also houses an actuator 94 coupled to the eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84. In one version, as shown in FIG. 5A, the actuator 94 comprises a spring-loaded actuator 94a having a spring 158 coupled to a spring retention mechanism 160. FIG. 5A illustrates one version of the actuator 94, such as a spring-loaded actuator 94a, e.g., a passive actuator. The actuator 94 may further comprise another suitable type of passive actuator.

[0095] As shown in FIG. 5A , actuator 94 is coupled to eddy current conductivity probe 84 and eddy current conductivity probe assembly 82 within shuttle cup 46, such as selected shuttle cup 46a, such that when spring retention mechanism 160 releases spring 158, actuator 94 moves eddy current conductivity probe 84 and eddy current conductivity probe assembly 82 relative to fastener 18, such as selected fastener 18a, such that probe contact tip 152 and coil 86 contact side portion 128a of fastener head 125 of fastener 18 to perform fastener conductivity test 12 (see FIG. 1 ) and measure the electrical conductivity 16 of fastener 18.

[0096] Figure 5A further illustrates an automated eddy current conductivity probe system 80 including an eddy current conductivity probe assembly 82 and a data connection 96. Figure 5A further illustrates a processing system 98 coupled to the data connection 96 of the automated eddy current conductivity probe system 80. As shown in Figure 5A, the processing system 98 comprises at least a control system 100, one or more power supplies 102, and a computer system 104 having a computer 106.

[0097] 5B, which is a partial cross-sectional front view of another version of a fastener 18, such as aircraft fastener 20, of an automated fastener shuttle assembly 44, for example, a selected fastener 18a countersunk within a shuttle cup 46, such as selected shuttle cup 46a, with an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 integrated within an interior 154 of the shuttle cup 46 and contacting a shank side portion 131a of a shank side surface 131 of a fastener shank 130 of the fastener 18. The fastener 18 shown in FIG. 5B is a countersunk fastener 18d in the form of a bolt 25, such as countersunk bolt 25a. However, a counterbore fastener 18e of FIG. 2B or another suitable fastener 18 may also be used.

[0098] 5B, the fasteners 18 are countersunk at countersunk positions 155 within an internal through-opening 156 formed through the center of a shuttle cup 46, such as a selected shuttle cup 46a. The fasteners 18 are supported within the shuttle cup 46 for transport by the automated fastener shuttle assembly 44 between the automated fastener holder assembly 40 (see FIGS. 1, 7) and the automated fastener inspection system 48 (see FIGS. 1, 7), although the fasteners 18 need not be retained by any retention mechanism or device within the shuttle cup 46.

[0099] As shown in FIG. 5B, the eddy current conductivity probe assembly 82, and in particular the probe contact end 152 of the eddy current conductivity probe 84, is in contact with the shank side portion 131a of the shank side surface 131 of the fastener shank 130 of the fastener 18. As further shown in FIG. 5B, in one version, the eddy current conductivity probe 84, such as in the form of an eddy current conductivity annular probe 84c, has a coil 86, such as an external coil 86b, that surrounds or is wrapped around an exterior portion of the probe body 146 and contacts the shank side portion 131a of the fastener shank 130. The coil 86 is coupled to or integral with electrical wiring 88 (see FIG. 5B).

[0100] As further shown in FIG. 5B, the eddy current conductivity probe assembly 82 further includes a sensor 90 in a control box 92 coupled to the eddy current conductivity probe 84 via electrical wiring 88. In this version, with the eddy current conductivity probe assembly 82, and particularly the eddy current conductivity probe 84, contacting the side portion 128a of the fastener head 125, the control box 92 houses the eddy current conductivity probe assembly 82 and an actuator 94, such as a piston actuator 94b, coupled to the eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84. In one version, as shown in FIG. 5B, the actuator 94, such as the piston actuator 94b, has a piston 162 coupled to a drive mechanism 164, such as a mechanical drive mechanism, a motor, or another suitable drive mechanism. FIG. 5B illustrates one version of the actuator 94, such as the piston actuator 94b, e.g., a linear actuator, and an active actuator. The actuator 94 may further include a hydraulic actuator, a pneumatic actuator, a mechanical actuator, or another suitable type of active actuator.

[0101] As shown in FIG. 5B , actuator 94 is coupled to eddy current conductivity probe 84 and eddy current conductivity probe assembly 82 within shuttle cup 46, such as selected shuttle cup 46a, and is configured to move eddy current conductivity probe 84 and eddy current conductivity probe assembly 82 relative to fastener 18, such as selected fastener 18a, so that probe contact tip 152 and coil 86 contact shank side portion 131a of fastener shank 130 of fastener 18 to perform fastener conductivity test 12 (see FIG. 1 ) and measure electrical conductivity 16 (see FIG. 1 ) of fastener 18.

[0102] Figure 5B further illustrates an automated eddy current conductivity probe system 80 including an eddy current conductivity probe assembly 82 and a data connection 96. Figure 5B further illustrates a processing system 98 coupled to the data connection 96 of the automated eddy current conductivity probe system 80. As shown in Figure 5B, the processing system 98 comprises at least a control system 100, one or more power supplies 102, and a computer system 104 having a computer 106.

[0103] 6, which is a schematic diagram of a process flow 165, such as a first process flow 165a, using an exemplary version of the automated fastener system 10 of the present disclosure, illustrating fastener conductivity testing 12 of a fastener 18, such as selected fastener 18a, e.g., aircraft fastener 20, such as selected aircraft fastener 20a, using an eddy current conductivity probe assembly 82 integrated into a gripper finger 51, such as inspection gripper finger 52, of an automated fastener inspection system 48. FIG. 6 illustrates an automated fastener holder assembly 40 having a fastener holder 42 that holds a fastener 18, such as aircraft fastener 20.

[0104] 6, a selected fastener 18a, such as selected aircraft fastener 20a, is released from the fastener holder 42 into the interior through-opening 156 of a shuttle cup 46, such as selected shuttle cup 46a, of the automated fastener shuttle assembly 44 via a fastener release operation 166. The selected fastener 18a, such as selected aircraft fastener 20a, is then transported within the selected shuttle cup 46a of the automated fastener shuttle assembly 44 in a fastener transfer 168 (see FIG. 6) from the automated fastener holder assembly 40 to the automated fastener inspection system 48. The shuttle cup 46, such as selected shuttle cup 46a, may be moved via an automated transport mechanism (not shown) of the automated fastener shuttle assembly 44; for example, the automated transport mechanism may include a rail or track system that automatically moves the selected shuttle cup 46 back and forth between the automated fastener holder assembly 40 and the automated fastener inspection system 48. The automated transport mechanism may also include another suitable transport system for automatically moving the shuttle cup 46 between the automated fastener holder assembly 40 and the automated fastener inspection system 48 .

[0105] As further shown in FIG. 6 , gripper fingers 51, such as inspection gripper fingers 52 having an eddy current conductivity probe assembly 82 with an eddy current conductivity probe 84, pick up selected fasteners 18a from selected shuttle cups 46a in a pickup operation 170, and the selected fasteners 18a undergo fastener inspection by the automated fastener inspection system 48. The inspection gripper fingers 52 grip the selected fasteners 18a during fastener inspection. In this version, after inspection of the selected fasteners 18a, the selected fasteners 18a undergo a fastener conductivity test 12 using the eddy current conductivity probe assembly 82 and eddy current conductivity probe 84 integrated into the inspection gripper fingers 52 to contact side portions 128a of the fastener heads 125 of the selected fasteners 18a. Alternatively, the selected fasteners 18a may undergo the fastener conductivity test 12 prior to inspection of the selected fasteners 18a. Additionally or alternatively, as shown in FIG. 4A, the eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84 may be integrated into the inspection center shaft 50 (see also FIG. 6) and contact the upper end portion 126a (see FIG. 2A) of the upper end 126 (see FIG. 2A) of the fastener head 125.

[0106] As shown in FIG. 6 , after inspection of the selected fasteners 18a by the automated fastener inspection system 48, the selected fasteners 18a undergo a fastener conductivity test 12 and measurement by the automated eddy current conductivity probe system 80. As shown in FIG. 6 , an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 contact a side portion 128a of the fastener head 125 of the selected fasteners 18a to perform the fastener conductivity test 12 and obtain electrical conductivity measurements 14 for the selected fasteners 18a. As further shown in FIG. 6 , the electrical conductivity measurements 14 are transmitted, in a transmit operation 172, via a data connection 96 to a processing system 98, where the electrical conductivity measurements 14 are processed. As further shown in FIG. 6 , the processing system 98 includes a computer system 104 having a computer 106 and a computer console 108. Control logic 112 (see FIG. 1 ) implemented by a computer software program 110 (see FIG. 1 ) of processing system 98 compares the electrical conductivity measurements 14 of the selected fasteners 18 a with predetermined electrical conductivity value ranges 114 (see FIG. 1 ) of predetermined fastener materials 115 (see FIG. 1 ) to obtain a fastener material determination 116 (see FIG. 1 ) for the selected fasteners 18 a and accepts or rejects the selected fasteners 18 a based on the fastener material determination 116 .

[0107] The control logic 112 of the processing system 98 transmits automated pass / fail commands 118a (see FIG. 6) to an operator or user via the data connection 96 (see FIG. 6) to accept or reject the selected fastener 18a. As shown in FIG. 6, in the case of pass 174, the selected fastener 18a is accepted, resulting in a fastener accept 120 for the accepted fastener 18b. As further shown in FIG. 6, in the case of fail 175, the selected fastener 18a is rejected, resulting in a fastener reject 122 for the rejected fastener 18c. In the case of fail 175, in one version, the rejected fastener 18c is released by the inspection gripper fingers 52 of the automated fastener inspection system 48, and the rejected fastener 18c is discarded in a fastener reject bin 124. In another version, the rejected fastener 18c may be discarded in another manner.

[0108] As further shown in FIG. 6 , if pass 174, the accepted fastener 18 b is released by the inspection gripper fingers 52 of the automated fastener inspection system 48 and transferred in transfer operation 176 from the automated fastener inspection system 48 to a transfer device 58, such as a transfer shuttle 60 of the automated transfer system 56. For example, the inspection gripper fingers 52 may release the accepted fastener 18 b or drop it into a transfer device 58, such as a transfer shuttle 60, positioned below the accepted fastener 18 b. As further shown in FIG. 6 , the accepted fastener 18 b in the transfer device 58 is transported and transferred in transfer operation 178 from the automated fastener inspection system 48 to the automated fastener installation system 64, such as in a transfer tube 62 (see FIG. 1 ), e.g., a vacuum tube 62 a (see FIG. 1 ), a pressure tube 62 b (see FIG. 1 ), or another suitable transfer tube or device, for installation on a structure 22 (see FIG. 1 ), such as an aircraft structure 24 (see FIG. 1 ).

