Fastener installation assembly, end effector tool, and method

Abstract

To provide a fastener installation assembly, an end effector tool, and a method for installing a plurality of fasteners in respective holes of a workpiece.SOLUTION: A fastener installation assembly for installing a plurality of fasteners 54 in respective ones of a plurality of holes in a workpiece includes retainer assemblies 60 supported by the receptacle, each of the retainer assemblies being configured to retain one of the fasteners between the fingers in a pre-installation position, and a first actuator configured to move each fastener to an installation position by ejecting one of the fasteners from each of the retainer assemblies and inserting one into one of the holes in the workpiece. Each of the retainer assemblies is configured to allow the fastener and the respective finger to move independently of one another to self-align the fastener with one of the holes as the first actuator moves the fastener from the pre-installation position to the installation position.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a fastener installation assembly, an end effector tool, and a method for installing a plurality of fasteners into respective holes in a workpiece. [Background technology]

[0002] Manufacturing processes produce a variety of workpieces. For example, some workpieces require drilling, deburring, cutting, and fastening. These manufacturing processes may be automated using machines. However, these machines may only be capable of inserting one fastener per hole at a time. Furthermore, the size of the workpiece and the size of the machines may limit the number of machines that can be used to insert one fastener per hole to create the workpiece. Summary of the Invention

[0003] Therefore, it would be desirable to develop a fastener installation assembly, end effector tool, and method that improves the manufacturing process, and other advantages are also described herein.

[0004] The present disclosure provides a fastener installation assembly for installing a plurality of fasteners into respective holes in a workpiece. The fastener installation assembly includes a container and a plurality of retainer assemblies supported by the container. Each of the retainer assemblies includes a plurality of fingers configured to hold one of the fasteners between the fingers in a pre-installation position. The fastener installation assembly also includes a first actuator disposed proximate to the container. The first actuator is configured to move each of the fasteners to an installed position by ejecting the one of the fasteners from each of the retainer assemblies and inserting the one of the fasteners into one of the holes in the workpiece. Each of the retainer assemblies includes a compliance device configured to allow the one of the fasteners and each of the fingers to move independently of one another to self-align the one of the fasteners with one of the holes as the first actuator moves the one of the fasteners from the pre-installation position to the installed position.

[0005] The present disclosure also provides an end effector tool for installing a plurality of fasteners into respective holes in a workpiece. The end effector tool includes a fixture and a plurality of fastener installation assemblies attached to the fixture in a predetermined pattern. Each of the fastener installation assemblies includes a container and a plurality of retainer assemblies supported by the container. Each of the retainer assemblies includes a plurality of fingers configured to hold one of the fasteners between the fingers in a pre-installation position. Each of the fastener installation assemblies also includes a first actuator disposed proximate to the container. The first actuator is configured to eject one of the fasteners from each of the retainer assemblies and move each fastener to a set position by inserting the fastener into one of the holes in the workpiece. Each of the retainer assemblies includes a compliance device configured to allow one of the fasteners and each of the fingers to move independently of one another when the first actuator moves one of the fasteners from the pre-installation position to the installation position, thereby self-aligning the one of the fasteners with one of the holes.

[0006] The present disclosure further provides a method for installing a plurality of fasteners into respective holes in a workpiece. The method comprises: loading one of the fasteners into a pre-installation position in each of a plurality of retainer assemblies in a receptacle of a fastener installation assembly; each of the retainer assemblies including a plurality of fingers configured to hold one of the fasteners between the fingers in the pre-installation position; aligning one of the fasteners with one of the holes in the workpiece; and actuating a first actuator to eject one of the fasteners from each of the retainer assemblies. The first actuator is positioned proximate to the receptacle. The first actuator inserts one of the fasteners into an installation position in one of the holes in the workpiece. Each of the retainer assemblies includes a compliance device configured to allow one of the fasteners and each of the fingers to move independently of one another when the first actuator moves one of the fasteners from the pre-installation position to the installation position, thereby self-aligning the one of the fasteners with one of the holes.