[0109] Referring now to FIG. 7 , FIG. 7 is a schematic diagram of a process flow 165, such as a second process flow 165b, using another version of the exemplary automated fastener system 10 of the present disclosure, illustrating fastener conductivity testing 12 of a fastener 18, such as a selected fastener 18a, e.g., an aircraft fastener 20, such as a selected aircraft fastener 20a, using an eddy current conductivity probe assembly 82 integrated into a shuttle cup 46, such as a selected shuttle cup 46a, that undergoes the fastener conductivity test 12 prior to inspection of the selected fastener 18.

[0110] FIG. 7 illustrates an automated fastener holder assembly 40 having a fastener holder 42 that holds a fastener 18, such as aircraft fastener 20. As shown in FIG. 7, a selected fastener 18a, such as selected aircraft fastener 20a, is released or dropped from the fastener holder 42 into an internal through-opening 156 of a shuttle cup 46, such as selected shuttle cup 46a, of the automated fastener shuttle assembly 44 via a fastener release operation 166. As shown in FIG. 6, the shuttle cup 46, such as selected shuttle cup 46a, has an eddy current conductivity probe assembly 82, and an eddy current conductivity probe 84 is integrated into the shuttle cup 46, such as selected shuttle cup 46a, and contacts the selected fastener 18a on the shank side portion 131a of the fastener shank 130. Alternatively, as shown in FIG. 5A, an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 is integrated into a shuttle cup 46, such as a selected shuttle cup 46a, and contacts a side portion 128a of a fastener head 125 of a selected fastener 18a.

[0111] As shown in FIG. 7 , a selected fastener 18a, such as selected aircraft fastener 20a, undergoes a fastener conductivity test 12 using an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 integrated into a shuttle cup 46, such as selected shuttle cup 46a, to contact a shank side portion 131a of a fastener shank 130 of the selected fastener 18a, such as selected aircraft fastener 20a. The eddy current conductivity probe assembly 82 with the eddy current conductivity probe 84 contacts the selected fastener 18a to perform the fastener conductivity test 12 and obtain electrical conductivity measurements 14 for the selected fastener 18a. As further shown in FIG. 7 , the electrical conductivity measurements 14 are transmitted via a wireless data connection 96b in a transmitting operation 172 to a processing system 98, where the electrical conductivity measurements 14 are processed. As shown in FIG. 7 , the processing system 98 includes a computer system 104 having a computer 106 and a computer console 108. Control logic 112 (see FIG. 1 ) implemented by a computer software program 110 (see FIG. 1 ) of processing system 98 compares the electrical conductivity measurements 14 of the selected fasteners 18 a with predetermined electrical conductivity value ranges 114 (see FIG. 1 ) of predetermined fastener materials 115 (see FIG. 1 ) to obtain a fastener material determination 116 (see FIG. 1 ) for the selected fasteners 18 a and accepts or rejects the selected fasteners 18 a based on the fastener material determination 116 .

[0112] The control logic 112 of the processing system 98 transmits automated pass / fail commands 118a (see FIG. 7) to the operator or user via the wireless data connection 96b (see FIG. 7) to accept or reject the selected fasteners 18a. As shown in FIG. 7, in the case of a pass 174, the selected fasteners 18a are accepted, resulting in a fastener accept 120 for the accepted fasteners 18b. As shown in FIG. 7, in the case of a fail 175, the selected fasteners 18a are rejected, resulting in a fastener reject 122 for the rejected fasteners 18c. In the case of a fail 175, in one version, the rejected fasteners 18c are released by a shuttle cup 46, such as the selected shuttle cup 46a of the automated fastener shuttle assembly 44, and the rejected fasteners 18c are discarded in a fastener reject receptacle 124. In another version, the rejected fasteners 18c may be discarded in another manner.

[0113] 7 , in the case of a pass 174, the accepted fastener 18b is transported from the automated fastener holder assembly 40 to the automated fastener inspection system 48 by a shuttle cup 46, such as a selected shuttle cup 46a, having an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84. The shuttle cup 46, such as the selected shuttle cup 46a, may be moved via an automated transport mechanism (not shown) of the automated fastener shuttle assembly 44; for example, the automated transport mechanism may include a rail or track system that automatically moves the selected shuttle cup 46 back and forth between the automated fastener holder assembly 40 and the automated fastener inspection system 48. The automated transport mechanism may also include another suitable transport system for automatically moving the shuttle cup 46 between the automated fastener holder assembly 40 and the automated fastener inspection system 48.

[0114] 7, gripper fingers 51, such as inspection gripper fingers 52, of automated fastener inspection system 48 pick up received fastener 18b from shuttle cup 46, such as selected shuttle cup 46a, in pick-up operation 170. Inspection gripper fingers 52 grip received fastener 18b during inspection of received fastener 18b by automated fastener inspection system 48. FIG. 7 also shows a central shaft 49, such as inspection central shaft 50, of automated fastener inspection system 48.

[0115] 7, after the accepted fastener 18b is inspected by the automated fastener inspection system 48, the accepted fastener 18b is released by the inspection gripper fingers 52 of the automated fastener inspection system 48. The accepted fastener 18b is transferred in a transfer operation 176 from the automated fastener inspection system 48 to a transport device 58, such as a transport shuttle 60, of the automated transport system 56. For example, the inspection gripper fingers 52 may release the accepted fastener 18b or drop the accepted fastener 18b into a transport device 58, such as a transport shuttle 60, positioned below the accepted fastener 18b. As further shown in FIG. 7 , the accepted fasteners 18b in the transfer device 58 are transported and conveyed in a transfer operation 178 from the automated fastener inspection system 48 to the automated fastener installation system 64 for installation on a structure 22 (see FIG. 1 ), such as an aircraft structure 24 (see FIG. 1 ), such as in a transfer tube 62 (see FIG. 1 ), e.g., a vacuum tube 62a (see FIG. 1 ), a pressure tube 62b (see FIG. 1 ), or another suitable transfer tube or device.

[0116] 8, which is a schematic diagram of a process flow 165, such as a third process flow 165c, using yet another version of the exemplary automated fastener system 10 of the present disclosure, illustrating fastener conductivity testing 12 of a fastener 18, such as selected fastener 18a, e.g., aircraft fastener 20, such as selected aircraft fastener 20a, using an eddy current conductivity probe assembly 82 integrated into a gripper finger 51, such as end effector gripper finger 70, of the automated fastener installation system 64. FIG. 8 illustrates an automated fastener holder assembly 40 having a fastener holder 42 that holds a fastener 18, such as aircraft fastener 20.

[0117] 8 , a selected fastener 18a, such as selected aircraft fastener 20a, is released from the fastener holder 42 into the internal through-opening 156 of a shuttle cup 46, such as selected shuttle cup 46a, of the automated fastener shuttle assembly 44 via a fastener release operation 166. The selected fastener 18a, such as selected aircraft fastener 20a, is then transported within the shuttle cup 46, such as selected shuttle cup 46a, of the automated fastener shuttle assembly 44 in a fastener transfer 168 (see FIG. 8 ) from the automated fastener holder assembly 40 to the automated fastener inspection system 48. The shuttle cup 46, such as selected shuttle cup 46a, may be moved via an automated transport mechanism (not shown) of the automated fastener shuttle assembly 44; for example, the automated transport mechanism may include a rail or track system that automatically moves the selected shuttle cup 46 back and forth between the automated fastener holder assembly 40 and the automated fastener inspection system 48. The automated transport mechanism may also include another suitable transport system for automatically moving the shuttle cup 46 between the automated fastener holder assembly 40 and the automated fastener inspection system 48 .

[0118] 8, gripper fingers 51, such as inspection gripper fingers 52, of automated fastener inspection system 48 pick up selected fasteners 18a from shuttle cups 46, such as selected shuttle cups 46a, in pick-up operation 170, and the selected fasteners 18a undergo fastener inspection by automated fastener inspection system 48. Inspection gripper fingers 52 grip the selected fasteners 18a during fastener inspection. Automated fastener inspection system 48 has a central shaft 49 (see FIG. 8), such as inspection central shaft 50 (see FIG. 8).

[0119] As further shown in FIG. 8 , after inspection of the selected fasteners 18 a, the selected fasteners 18 a are released by the inspection gripper fingers 52 of the automated fastener inspection system 48 and transferred in a transfer operation 176 from the automated fastener inspection system 48 to a transfer device 58, such as a transfer shuttle 60 of the automated transfer system 56. For example, the inspection gripper fingers 52 may release the selected fasteners 18 a or drop them into a transfer device 58, such as a transfer shuttle 60, positioned below the selected fasteners 18 a. As further shown in FIG. 8 , the selected fasteners 18 a in the transfer device 58 are transported and transferred in a transfer operation 178 from the automated fastener inspection system 48 to the automated fastener installation system 64 for fastener conductivity testing 12, such as in a transfer tube 62 (see FIG. 1 ), e.g., a vacuum tube 62 a (see FIG. 1 ), a pressure tube 62 b (see FIG. 1 ), or another suitable transfer tube or device.

[0120] 8, in this version, after the selected fastener 18a is transferred to the automated fastener installation system 64, the selected fastener 18a undergoes a fastener conductivity test 12 using an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 that are integrated into a gripper finger 51, such as an end effector gripper finger 70, coupled to the end effector 66 and contact a side portion 128a of the fastener head 125 of the selected fastener 18a. Alternatively, as shown in FIG. 12A, the eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84 may be integrated into the end effector center shaft 68 (see also FIG. 8) and contact an upper end portion 126a of the upper end 126 of the fastener head 125.

[0121] In this version, as shown in FIGURE 8, an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 contacts a selected fastener 18a to perform a fastener conductivity test 12 and obtain electrical conductivity measurements 14 for the selected fastener 18a. As further shown in FIGURE 8, the electrical conductivity measurements 14 are transmitted in a transmit operation 172 via a data connection 96 to a processing system 98, where the electrical conductivity measurements 14 are processed. As further shown in FIGURE 8, the processing system 98 includes a computer system 104 having a computer 106 and a computer console 108. Control logic 112 (see FIG. 1 ) implemented by a computer software program 110 (see FIG. 1 ) of processing system 98 compares the electrical conductivity measurements 14 of the selected fasteners 18 a with predetermined electrical conductivity value ranges 114 (see FIG. 1 ) of predetermined fastener materials 115 (see FIG. 1 ) to obtain a fastener material determination 116 (see FIG. 1 ) for the selected fasteners 18 a and accepts or rejects the selected fasteners 18 a based on the fastener material determination 116 .

[0122] The control logic 112 of the processing system 98 transmits automated pass / fail commands 118a (see FIG. 8) to an operator or user via the data connection 96 (see FIG. 8) to accept or reject the selected fastener 18a. As shown in FIG. 8, in the case of pass 174, the selected fastener 18a is accepted, resulting in a fastener accept 120 for the accepted fastener 18b. As shown in FIG. 8, in the case of fail 175, the selected fastener 18a is rejected, resulting in a fastener reject 122 for the rejected fastener 18c. In the case of fail 175, in one version, the rejected fastener 18c is released by the end effector gripper fingers 70 of the automated fastener installation system 64, and the rejected fastener 18c is discarded in a fastener reject bin 124. In another version, the rejected fastener 18c may be discarded in another manner.

[0123] As further shown in FIG. 8 , in the case of pass 174, the accepted fasteners 18b are installed for installation 182 in an installation operation 180 by the automated fastener installation system 64 within a structure 22, such as an aircraft structure 24 (see FIG. 1 ).

[0124] As further shown in FIG. 8, in the event of a pass 174, the automated fastener installation system 64 having the end effector gripper fingers 70 installs the accepted fastener 18b in an installation operation 180 to achieve installation 182 of the accepted fastener 18b on the structure 22, such as the aircraft structure 24 (see FIG. 1).

[0125] 9, which is a front perspective view of an exemplary automated fastener inspection system 48 that may be used in one version of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure. FIG. 9 shows gripper fingers 51, such as inspection gripper fingers 52, holding or gripping fasteners 18, such as aircraft fasteners 20, at side portions 128a of sides 128 of fastener head 125, such as below top ends 126 of fastener head 125. Fasteners 18 may include selected fasteners 18a (see FIG. 6) prior to fastener conductivity testing 12, or fasteners 18 may include accepted fasteners 18b (see FIG. 7) if accepted after fastener conductivity testing 12.

[0126] 9, the automated fastener inspection system 48 has a central shaft 49, such as an inspection center shaft 50, with an end 49a of the central shaft 49 aligned with and in contact with an alignment portion 127 of an upper end 126 of a fastener head 125. When a fastener conductivity test 12 is performed with the automated fastener inspection system 48, each inspection gripper finger 52 may include an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 therein, as shown in FIGS. 4B and 6, or the inspection center shaft 50 may include an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 therein, as shown in FIG. 4A.

[0127] 9 , in one version, automated fastener inspection system 48 has a camera 54 and a laser scanner 55, both of which are configured to perform inspection of fasteners 18, such as aircraft fasteners 20, held and grasped by inspection gripper fingers 52 and aligned with inspection center shaft 50. FIG. 9 further shows a controller 184 configured to control the movement of inspection gripper fingers 52 and inspection center shaft 50.

[0128] 9 is an example of one version of an automated fastener inspection system 48 that may be used in the automated fastener inspection system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure. However, other versions of the automated fastener inspection system having different or additional components may be used to accomplish inspection of the fasteners 18, as long as the automated fastener inspection system has at least two or more inspection gripper fingers 52 and inspection center shaft 50, and the eddy current conductivity probe assembly 82 and eddy current conductivity probe 84 may be integrated into either.

[0129] 10A , which is a top, front perspective view of an exemplary version of a shuttle cup 46, such as a selected shuttle cup 46a, of an automated fastener shuttle assembly 44 (see FIG. 1 ) that may be used in one version of the automated fastener system 10 (see FIG. 1 ) and automated method 250 (see FIG. 14 ) of the present disclosure. As shown in FIG. 10A , the shuttle cup 46, such as the selected shuttle cup 46a, has a first end 185a, a second end 185b, and a shuttle cup body 186 formed between the first end 185a and the second end 185b. As further shown in FIG. 10A , the shuttle cup 46, such as the selected shuttle cup 46a, has an internal through-opening 156 formed through the shuttle cup body 186. In this version, as shown in FIG. 10A, a shuttle cup 46, such as a selected shuttle cup 46a, further includes a countersunk opening 188 configured to support a countersunk fastener head 125a (see FIG. 2A) of a countersunk fastener 18d (see FIG. 2A). The fastener shank 130 (see FIG. 2A) and the rear end 136 (see FIG. 2A) of the countersunk fastener 18d (see FIG. 2A) are configured for insertion through a portion of the internal through-opening 156. The length of the countersunk fastener 18d typically does not extend through the entire length of the internal through-opening 156.

[0130] 10B, which is a top front perspective view of another exemplary version of a shuttle cup 46, such as a selected shuttle cup 46a, of an automated fastener shuttle assembly 44 (see FIG. 1) that may be used in one version of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure. As shown in FIG. 10B, the shuttle cup 46, such as the selected shuttle cup 46a, has a first end 185a, a second end 185b, and a shuttle cup body 186 formed between the first end 185a and the second end 185b. As further shown in FIG. 10B, the shuttle cup 46, such as the selected shuttle cup 46a, has an internal through-opening 156 formed through the shuttle cup body 186. In this version, as shown in FIG. 10B, a shuttle cup 46, such as a selected shuttle cup 46a, further has a counterbore opening portion 190 configured to support a counterbore fastener head 125b (see FIG. 2B) of a counterbore fastener 18e (see FIG. 2B). The fastener shank 130 (see FIG. 2B) and the rear end 136 (see FIG. 2B) of the counterbore fastener 18e (see FIG. 2B) are configured for insertion through a portion of the internal through-opening 156. The length of the counterbore fastener 18e typically does not extend through the entire length of the internal through-opening 156.

[0131] When the fastener conductivity test 12 is performed with an automated fastener shuttle assembly 44, the shuttle cup 46, such as the selected shuttle cup 46a shown in either FIG. 10A or FIG. 10B, may integrate an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 within an interior portion of the shuttle cup 46, such as the selected shuttle cup 46a, as shown in FIGS. 5A and 5B.

[0132] Shuttle cups 46, such as selected shuttle cup 46a shown in Figures 10A-10B, may be made of a metallic material 36 (see Figure 1), such as steel 36d (see Figure 1), stainless steel, aluminum 36b, or another suitable metallic material. Additionally, shuttle cups 46, such as selected shuttle cup 46a shown in Figures 10A-10B, may have grooves (not shown) formed in first end 185a, second end 185b, or shuttle cup body 186 configured to facilitate automated movement of shuttle cup 46, such as selected shuttle cup 46a, along tracks or rails positioned between automated fastener shuttle assembly 44 and automated fastener inspection system 48. Additionally, a shuttle cup 46, such as the selected shuttle cup 46a shown in Figures 10A-10B, may have a drive mechanism, such as a motor, or other mechanical or electrical drive or power element coupled to the shuttle cup 46, such as the selected shuttle cup 46a, configured to facilitate automated movement of the shuttle cup 46, such as the selected shuttle cup 46a, between the automated fastener shuttle assembly 44 and the automated fastener inspection system 48.

[0133] The shuttle cup 46, such as the selected shuttle cup 46a shown in FIGS. 10A-10B, has a cylindrical shape 192 and is sized to hold and support fasteners 18 having different size diameters. However, in other versions, the shuttle cup 46 may be other suitable shapes and sizes. In one version, the shuttle cup 46, such as the selected shuttle cup 46a shown in FIGS. 10A-10B, preferably supports the fasteners 18 within the shuttle cup 46, such as the selected shuttle cup 46a, without mechanical restraints to facilitate movement of the fasteners 18 in and out of the shuttle cup 46. However, in other versions, it may be desirable for the shuttle cup 46, such as the selected shuttle cup 46a, to restrain the fasteners 18 within the shuttle cup 46, and the shuttle cup 46, such as the selected shuttle cup 46a, may include one or more mechanical restraints, such as one or more clamps, clips, catches, or other suitable mechanical restraints, to restrain the fasteners 18 within the shuttle cup 46.

[0134] 11, which is a top front perspective view of an exemplary version of a transport device 58, such as a transport shuttle 60, of an automated transport system 56 (see FIG. 1) that may be used in one version of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure. FIG. 11 shows fasteners 18, such as aircraft fasteners 20, held within a transport device interior 58a of the transport device 58, e.g., a transport shuttle interior 60a of the transport shuttle 60. The fasteners 18 may include selected fasteners 18a (see FIG. 8) prior to the fastener conductivity test 12 (see FIGS. 1, 8), or the fasteners 18 may include accepted fasteners 18b (see FIG. 7) if accepted after the fastener conductivity test 12 (see FIGS. 1, 7).

[0135] FIG. 11 further illustrates a fastener retaining element 194 contacting the fastener head 125 of the fastener 18 to hold the fastener 18 in position within the transport device interior 58a, such as the transport shuttle interior 60a. Alternatively, the fastener shank 130 (see FIGS. 2A-2B) and / or rear end 136 (see FIGS. 2A-2B) of the fastener 18 may be held beyond the fastener head 125 by a fastener retaining element disposed within the transport device interior 58a, such as the transport shuttle interior 60a, instead of or in addition to the fastener head 125. Preferably, the fastener 18 is enclosed within the transport device interior 58a, such as the transport shuttle interior 60a. Preferably, the entire length of the fastener 18 is contained within the transport device interior 58a, such as the transport shuttle interior 60a.

[0136] The fastener retaining elements 194 may include clamps, clips, catches, spring-loaded mechanisms, or other suitable fastener retaining elements that hold or secure the fasteners 18 within a transport device interior 58a, such as a transport shuttle interior 60a, during transport and transfer of the fasteners 18 within a transport device 58, such as a transport shuttle 60, via a transfer tube 62 (see FIG. 1), such as a vacuum tube 62a (see FIG. 1) or a pressure tube 62b (see FIG. 1), disposed between the automated fastener inspection system 48 and the automated fastener installation system 64. The transport device 58, such as a transport shuttle 60, transports and transfers the fasteners 18 away from the automated fastener inspection system 48 to the automated fastener installation system 64 for installation on a structure 22 (see FIGS. 1, 15), such as an aircraft structure 24 (see FIGS. 1, 15).