[0007] The detailed description and drawings support and explain the present disclosure, the scope of which is defined solely by the claims. Although some of the best modes and alternative configurations for carrying out the claimed subject matter have been described in detail, there are numerous alternative designs and configurations for carrying out the subject matter of the present disclosure as defined by the appended claims. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram of a machine supporting an end effector tool having multiple processing tools controlled via the machine. [Figure 2] 1 is a schematic diagram of processing tools, vacuum assemblies, and positioning sensors that can be controlled via the machine. [Figure 3] 2 is a schematic diagram of the end effector tool of FIG. 1 having multiple processing tools supported via a fixture. [Figure 4]FIG. 4 is a schematic perspective view of the bottom of the end effector tool of FIG. 3. [Figure 5] 1 is a schematic perspective view of a fastener installation assembly, one of the processing tools, removed from a fixture. FIG. [Figure 6] 6 is a schematic perspective view of the top of the processing tool of FIG. 5 with the processing tool bracket removed. [Figure 7] 7 is a schematic perspective view of the bottom of the processing tool of FIG. 6. [Figure 8] 7 is a schematic perspective view of the top of the processing tool of FIG. 6, also with the cap of the container of the processing tool removed. [Figure 9] 7 is a schematic cross-sectional view of the processing tool of FIG. 6 with the first and second actuators removed. [Figure 10] 9 is a schematic perspective view of one retainer assembly and one compliance device of the processing tool of FIG. 8. [Figure 11] 11 is a schematic cross-sectional view of the retainer assembly of FIG. 10 with the retainer assembly holding the fastener in a pre-installation position and the fastener offset from the hole in the workpiece. [Figure 12] 12 is a schematic cross-sectional view of the retainer assembly of FIG. 11 with the first actuator engaging the fastener and moving the fastener toward the hole in the workpiece. FIG. [Figure 13] FIG. 12 is a schematic cross-sectional view of the retainer assembly of FIG. 11 showing the first actuator continuing to move the fastener into the hole and the compliance device causing the fastener to self-align with the hole in the workpiece as the fastener enters the hole. [Figure 14] 12 is a schematic cross-sectional view of the retainer assembly of FIG. 11 showing the first actuator continuing to move the fastener into the hole in the workpiece until the fastener is fully seated in the hole in the installed position. [Figure 15] 12 is a schematic cross-sectional view of the retainer assembly of FIG. 11 showing the first actuator retracted outside the retainer assembly. FIG. [Figure 16]16 is a schematic cross-sectional view of the retainer assembly of FIG. 15 showing another fastener being installed within the retainer assembly. [Figure 17] 17 is a schematic cross-sectional view of the retainer assembly of FIG. 16 showing the fastener of FIG. 16 continuing to move into the retainer assembly. [Figure 18] 18 is a schematic cross-sectional view of the retainer assembly of FIG. 16 with the fastener of FIG. 17 held in a pre-installed position within the retainer assembly. DETAILED DESCRIPTION OF THE INVENTION

[0009] While the present disclosure is susceptible to various modifications and alternative forms, representative configurations are shown in the drawings and described in detail below. The inventive aspects of the present disclosure are not limited to the disclosed configurations. Rather, the present disclosure is intended to cover modifications, equivalents, combinations, and alternatives that are included within the scope of the present disclosure as defined by the appended claims.

[0010] Those skilled in the art will recognize that all directional references (e.g., "upper," "lower," "up," "upper," "lower," "top," "bottom," "left," "right," "vertical," "horizontal," etc.) are used to describe the drawings to aid reader understanding and do not imply limitations (e.g., position, orientation, or application) on the scope of the present disclosure, which is defined by the appended claims. Additionally, terms such as "first," "second," and "third" may be used to refer to separate elements. Such terms may include the specific terms listed above, derivatives thereof, and terms of similar meaning. Furthermore, the term "substantially" may refer to slight inaccuracies or slight variations in conditions, amounts, values, or dimensions, some of which may be within manufacturing variations or tolerances.

[0011] As used herein, the reference to an element or step in the singular does not necessarily exclude a plurality of such elements or steps. Furthermore, the phrase "a component" is not intended to be interpreted as excluding the existence of additional components that incorporate the recited feature. Furthermore, unless expressly stated otherwise, a component that "includes" or "has" an element or elements having a particular characteristic may also include additional elements that do not incorporate that characteristic. Additionally, as used herein, the phrase "at least one of" should be interpreted as including a non-exclusive disjunction "or," i.e., A and / or B, etc., depending on the number of elements.

[0012] Referring to the drawings, wherein like numerals indicate like or corresponding parts throughout the several views, Figure 1 shows a schematic diagram of a processing system 10 for manufacturing a part 12. Processing system 10 can be used, for example, to improve the manufacturing process and for other advantages, some of which are described in more detail below.

[0013] The processing system 10 described herein can be used to manufacture parts 12 for a variety of applications, including, but not limited to, air vehicles such as aircraft, drones, payloads, space shuttles, and satellites; mobile platforms such as locomotives, high-speed trains, automobiles, off-road vehicles, surface vessels, trailers, and agricultural equipment; equipment, buildings, or any other application where the parts 12 can utilize the manufacturing processes described herein.

[0014] Continuing to refer to FIG. 1, the part 12 may initially be, for example, a workpiece 12 or multiple workpieces 12 that have been assembled or are to be assembled, and such workpieces 12 undergo one or more manufacturing processes to obtain the part 12 with a desired degree of completion.