[0137] The transfer device 58, such as the transfer shuttle 60 shown in Figure 11, has a substantially cylindrical shape 192a and is sized and shaped to easily and efficiently pass through a transfer tube 62 (see Figure 1), such as a vacuum tube 62a (see Figure 1) or a pressure tube 62b (see Figure 1). The transfer device 58, such as the transfer shuttle 60 shown in Figure 11, may be made of a metallic material 36 (see Figure 1), such as steel 36d (see Figure 1), stainless steel, aluminum 36b, or another suitable metallic material.

[0138] The transport device 58, such as the transport shuttle 60 shown in FIG. 11, is an example of one version that may be used in the automated transport system 56 (see FIG. 1) of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure. However, other versions of the transport device 58, such as the transport shuttle 60, having different or additional parts to accomplish holding and transporting the fasteners 18 may be used.

[0139] 12A, which is a side perspective view of a version of an automated fastener installation system 64 (see also FIGS. 1, 6-8) that may be used in a version of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure, showing a version of the automated fastener installation system 64 in the form of a robotic system 72 having an end effector 66 coupled to a central shaft 49, such as an end effector central shaft 68. As shown in FIG. 12A, the end effector central shaft 68 has an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 integrated therein and in contact with an upper end portion 126a of an upper end 126 of a fastener head 125 of a fastener 18, such as a selected fastener 18a, e.g., an aircraft fastener 20, such as a selected aircraft fastener 20a. The fastener 18 may also include another suitable fastener.

[0140] In this version using the robotic system 72, after the selected fastener 18a is transferred to the automated fastener installation system 64, the selected fastener 18a undergoes fastener conductivity testing 12 (see FIG. 1) using an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 integrated into a central shaft 49, such as the end effector central shaft 68. Alternatively, as shown in FIGS. 8 and 12B, the eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84 may be integrated into the end effector gripper fingers 70 that are coupled to the end effector 66 and contact the side portions 128a of the fastener head 125 of the selected fastener 18a.

[0141] 12A, the robotic system 72 includes an end effector 66 attached to a robot 74. As further shown in FIG. 12A, in one version, the robot 74 includes a robot arm 195 connected to an elbow joint 196, the elbow joint 196 connected to a shoulder 198, and the shoulder 198 connected to a base assembly 200.

[0142] 12A, the automated eddy current conductivity probe system 80, which is coupled to the end effector 66 and the robotic system 72, is coupled to a processing system 98 via a data connection 96, which may include a wired data connection 96a (see FIG. 1) or a wireless data connection 96b (see FIG. 1). As shown in FIG. 12A, the processing system 98 comprises at least a control system 100, one or more power sources 102, and a computer system 104 having a computer 106.

[0143] In this version, as shown in FIG. 12A, an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 contacts a selected fastener 18a to perform a fastener conductivity test 12 and obtain an electrical conductivity measurement 14 (see FIG. 1) for the selected fastener 18a. The electrical conductivity measurement 14 is transmitted via a data connection 96 to a processing system 98, which processes the electrical conductivity measurement 14. Control logic 112 (see FIG. 1), implemented by a computer software program 110 (see FIG. 1) in the processing system 98, compares the electrical conductivity measurement 14 of the selected fastener 18a with a predetermined electrical conductivity value range 114 (see FIG. 1) for a predetermined fastener material 115 (see FIG. 1), obtains a fastener material determination 116 (see FIG. 1) for the selected fastener 18a, and accepts or rejects the selected fastener 18a based on the fastener material determination 116.

[0144] 12B, which is a side perspective view of another version of an automated fastener installation system 64 that may be used in one version of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure, showing one version of the automated fastener installation system 64 in the form of a gantry system 76 having a gantry 78 and an end effector 66 coupled to the gantry 78. As shown in FIG. 12B, the end effector 66 is also coupled to gripper fingers 51, such as end effector gripper fingers 70. Each end effector gripper finger 70 has an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 integrated therein and contacting a side portion 128a of a side surface 128 of a fastener head 125 of a fastener 18, such as a selected fastener 18a, e.g., an aircraft fastener 20, such as a selected aircraft fastener 20a. The fastener 18 may also include another suitable fastener.

[0145] 12B and as shown in and described above with respect to FIG. 8, in this version, after the selected fastener 18a is transferred to the automated fastener installation system 64, the selected fastener 18a is subjected to a fastener conductivity test 12 (see FIG. 1) having an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 integrated into the end effector gripper fingers 70 (see also FIG. 12A) coupled to the end effector 66 and contacting a side portion 128a of the fastener head 125 of the selected fastener 18a. Alternatively, as shown in FIG. 12A, the eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84 may be integrated into a central shaft 49, such as the end effector central shaft 68, coupled to the end effector 66, and contacting an upper end portion 126a of the fastener head 125 of the selected fastener 18a.

[0146] As further shown in Figure 12B, the gantry 78 comprises a horizontal beam 202 spanning between two support legs 204. As shown in Figure 12B, the gantry system 76 further comprises an arm portion 206 attached at one end to the end effector 66 and at the other end to the support leg 204. The gantry system 76 may further comprise one or more other components known to those skilled in the art, including, but not limited to, a trolley, a crane, one or more carriages, a controller, and other suitable components.

[0147] 12B, the automated eddy current conductivity probe system 80, which is coupled to the end effector 66 and the gantry system 76, is coupled to a processing system 98 via a data connection 96, which may include a wired data connection 96a (see FIG. 1) or a wireless data connection 96b (see FIG. 1). As shown in FIG. 12B, the processing system 98 comprises at least a control system 100, one or more power sources 102, and a computer system 104 having a computer 106.

[0148] In this version, as shown in FIG. 12B, an eddy current conductivity probe assembly 82 having an eddy current conductivity probe 84 contacts a selected fastener 18a to perform a fastener conductivity test 12 and obtain an electrical conductivity measurement 14 (see FIG. 1) for the selected fastener 18a. The electrical conductivity measurement 14 is transmitted via a data connection 96 to a processing system 98, which processes the electrical conductivity measurement 14. Control logic 112 (see FIG. 1) implemented by a computer software program 110 (see FIG. 1) in the processing system 98 compares the electrical conductivity measurement 14 of the selected fastener 18a with a predetermined electrical conductivity value range 114 (see FIG. 1) for a predetermined fastener material 115 (see FIG. 1) to obtain a fastener material determination 116 (see FIG. 1) for the selected fastener 18a and accepts or rejects the selected fastener 18a based on the fastener material determination 116.

[0149] Referring now to Figure 13, Figure 13 is a block diagram of an exemplary version of a computer system 104 that may be used with versions of the automated fastener system 10 (see Figure 1) and automated method 250 (see Figure 14) of the present disclosure. As shown in Figure 13, the computer system 104 comprises one or more computers 106 having one or more processor devices 208 and an operating system 210. The computer system 104 (see Figure 13) may be used to implement one or more computers 106 (see Figure 13).

[0150] One or more computers 106 (see FIG. 13 ) or one or more processor devices 208 (see FIG. 13 ) may be configured to control one or more functions of one or more elements of the automated fastener system 10 (see FIG. 1 ) via computer program instructions, such as a computer program product 212 (see FIG. 13 ) stored in a computer memory 214 (see FIG. 13 ) accessible to the one or more computers 106 (see FIG. 13 ) or one or more processor devices 208 (see FIG. 13 ).

[0151] 13, computer system 104 may further include one or more computer communication devices 216, such as network communication device 218, for coupling automated fastener system 10 (see FIG. 1), for example, to one or more separate systems. Network communication device 218 (see FIG. 13) may include network links between various computers and devices that are connected to each other in a network data processing system, to a network, a server, the Internet, or another system or device via wired connections, wireless communication links, fiber optic cables, or other suitable network connections.

[0152] One or more computer communication devices 216 (see FIG. 13) may be configured to provide communications according to any of several wired or wireless communication standards. One or more computers 106 (see FIG. 13) or one or more processor devices 208 (see FIG. 13) may also be configured to facilitate communications via one or more computer communication devices 216 (see FIG. 13), for example, by controlling hardware included within one or more computer communication devices 216 (see FIG. 13). One or more computer communication devices 216 (see FIG. 13) may include one or more antennas, transmitters, receivers, transceivers, and / or supporting hardware, including, for example, a processor, for enabling communications.

[0153] 13, the computer system 104 further comprises a storage device 220, such as a computer memory 214 and a persistent storage device 222. The computer memory 214 (see FIG. 13) may include one or more of random access memory (RAM), including dynamic and / or static RAM, on-chip or off-chip cache memory, or other suitable computer memory. The persistent storage device 222 (see FIG. 13) may include one or more of flash memory, hard drives, read-only memory (ROM), hard disks, floppy disk drives, and magnetic storage devices such as rewritable magnetic tape, rewritable optical disk drives and / or media, nonvolatile random access memory (NVRAM), or other suitable persistent storage devices.

[0154] As shown in Figure 13, the computer system 104 further includes one or more input / output units 224, a display 226, a data bus 228, and a power supply 102. The one or more input / output units 224 (see Figure 13) provide for input and output of data to and from other devices connected to the computer system 104 (see Figure 13), such as a computer interface. The one or more input / output units 224 (see Figure 13) may include devices such as a keyboard, a mouse, a joystick, or other input / output devices. For example, the one or more input / output units 224 (see Figure 13) may provide connections for user input via a keyboard and mouse, and may send output to a printer or other device.

[0155] Display 226 (see FIG. 13) provides a means for displaying electrical conductivity measurements 14 (see FIG. 1) of fasteners 18 (see FIG. 1), such as selected fastener 18a (see FIG. 1), or other data or information to an operator, user, analyst, one or more separate automated systems, automated computer programs, automated apparatus, or devices, or another suitable separate system, program, or device. As shown in FIG. 13, data bus 228 provides communication between one or more computers 106, computer memory 214, persistent storage 222, computer communication device 216, one or more input / output units 224, and display 226. Power supply 102 (see FIG. 13) of computer system 104 (see FIG. 13) may include a battery, electricity, a solar charger, or other power source.

[0156] As shown in Figure 13, a computer program product 212 is preferably used in computer system 104. Computer program product 212 (see Figure 13) includes a computer software program 110 (see Figure 13) having control logic 112 (see Figure 13). Control logic 112 may include an algorithm, program code, computer firmware, or another suitable system logic. As shown in Figure 13, computer program product 212 may include computer-readable medium 230. Computer-readable medium 230 (see Figure 13) may include a computer-readable storage medium 232 (see Figure 13), a computer-readable signal medium 234 (see Figure 13), or another suitable computer-readable medium.

[0157] The control logic 112 (see FIG. 13) may be stored in, retrieved from, and loaded into one or more computers 106 (see FIG. 13), one or more processor devices 208, or other programmable devices to perform operations performed on or by the one or more computers 106, one or more processor devices 208, or other programmable devices, and to configure and direct the one or more computers 106, one or more processor devices 208, or other programmable devices to function in a particular manner. Execution of the control logic 112 (see FIG. 13) implemented by a computer software program 110 may produce a computer-implemented system, process, or method whereby the control logic 112 executed by one or more computers 106 (see FIG. 13), one or more processor devices 208 (see FIG. 13), or other programmable devices provides operations to implement the functions disclosed herein.

[0158] Referring now to FIG. 14 , FIG. 14 is a flow diagram of an exemplary version of an automated method 250 of the present disclosure. In another version of the present disclosure, an automated method 250 is provided for performing a fastener conductivity test 12 (see FIG. 1 ) on an automated fastener system 10 (see FIG. 1 ). The blocks in FIG. 14 represent operations and / or portions thereof, or elements, and the lines connecting the various blocks do not imply a particular order or dependency of the operations or portions thereof, or elements. The disclosure of the steps of the automated method 250 in FIG. 14 and herein should not be construed as necessarily dictating the sequence in which the steps are performed. Rather, while one exemplary order is shown, it should be understood that the order of the steps may be changed as appropriate. Thus, certain operations may be performed in different orders or simultaneously.

[0159] 14, the automated method 250 includes step 252 of providing an automated fastener system 10. As described in detail above, the automated fastener system 10 includes an automated fastener holder assembly 40 (see FIG. 1) that holds and dispenses one or more fasteners 18 (see FIG. 1), such as one or more aircraft fasteners 20 (see FIG. 1).

[0160] The automated fastener system 10 further includes an automated fastener shuttle assembly 44 (see FIG. 1) having one or more shuttle cups 46 (see FIGS. 1, 10A-10B). A selected shuttle cup 46a (see FIGS. 1, 6) of the one or more shuttle cups 46 is configured to receive a selected fastener 18a (see FIGS. 1, 6) of one or more fasteners 18, such as a selected aircraft fastener 20a (see FIG. 1) of one or more aircraft fasteners 20, from the automated fastener holder assembly 40, and the selected shuttle cup 46a transports the selected fastener 18a, such as the selected aircraft fastener 20a within the selected shuttle cup 46a.

[0161] The automated fastener system 10 further includes an automated fastener inspection system 48 (see FIGS. 1, 9) having an inspection center shaft 50 (see FIGS. 1, 9) and two or more inspection gripper fingers 52 (see FIGS. 1, 9) configured to pick up, grasp, inspect, and release a selected fastener 18a, such as a selected aircraft fastener 20a.

[0162] The automated fastener system 10 further includes an automated transport system 56 (see FIG. 1 ) having a transport device 58 (see FIGS. 1 , 11 ), such as a transport shuttle 60 (see FIG. 11 ), configured to transport selected fasteners 18 a, such as selected aircraft fasteners 20 a, away from the automated fastener inspection system 48.

[0163] The automated fastener system 10 further includes an automated fastener installation system 64 (see FIGS. 1, 12A-12B) having an end effector 66 (see FIGS. 1, 12A-12B) with an end effector central shaft 68 (see FIGS. 1, 12A), and two or more end effector gripper fingers 70 (see FIGS. 1, 12B) configured to pick up selected fasteners 18 a, such as selected aircraft fasteners 20 a, from a transport device 58 transported by the automated transport system 56 and install the selected fasteners 18 a, such as selected aircraft fasteners 20 a, on a structure 22 (see FIGS. 1, 15), such as an aircraft structure 24 (see FIGS. 1, 15).

[0164] The automated fastener system 10 further includes an automated eddy current conductivity probe system 80 (see FIG. 1) comprising an eddy current conductivity probe assembly 82 (see FIGS. 1, 3A-5B) integrated into one of the one or more shuttle cups 46 (see FIGS. 1, 5A-5B), the inspection center shaft 50 (see FIG. 1, 4A), the two or more inspection gripper fingers 52 (see FIG. 1, 4B), the end effector center shaft 68 (see FIG. 1, 12A), or the two or more end effector gripper fingers 70 (see FIG. 1, 12B).

[0165] The automated fastener system 10 further includes a processing system 98 (see FIGS. 1, 4A-5B) that includes a computer system 104 (see FIGS. 1, 6-8, 13) that includes a computer 106 (see FIGS. 1, 6-8, 13) that has a computer console 108 (see FIGS. 1, 6-8, 13), and a computer software program 110 (see FIGS. 1, 13) that implements control logic 112 (see FIGS. 1, 13).

[0166] Step 252 of providing an automated fastening system 10 may further include providing an automated fastening system 10 (see FIG. 1), wherein the automated eddy current conductivity probe system 80 (see FIG. 1) comprises an eddy current conductivity probe assembly 82 (see FIG. 1) comprising one or more eddy current conductivity probes 84 (see FIG. 1) having one or more coils 86 (see FIGS. 1, 3A-5B) coupled to electrical wiring 88 (see FIGS. 1, 3B). The eddy current conductivity probe assembly 82 (see FIG. 1) further comprises a sensor 90 (see FIGS. 1, 3A-3D, 5A-5B) in a control box 92 (see FIGS. 1, 3A-3D, 5A-5B). The sensor 90 is preferably coupled to the one or more eddy current conductivity probes 84 via electrical wiring 88.

[0167] The automated eddy current conductivity probe system 80 (see FIG. 1) further includes a data connection 96 (see FIG. 1) for transmitting the electrical conductivity measurements 14 (see FIG. 1) to a computer 106 (see FIGS. 1, 6-8, and 13). The data connection 96 includes a wired data connection 96a (see FIG. 1) or a wireless data connection 96b (see FIG. 1).

[0168] Step 252 of providing the automated fastener system 10 may further include providing the automated fastener system 10 (see FIG. 1) with an automated fastener application system 64 (see FIGS. 1, 12A-12B) further including an end effector 66 (see FIGS. 1, 12A-12B) coupled to one of a robot system 72 (see FIG. 12A) having a robot 74 (see FIG. 12A) or a gantry system 76 (see FIG. 12B) having a gantry 78 (see FIG. 12B).

[0169] As shown in FIG. 14 , the automated method 250 further includes a step 254 of performing a fastener conductivity test 12 on a selected fastener 18a, such as the selected aircraft fastener 20a, by contacting the selected fastener 18a, such as the selected aircraft fastener 20a, with an eddy current conductivity probe assembly 82 integrated into one of one or more shuttle cups 46 (see FIGS. 5A-5B, 10A-10B), an inspection center shaft 50 (see FIGS. 1, 4A), two or more inspection gripper fingers 52 (see FIGS. 1, 4B), an end effector center shaft 68 (see FIGS. 1, 12A), or two or more end effector gripper fingers 70 (see FIGS. 1, 12B) to obtain an electrical conductivity measurement value 14 (see FIG. 1) of the selected fastener 18a, such as the selected aircraft fastener 20a.

[0170] Performing 254 the fastener conductivity test 12 on the selected fasteners 18a, such as the selected aircraft fasteners 20a, may further include performing the fastener conductivity test 12 on the selected fasteners 18a, such as the selected aircraft fasteners 20a, wherein an eddy current conductivity probe assembly 82 integrated into one or more shuttle cups 46 includes one or more eddy current conductivity probes 84. Each of the one or more eddy current conductivity probes 84 has one or more coils 86 (see FIGS. 1, 5A-5B) coupled to electrical wiring 88 (see FIGS. 1, 5A). The one or more eddy current conductivity probes 84 are configured to contact one of one or more side portions 128a (see FIG. 5A) of a fastener head 125 (see FIG. 5A) of a selected fastener 18a (see FIG. 5A), such as selected aircraft fastener 20a, within a selected shuttle cup 46a (see FIG. 5A) of one or more shuttle cups 46 (see FIG. 1, FIG. 5A), or one or more shank side portions 131a (see FIG. 5B) of a fastener shank 130 (see FIG. 5B) of a selected fastener 18a (see FIG. 5B), such as selected aircraft fastener 20a (see FIG. 5B), within the selected shuttle cup 46a (see FIG. 5B).

[0171] The eddy current conductivity probe assembly 82 may further include an actuator 94 (see FIGS. 5A-5B) coupled to each of the one or more eddy current conductivity probes 84 for moving the one or more eddy current conductivity probes 84 relative to a selected fastener 18 a, such as a selected aircraft fastener 20 a, to contact the selected fastener 18 a, such as a selected aircraft fastener 20 a, as needed to perform the fastener conductivity test 12. The eddy current conductivity probe assembly 82 further includes a sensor 90 (see FIGS. 5A-5B) within a control box 92 (see FIGS. 5A-5B). The sensor 90 is coupled to the one or more eddy current conductivity probes 84 via electrical wiring 88.

[0172] Step 254 of performing a fastener conductivity test 12 on a selected fastener 18a, such as the selected aircraft fastener 20a, may further include performing a fastener conductivity test 12 on the selected fastener 18a, such as the selected aircraft fastener 20a, in which an eddy current conductivity probe assembly 82 integrated into either the two or more inspection gripper fingers 52 (see FIG. 4B) or the two or more end effector gripper fingers 70 (see FIG. 12B) includes an eddy current conductivity probe 84 on each inspection gripper finger 52 or each end effector gripper finger 70. Each eddy current conductivity probe 84 has one or more coils 86 (see FIGS. 4B, 12B) coupled to electrical wiring 88 (see FIG. 4B). The eddy current conductivity probe 84 is configured to contact one or more side portions 128a (see FIG. 4B) of the fastener head 125 (see FIG. 4B) of the selected fastener 18a, such as the selected aircraft fastener 20a. The eddy current conductivity probe assembly 82 further includes a sensor 90 (see FIG. 1) within a control box 92 (see FIG. 1). The sensor 90 is coupled to one or more eddy current conductivity probes 84 via electrical wiring 88.

[0173] Step 254 of performing a fastener conductivity test 12 on a selected fastener 18a, such as the selected aircraft fastener 20a, may further include performing a fastener conductivity test 12 on the selected fastener 18a, such as the selected aircraft fastener 20a, in which an eddy current conductivity probe assembly 82 integrated into either the inspection center shaft 50 (see FIGS. 1 and 4A) or the end effector center shaft 68 (see FIGS. 1 and 12A) includes an eddy current conductivity probe 84 having one or more coils 86 (see FIGS. 4A and 12A) coupled to electrical wiring 88 (see FIG. 4A). The eddy current conductivity probe 84 is configured to contact one or more upper end portions 126a (see FIGS. 4A and 12A) of the fastener head 125 (see FIG. 4A) of the selected fastener 18a (see FIG. 4A), such as the selected aircraft fastener 20a. The eddy current conductivity probe assembly 82 further includes a sensor 90 (see FIG. 1) within a control box 92 (see FIG. 1). The sensor 90 is coupled to one or more eddy current conductivity probes 84 via electrical wiring 88 .

[0174] 14, the automated method 250 further includes a step 256 of using the control logic 112 (see FIGS. 1, 13) of the processing system 98 (see FIG. 1) to compare the electrical conductivity measurements 14 (see FIG. 1) of the selected fasteners 18a, such as the selected aircraft fasteners 20a, with a predetermined electrical conductivity value range 114 (see FIG. 1) of the predetermined fastener material 115 (see FIG. 1) to obtain a fastener material determination 116 (see FIG. 1) for the selected fasteners 18a, such as the selected aircraft fasteners 20a. As shown in FIG. 1, the control logic 112 implemented by the computer software program 110 uses the electrical conductivity measurements 14 of the selected fasteners 20a, such as the selected aircraft fasteners 18a, to compare the electrical conductivity measurements 14 with the predetermined electrical conductivity value range 114 of the predetermined fastener material 115 to obtain a fastener material determination 116 for the selected fasteners 18a, such as the selected aircraft fasteners 20a. The control logic 112 compares the electrical conductivity measurement 14 to a predetermined electrical conductivity value range 114 for a given fastener material 115 to obtain a fastener material determination 116 based on the difference in value between the actual measured electrical conductivity measurement 14 and the predetermined electrical conductivity value range 114.

[0175] 14, the automated method 250 further includes a step 258 of accepting or rejecting the selected fastener 18a, such as the selected aircraft fastener 20a, based on the fastener material determination 116. Based on the pass or fail fastener material determination 116, an automated command 118 (see FIG. 1) is sent, where if it is pass, the selected fastener 18a, such as the selected aircraft fastener 20a, is accepted to obtain a fastener acceptance 120 of the accepted fastener 18b, or if it is fail, the selected fastener 18a, such as the selected aircraft fastener 20a, is rejected to obtain a fastener rejection 122 of the rejected fastener 18c.

[0176] 15, which is a perspective view of a vehicle 280, such as an aircraft 280a, incorporating one or more structures 22, such as one or more aircraft structures 24, having fasteners 18 (see FIGS. 1, 2A-2B), such as aircraft fasteners 20 (see FIG. 1), of a type that can be subjected to fastener conductivity testing 12 with a version of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) of the present disclosure, for example, prior to installation and assembly. As shown in FIG. 15, the vehicle 280, such as the aircraft 280a, includes a fuselage 282, wings 284, an engine 286, and a tail section 288. As shown in FIG. 15, the tail section 288 includes a vertical stabilizer 290 and a horizontal stabilizer 292. The one or more structures 22, such as the one or more aircraft structures 24, may comprise wing panels or other panels of a composite structure, such as a carbon fiber reinforced plastic (CFRP) structure or another type of composite structure, may comprise a metal structure, such as an aluminum, steel, or another type of metal structure, or may comprise a combination of a composite structure and a metal structure.

[0177] 15 generally represents a commercial passenger aircraft having one or more aircraft structures 24, the teachings of the disclosed versions of the automated fastening system 10 and automated method 250 may be applied to fasteners 18, such as aircraft fasteners 20, joining structures 22 for other passenger aircraft. Additionally, the teachings of the disclosed versions of the automated fastening system 10 and automated method 250 may be applied to fasteners 18 joining structures 22 for cargo aircraft, military aircraft, rotorcraft, and other types of aircraft or air vehicles, as well as aerospace vehicles, spacecraft, satellites, space launch vehicles, rockets, and other aerospace vehicles. Additionally, the teachings of the disclosed versions of the automated fastening system 10 and automated method 250 may be applied to fasteners 18 joining structures 22 for watercraft, automobiles, trains, building structures, or other suitable vehicles or structures.

[0178] 16 and 17, FIG. 16 is a flow diagram of an exemplary aircraft manufacturing and service method 300, and FIG. 17 is an exemplary block diagram of an aircraft 316. With reference to FIG. 16 and 17, versions of the present disclosure may be described in terms of aircraft manufacturing and service method 300 as shown in FIG. 16 and aircraft 316 as shown in FIG. 17.

[0179] During pre-production, the exemplary aircraft manufacturing and service method 300 may include specification and design 302 and material procurement 304 of the aircraft 316. During production, component and subassembly manufacturing 306 and system integration 308 of the aircraft 316 occur. The aircraft 316 may then undergo certification and delivery 310 for in-service 312. While in customer service 312, routine maintenance and service 314 (which may include modification, reconfiguration, refurbishment, and other appropriate service) may be scheduled for the aircraft 316.

[0180] Each process of aircraft manufacturing and service method 300 may be performed or implemented by a system integrator, a third party, and / or an operator (e.g., a customer). For purposes of this description, a system integrator may include, but is not limited to, any number of aircraft manufacturers and major system subcontractors. A third party may include, but is not limited to, any number of distributors, subcontractors, and suppliers. An operator may include an airline, a leasing company, a military entity, a service organization, and other suitable operators.

[0181] 17 , an aircraft 316 produced by exemplary aircraft manufacturing and service method 300 may include an airframe 318 having multiple systems 320 and an interior 322. Examples of multiple systems 320 may include one or more of a propulsion system 324, an electrical system 326, a hydraulic system 328, and an environmental system 330. Any number of other systems may be included. While an aerospace example is shown, the principles of the present disclosure may be applied to other industries, such as automotive.

[0182] Methods and systems implemented herein may be utilized during any one or more stages of aircraft manufacturing and service method 300. For example, components or subassemblies corresponding to component and subassembly manufacturing 306 may be fabricated or manufactured in a manner similar to components or subassemblies manufactured while aircraft 316 is in service 312. One or more apparatus embodiments, method embodiments, or a combination thereof may also be utilized during component and subassembly manufacturing 306 and system integration 308, for example, by substantially streamlining the assembly of aircraft 316 or lowering the cost of aircraft 316. Similarly, one or more apparatus embodiments, method embodiments, or a combination thereof may be utilized while aircraft 316 is in service 312, for example, without limitation, for maintenance and service 314.

[0183] The disclosed version of the automated fastener system 10 (see FIG. 1 ) and automated method 250 (see FIG. 14 ) provides fastener conductivity testing 12 (see FIG. 1 ) of fasteners 18 (see FIG. 1 ), such as aircraft fasteners 20 (see FIG. 1 ), in an automated fastener system 10 configuration to detect different base fastener materials 34 of the fasteners 18 to prevent incorrect fasteners 18 from being installed in the automated fastener system 10.

[0184] The automated fastener system 10 and automated method 250 use an automated eddy current conductivity probe system 80 (see FIG. 1) that includes an eddy current conductivity probe assembly 82 (see FIG. 1) and an eddy current conductivity probe 84 (see FIG. 1) integrated into one of one or more shuttle cups 46 (see FIGS. 5A-5B), an inspection center shaft 50 (see FIG. 4A), two or more inspection gripper fingers 52 (see FIG. 4B), an end effector center shaft 68 (see FIG. 12A), or two or more end effector gripper fingers 70 (see FIG. 12B). The eddy current conductivity probe assembly 82 and the eddy current conductivity probe 84 contact selected fasteners 18a to perform fastener conductivity tests 12 and obtain electrical conductivity measurements 14 (see FIG. 1) of the selected fasteners 18a. The automated fastener system 10 and automated method 250 with fastener conductivity testing 12 ensures that the correct fasteners 18 of the correct base fastener material 34 (see FIG. 1) are installed on a structure 22 (see FIGS. 1, 15), such as an aircraft structure 24 (see FIGS. 1, 15). The improved automated fastener system 10 and automated method 250 with fastener conductivity testing 12 of the fasteners 18 integrates an eddy current conductivity probe assembly 82 and an eddy current conductivity probe 84 at one or more points within the automated fastener system 10 to measure electrical conductivity 16 (see FIG. 1), and uses a processing system 98 (see FIG. 1) in conjunction with control logic 112 (see FIG. 1) to compare the electrical conductivity measurements 14 (see FIG. 1) with predetermined electrical conductivity value ranges 114 (see FIG. 1) to obtain a fastener material determination 116 (see FIG. 1) of the base fastener material 34 of the fasteners 18. Control logic 112 implemented by computer software program 110 identifies whether electrical conductivity measurements 14 are within the correct predetermined electrical conductivity value range 114 for the correct base fastener material 34. The automated fastener system 10 and automated method 250 are reliable and do not damage fasteners 18 during fastener conductivity testing 12.

[0185] Additionally, the disclosed versions of the automated fastener system 10 (see FIG. 1) and automated method 250 (see FIG. 14) may be used with a robot system 72 (see FIG. 12A) including a robot 74 (see FIG. 12A) or with a gantry system 76 (see FIG. 12B) including a gantry 78 (see FIG. 12B). The automated fastener system 10 automatically performs a fastener conductivity test 12 on the fastener 18 to identify the type of base fastener material 34, such as a metal material 36 (see FIG. 1) or a metal alloy material 38 (see FIG. 1), from which the fastener 18 is made. The automated fastener system 10 and automated method 250 then accept or reject the fastener 18 based on whether the fastener 18 is made from the correct base fastener material 34. If the fastener 18 is of the correct base fastener material 34, the fastener 18 continues the process for installation on a structure 22 (see FIG. 1), such as an aircraft structure 24 (see FIG. 1). If a fastener 18 is determined to be of the incorrect base fastener material 34, the fastener 18 is rejected and disposed of in a fastener reject bin 124 (see FIGS. 6-8 ), and a machine operator or user may be automatically notified of a fastener reject 122 (see FIGS. 6-8 ) for the rejected fastener 18c. The automated fastener system 10 continues the flow process 165 by pulling a second fastener 18 and performing its inspection as normal. If multiple fastener rejects 122 (see FIGS. 6-8 ) occur, the lot of fasteners 18 may be suspect and may need to be investigated. The automated fastener system 10 notifies the machine operator or user of the multiple fastener rejects 122, and the process flow 165 may stop to investigate the rejected fastener 18c.

[0186] Many modifications and other versions of the present disclosure will occur to those skilled in the art having the benefit of the teachings presented in the foregoing description and the associated drawings. The versions set forth herein are for illustrative purposes only and are not intended to be limiting or exhaustive. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. Functionally equivalent methods and apparatuses within the scope of the present disclosure, in addition to those enumerated herein, are possible from the foregoing description. Such modifications and variations are intended to fall within the scope of the appended claims. The present disclosure is to be limited only by the terms of the appended claims, along with the full range of equivalents to which such claims are entitled. [Explanation of symbols]

[0187] 10 Automated Fastener System, 12 Fastener Conductivity Testing, 12a Fastener Electrical Conductivity Testing Capability, 14 Electrical Conductivity Measurements, 16 Electrical Conductivity, 18 Fasteners, 18a Selected Fasteners, 18b Accepted Fasteners, 18c Rejected Fasteners, 20 Aircraft Fasteners, 20a Selected Aircraft Fasteners, 20b Accepted Aircraft Fasteners, 20c Rejected Aircraft Fasteners, 22 Structure, 24 Aircraft Structure, 25a Countersunk Head Bolts, 25b Counterbore Bolts, 25 Bolts, 26 Rivets, 28 Screws, 30 Pins, 32 Bushings, 34 Base Fastener Materials, 36 Metal Materials, 36a Titanium, 36b Aluminum, 36c Nickel, 36d Steel, 36e Copper, 36f Silver, 36g Zinc, 38 Metal Alloy Materials, 38a Nickel-Chromium Alloys, 38b Brass, 38c Bronze, 38d Titanium alloy, 38e Aluminum alloy, 38f Nickel alloy, 38g Steel alloy, 38h Copper alloy, 38i Silver alloy, 38j Zinc alloy, 40 Automated fastener holder assembly, 42 Fastener holder, 44 Automated fastener shuttle assembly, 46 Shuttle cup, 46a Selected shuttle cup, 48 Automated fastener inspection system, 49 Center shaft, 49a End, 50 Inspection center shaft, 52 Inspection gripper finger, 54 Camera, 55 Laser scanner, 56 Automated transfer system, 58 Transfer device, 60 Transfer shuttle, 62 Transfer tube, 62a Vacuum tube, 62b Pressure tube, 64 Automated fastener installation system, 66 End effector, 68 End effector center shaft, 70 End effector gripper finger, 72 Robot system, 74 Robot, 76 Gantry system, 78 Gantry, 80 Automated eddy current conductivity probe system, 82 Eddy current conductivity probe assembly, 84 Eddy current conductivity probe, 86 Coil, 86a Internal coil, 86b External coil, 88 Electrical wiring, 90 Sensor, 92 Control box, 94 Actuator, 96 Data connection, 96a Wired data connection, 96b Wireless data connection, 98 Processing system, 100 Control system, 102 Power supply, 104 Computer system, 106 Computer, 108 Computer console, 110computer software program, 112; control logic, 114; electrical conductivity value range, 115; predetermined fastener material, 116; fastener material determination, 118; automated command, 120; fastener acceptance, 122; fastener rejection, 124; fastener rejection receptacle, 125; fastener head, 126a; upper end portion, 127; alignment portion, 128a; side portion, 129; lower end, 130; fastener shank, 131a; shank side portion, 132; first end, 134; second end, 135; shank body, 136; rear end, 136a; rear end portion, 140; second end, 142; thread body, 144; thread, 145; pintail, 146; probe body, 148; contact tip, 150; contact surface, 152; probe contact tip, 154; interior, 156 Internal through opening, 166, fastener release action, 168, fastener transfer, 170, pick-up action, 172, send action, 174, pass, 175, fail, 176, transfer action, 178, convey action, 180, attach action, 182, attach, 184, controller, 185a, first end, 185b, second end, 186, shuttle cup body, 190, counterbore opening portion, 192, cylindrical shape, 194, fastener retaining element, 195, robotic arm, 196, elbow joint, 198, shoulder, 200, base assembly, 208, processor device, 210, operating system, 212, computer program product, 214, computer memory, 216, computer communication device, 218, network communication device, 220, storage device, 222, persistent storage device, 224, input / output unit, 226, display, 228, data bus, 230 Computer-readable media, 232 Computer-readable storage media, 234 Computer-readable signal media, 300 Aircraft manufacturing and maintenance methods, 302 Specifications and design, 304 Materials procurement, 306 Component and subassembly manufacturing, 308 System integration, 310 Certification and delivery, 312 In-service, 314 Maintenance and overhaul, 318 Airframe, 320 Systems, 322 Interior, 324 Propulsion systems, 326 Electrical systems, 328 Hydraulic systems, 330 Environmental systems

Claims

1. An automated fastener system (10) having a fastener conductivity test (12), the automated fastener system (10) comprising: an automated fastener holder assembly (40) that holds and dispenses one or more fasteners (18); an automated fastener shuttle assembly (44) having one or more shuttle cups (46), wherein a selected shuttle cup (46a) receives a selected fastener (18a) from the automated fastener holder assembly (40) and transports the selected fastener (18a) within the selected shuttle cup (46a); an automated fastener inspection system (48) having an inspection center shaft (50) and two or more inspection gripper fingers (52) configured to pick up, inspect, and release the selected fastener (18a); an automated transport system (56) having a transport device (58) configured to transport the selected fasteners (18a); an automated fastener application system (64) including an end effector (66) having an end effector central shaft (68) and two or more end effector gripper fingers (70) configured to pick up the selected fastener (18a) from the transport device (58) transported by the automated transport system (56) and to apply the selected fastener (18a) to a structure (22); an automated eddy current conductivity probe system (80) comprising an eddy current conductivity probe assembly (82) integrated into one of the one or more shuttle cups (46), the inspection center shaft (50), the two or more inspection gripper fingers (52), the end effector center shaft (68), or the two or more end effector gripper fingers (70), wherein the eddy current conductivity probe assembly (82) contacts the selected fasteners (18 a) to perform the fastener conductivity test (12) and obtain electrical conductivity measurements (14) of the selected fasteners (18 a); a processing system (98) for processing the electrical conductivity measurements (14) of the selected fasteners (18a), the processing system (98) comprising a computer system (104) having a computer (106) having a computer console (108), and a computer software program (110) implementing control logic (112); Equipped with The control logic (112) implemented by the computer software program (110) compares the electrical conductivity measurements (14) of the selected fasteners (18a) with a predetermined electrical conductivity value range (114) for a predetermined fastener material (115) to obtain a fastener material determination (116) for the selected fasteners (18a), and accepts or rejects the selected fasteners (18a) based on the fastener material determination (116). Automated fastening system (10).

2. 2. The automated fastening system (10) of claim 1, wherein each of the one or more fasteners (18) comprises one of a bolt (25), a rivet (26), a screw (28), a pin (30), or a bushing (32).

3. Each of the one or more fasteners (18) Metallic materials (36) containing titanium (36a), aluminum (36b), nickel (36c), steel (36d), copper (36e), silver (36f), or zinc (26g), or Metal alloy materials (38) including nickel-chromium alloys (38a), brass (38b), bronze (38c), titanium alloys (38d), aluminum alloys (38e), nickel alloys (38f), steel alloys (38g), copper alloys (38h), silver alloys (38i), or zinc alloys (38j) made of a base fastener material (34), including 10. The automated fastening system (10) of claim 1.

4. the automated eddy current conductivity probe system (80) one or more eddy current conductivity probes (84), each having one or more coils (86) coupled to electrical wiring (88); a sensor (90) in a control box (92), the sensor (90) being coupled to the one or more eddy current conductivity probes (84) via the electrical wiring (88); the eddy current conductivity probe assembly (82), a data connection (96) for transmitting the electrical conductivity measurements (14) to the computer (106), the data connection (96) comprising one of a wired data connection (96a) or a wireless data connection (96b); The automated fastening system (10) of claim 1, comprising:

5. The one or more eddy current conductivity probes (84) of the eddy current conductivity probe assembly (82) one or more upper end portions (126a) of the fastener heads (125) of the selected fasteners (18a); one or more side portions (128a) of the fastener head (125) of the selected fastener (18a); one or more shank side portions (131 a) of the fastener shank (130) of the selected fastener (18 a); one or more rear end portions (136a) of the rear end (136) of the selected fastener (18a); contacting the selected fastener (18a) at one or more fastener portions (18f), including The automated fastening system (10) according to claim 4.

6. the eddy current conductivity probe assembly (82) integrated into the one or more shuttle cups (46) one or more eddy current conductivity probes (82), each having one or more coils (86) coupled to electrical wiring (88), the one or more eddy current conductivity probes (82) contacting one or more side portions (128a) of a fastener head (125) of the selected fastener (18a) in the selected shuttle cup (46a) of the one or more shuttle cups (46) or one or more shank side portions (131a) of a fastener shank (130) of the selected fastener (18a) in the selected shuttle cup (46a); an actuator (94) coupled to each of the one or more eddy current conductivity probes (84) for moving the one or more eddy current conductivity probes (84) relative to the selected fastener (18a); a sensor (90) in a control box (92), the sensor (90) being coupled to the one or more eddy current conductivity probes (84) via the electrical wiring (88); The automated fastening system (10) of claim 1, comprising:

7. the eddy current conductivity probe assembly (82) integrated into either the two or more inspection gripper fingers (52) or the two or more end effector gripper fingers (70) an eddy current conductivity probe (84) in each inspection gripper finger (52) or each end effector gripper finger (70), each eddy current conductivity probe (84) having one or more coils (86) coupled to electrical wiring (88), the eddy current conductivity probe (84) contacting one or more side portions (128a) of the fastener head (125) of the selected fastener (18a); a sensor (90) in a control box (92), said sensor (90) being coupled to said eddy current conductivity probe (84) via said electrical wiring (88); The automated fastening system (10) of claim 1, comprising:

8. The eddy current conductivity probe assembly (82) integrated into either the inspection center shaft (50) or the end effector center shaft (68) comprises: an eddy current conductivity probe (84) having one or more coils (86) coupled to electrical wiring (88), the eddy current conductivity probe (84) configured to contact one or more top end portions (126a) of the fastener heads (125) of the selected fasteners (18a); a sensor (90) in a control box (92), said sensor (90) being coupled to said eddy current conductivity probe (84) via said electrical wiring (88); The automated fastening system (10) of claim 1, comprising:

9. 10. The automated fastener system of claim 1, wherein the automated fastener installation system further comprises the end effector coupled to one of a robotic system or a gantry system.

10. An automated fastener system (10) having a fastener conductivity test (12) for aircraft fasteners (20), the automated fastener system (10) comprising: an automated fastener holder assembly (40) having one or more fastener holders (42) for holding and dispensing one or more aircraft fasteners (20); an automated fastener shuttle assembly (44) having one or more shuttle cups (46), wherein a selected shuttle cup (46a) receives a selected aircraft fastener (20a) from the one or more fastener holders (42) and transports the selected aircraft fastener (20a) within the selected shuttle cup (46a); an automated fastener inspection system (48) having an inspection center shaft (50) and two or more inspection gripper fingers (52) configured to pick up the selected aircraft fastener (20a) from the selected shuttle cup (46a), to grip and inspect the selected aircraft fastener (20a), and to release the selected aircraft fastener (20a); an automated transport system (56) having a transport device (58) configured to transport the selected aircraft fasteners (20a) away from the automated fastener inspection system (48); an automated fastener installation system (64) including an end effector (66) having an end effector central shaft (68) and two or more end effector gripper fingers (70) configured to pick up the selected aircraft fasteners (20a) from the transport device (58) transported by the automated transport system (56) and to install the selected aircraft fasteners (20a) on an aircraft structure (24); an automated eddy current conductivity probe system (80) comprising an eddy current conductivity probe assembly (82) integrated into one of the one or more shuttle cups (46), the inspection center shaft (50), the two or more inspection gripper fingers (52), the end effector center shaft (68), or the two or more end effector gripper fingers (70), the automated eddy current conductivity probe assembly (82) contacting the selected aircraft fasteners (20 a) to perform the fastener conductivity test (12) and obtain electrical conductivity measurements (14) of the selected aircraft fasteners (20 a); a processing system (98) for processing the electrical conductivity measurements (14), the processing system (98) comprising a computer system (104) having a computer (106) having a computer console (108), and a computer software program (110) implementing a control logic (112); Equipped with the control logic (112) implemented by the computer software program (110) compares the electrical conductivity measurements (14) of the selected aircraft fasteners (20a) with a predetermined electrical conductivity value range (114) of a predetermined fastener material (115) to obtain a fastener material determination (116) for the selected aircraft fasteners (20a), and accepts or rejects the selected aircraft fasteners (20a) based on the fastener material determination (116); Automated fastening system (10).

11. the automated eddy current conductivity probe system (80) one or more eddy current conductivity probes (84), each having one or more coils (86) coupled to electrical wiring (88); a sensor (90) in a control box (92), the sensor (90) being coupled to the one or more eddy current conductivity probes (84) via the electrical wiring (88); the eddy current conductivity probe assembly (82), a data connection (96) for transmitting the electrical conductivity measurements (14) to the computer (106), the data connection (96) comprising one of a wired data connection (96a) or a wireless data connection (96b); The automated fastening system (10) of claim 10, comprising:

12. the eddy current conductivity probe assembly (82) integrated into the one or more shuttle cups (46) one or more eddy current conductivity probes (84), each having one or more coils (86) coupled to electrical wiring (88), configured to contact one of one or more side portions (128 a) of a fastener head (125) of the selected aircraft fastener (20 a) in the selected shuttle cup (46 a) of the one or more shuttle cups (46) or one or more shank side portions (131 a) of a fastener shank (130) of the selected aircraft fastener (20 a) in the selected shuttle cup (46); an actuator (94) coupled to each of the one or more eddy current conductivity probes (84) for moving the one or more eddy current conductivity probes (84) relative to the selected aircraft fastener (20a); a sensor (90) in a control box (92), the sensor (90) being coupled to the one or more eddy current conductivity probes (84) via the electrical wiring (88); The automated fastening system (10) of claim 10, comprising:

13. the eddy current conductivity probe assembly (82) integrated into either the two or more inspection gripper fingers (52) or the two or more end effector gripper fingers (70) an eddy current conductivity probe (84) in each inspection gripper finger (52) or each end effector gripper finger (70), each eddy current conductivity probe (84) having one or more coils (86) coupled to electrical wiring (88), the eddy current conductivity probe (84) configured to contact one or more side portions (128a) of the fastener head (125) of the selected aircraft fastener (20a); a sensor (90) in a control box (92), said sensor (90) being coupled to said eddy current conductivity probe (84) via said electrical wiring (88); The automated fastening system (10) of claim 10, comprising:

14. The eddy current conductivity probe assembly (82) integrated into either the inspection center shaft (50) or the end effector center shaft (68) comprises: an eddy current conductivity probe (84) having one or more coils (86) coupled to electrical wiring (88), the eddy current conductivity probe (84) configured to contact one or more upper end portions (126 a) of fastener heads (125) of the selected aircraft fasteners (20 a); a sensor (90) in a control box (92), said sensor (90) being coupled to said eddy current conductivity probe (84) via said electrical wiring (88); The automated fastening system (10) of claim 10, comprising:

15. 1. An automated method (250) for performing a fastener conductivity test (12) on an automated fastener system (10), the automated method (250) comprising: an automated fastener holder assembly (40) that holds and dispenses one or more fasteners (18); an automated fastener shuttle assembly (44) having one or more shuttle cups (46), wherein a selected shuttle cup (46a) receives a selected fastener (18a) from the automated fastener holder assembly (40) and transports the selected fastener (18a) within the selected shuttle cup (46a); an automated fastener inspection system (48) having an inspection center shaft (50) and two or more inspection gripper fingers (52) configured to pick up, inspect, and release the selected fastener (18a); an automated transport system (56) having a transport device (58) configured to transport the selected fasteners (18a); an automated fastener application system (64) including an end effector (66) having an end effector central shaft (68) and two or more end effector gripper fingers (70) configured to pick up the selected fastener (18a) from the transport device (58) transported by the automated transport system (56) and to apply the selected fastener (18a) to a structure (22); an automated eddy current conductivity probe system (80) comprising an eddy current conductivity probe assembly (82) integrated into one of the one or more shuttle cups (46), the inspection center shaft (50), the two or more inspection gripper fingers (52), the end effector center shaft (68), or the two or more end effector gripper fingers (70); a processing system (98) comprising a computer system (104) having a computer (106) with a computer console (108) and a computer software program (110) implementing a control logic (112); providing (252) the automated fastening system (10), performing (254) the fastener conductivity test (12) on the selected fastener (18a) by contacting the selected fastener (18a) with the eddy current conductivity probe assembly (82) integrated into one of the one or more shuttle cups (46), the inspection center shaft (50), the two or more inspection gripper fingers (52), the end effector center shaft (68), or the two or more end effector gripper fingers (70) to obtain an electrical conductivity measurement (14) for the selected fastener (18a); using (256) the control logic (112) of the processing system (98) to compare the electrical conductivity measurements (14) of the selected fasteners (18a) with a predetermined range of electrical conductivity values ​​(114) for predetermined fastener materials (115) to obtain a fastener material determination (116) for the selected fasteners (18a); accepting or rejecting (258) the selected fastener (18a) based on the fastener material determination (116); automated methods, including (250).

16. wherein the step of performing the fastener conductivity test (12) on the selected fasteners (18a) further comprises performing the fastener conductivity test (12) on the selected fasteners (18a), and wherein the eddy current conductivity probe assembly (82) integrated into the one or more shuttle cups (46) one or more eddy current conductivity probes (84), each having one or more coils (86) coupled to electrical wiring (88), the one or more eddy current conductivity probes (84) configured to contact one of one or more side portions (128 a) of a fastener head (125) of the selected fastener (18 a) in the selected shuttle cup (46 a) of the one or more shuttle cups (46) or one or more shank side portions (131 a) of a fastener shank (130) of the selected fastener (18 a) in the selected shuttle cup (46 a); an actuator (94) coupled to each of the one or more eddy current conductivity probes (84) for moving the one or more eddy current conductivity probes (84) relative to the selected fastener (18a); a sensor (90) in a control box (92), the sensor (90) being coupled to the one or more eddy current conductivity probes (84) via the electrical wiring (88); 16. The automated method (250) of claim 15, comprising:

17. The step of performing the fastener conductivity test (12) on the selected fastener (18a) (254) further comprises performing the fastener conductivity test (12) on the selected fastener (18a), wherein the eddy current conductivity probe assembly (82) integrated into either the two or more inspection gripper fingers (52) or the two or more end effector gripper fingers (70) is an eddy current conductivity probe (84) in each inspection gripper finger (52) or each end effector gripper finger (70), each eddy current conductivity probe (84) having one or more coils (86) coupled to electrical wiring (88), the eddy current conductivity probe (84) configured to contact one or more side portions (128a) of the fastener head (125) of the selected fastener (18a); a sensor (90) in a control box (92), said sensor (90) being coupled to said eddy current conductivity probe (84) via said electrical wiring (88); 16. The automated method (250) of claim 15, comprising:

18. wherein the step of performing the fastener conductivity test (12) on the selected fastener (18a) further comprises performing the fastener conductivity test (12) on the selected fastener (18a), and wherein the eddy current conductivity probe assembly (82) integrated into either the inspection center shaft (50) or the end effector center shaft (68) is an eddy current conductivity probe (84) having one or more coils (86) coupled to electrical wiring (88), the eddy current conductivity probe (84) configured to contact one or more top end portions (126a) of the fastener heads (125) of the selected fasteners (18a); a sensor (90) in a control box (92), said sensor (90) being coupled to said eddy current conductivity probe (84) via said electrical wiring (88); 16. The automated method (250) of claim 15, comprising:

19. The step (252) of providing the automated fastener system (10) further comprises providing the automated fastener system (10), wherein the automated eddy current conductivity probe system (80) comprises: one or more eddy current conductivity probes (84), each having one or more coils (86) coupled to electrical wiring (88); a sensor (90) in a control box (92), the sensor (90) being coupled to the one or more eddy current conductivity probes (84) via the electrical wiring (88); the eddy current conductivity probe assembly (82), a data connection (96) for transmitting the electrical conductivity measurements (14) to the computer (106), the data connection (96) comprising one of a wired data connection (96a) or a wireless data connection (96b); 16. The automated method (250) of claim 15, comprising:

20. 16. The automated method (250) of claim 15, wherein the step (252) of providing the automated fastener system (10) further comprises the step of providing the automated fastener system (10), wherein the automated fastener installation system (64) further comprises the end effector (66) coupled to one of a robotic system (72) or a gantry system (76).

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