[0015] The component 12 may be any suitable structure, and thus the workpiece 12 may be any suitable structure. General, non-limiting examples of the component 12 include one or more panels, skins, frames, brackets, spars, chords, engine cowls, or any other structural member or component that may use the manufacturing processes described herein, as well as combinations thereof. As non-limiting examples of the component 12 in an air vehicle application, the component 12 may include one or more of a panel such as a wing, a fuselage, a skin such as a skin panel, a panel such as an inner panel or an outer panel, a frame, a bracket, a stringer, a bulkhead, a keel, a rib, a door, a fitting, or the like, as well as combinations thereof.

[0016] The processing system 10 described herein allows for many different manufacturing processes to be performed on a single workpiece 12 and on many different workpieces 12. Thus, depending on the type of part 12, one or more manufacturing processes may be performed. Generally, the workpiece 12 has a work surface 14 on which various manufacturing processes may be performed to obtain a desired finished part 12. A manufacturing process may be any process suitable for the desired part 12, including, but not limited to, drilling, countersinking, cutting, assembling, fastening, welding, sealing, finishing, lubricating, measuring, probing, joining, splicing, and the like, as well as combinations thereof. Some examples of manufacturing processes are described below.

[0017] 1 , the processing system 10 also includes an end effector tool 16, which is operable to perform various manufacturing processes, as described in more detail below. A machine 18 may be utilized to control the end effector tool 16. Accordingly, the end effector tool 16 is coupled to the machine 18, such that the machine 18 can support the end effector tool 16. In this manner, the processing system 10 utilizes the machine 18 to automate the control of the end effector tool 16. The machine 18 may be configured to manipulate the end effector tool 16 and / or move the end effector tool 16 to a desired position.

[0018] The machine 18 may be any structure suitable for controlling the end effector tool 16. By way of non-limiting example, the machine 18 may include one or more of a robot, a robotic arm, a computer numerically controlled (CNC) machine, an automated machine, a factory machine, a crane, a hand lifting assembly, or any other suitable machine 18 capable of controlling the end effector tool 16 and / or moving the end effector tool 16 to a desired position.

[0019] 1 , the end effector tool 16 may include a coupler 20 that provides an interface between the end effector tool 16 and a machine 18. The machine 18 may, for example, include a feature that fits into the coupler 20, thereby allowing the machine 18 to be attached to and detached from the end effector tool 16 via the coupler 20. When the machine 18 is attached to the end effector tool 16 via the coupler 20, the machine 18 can move the end effector tool 16 to a desired position. The coupler 20 may be of any suitable configuration, and non-limiting examples of the coupler 20 include one or more of a quick connect / disconnect mechanism, an eyelet, a connector, a clip, a fastener, a bolted connection, a grab-and-go connection, a magnet or magnetic connector, a vacuum connector or vacuum pick and place, etc.

[0020] As best shown in FIGS. 1 and 3 , the end effector tool 16 includes a fixture 22, and the coupler 20 may be mounted to the fixture 22. Generally, the fixture 22 supports multiple processing tools 24. Therefore, because the fixture 22 is configured to support multiple processing tools 24, the fixture 22, when mounted to a machine, may enable multiple manufacturing processes (i.e., the same or different processes) to be performed via a single machine 18. The use of multiple processing tools 24 per end effector tool 16 can overcome low processing speeds or low throughputs. In this manner, the use of multiple processing tools 24 per end effector tool 16 may improve processing speeds and throughputs, thereby increasing the production yield of the processing system 10. For example, the use of the processing system 10 described herein may reduce manufacturing process times, thereby increasing the production yield of workpieces 12. Furthermore, the use of multiple processing tools 24 per end effector tool 16 may reduce the amount of human intervention required to perform one or more of the manufacturing processes. Thus, the processing system 10 described herein can reduce cost and manufacturing complexity. Some example configurations of the processing tool 24 are described in more detail below.

[0021] 3, the processing tools 24 may be arranged in any suitable configuration relative to one another, such as in rows or columns relative to the fixture 22, offset relative to one another, etc., depending on the desired locations of the workpieces 12 to be processed.

[0022] Referring to FIG. 1 , a machine 18 is depicted holding an end effector tool 16 relative to a workpiece 12. As further shown in FIG. 1 , a portion of a fixture 22 has a complementary contour to the work surface of the workpiece 12, which aids in positioning the processing tools 24 on the similar contour, thereby positioning all of the processing tools 24 at a consistent distance relative to the work surface 14 of the workpiece 12 prior to manipulating the processing tools 24. Thus, for example, when a processing tool 24 or a portion of a processing tool 24 is extended toward the work surface 14 to perform an operation on the work surface 14, the complementary positioning of the processing tools 24 relative to the contour of the work surface 14 allows each processing tool 24 to move the same distance toward the work surface 14. However, optionally, one or more of the processing tools 24 or a portion of the processing tools 24 may move a greater or lesser distance toward the work surface 14 than the other processing tools 24.

[0023] As best shown in FIG. 1 , the work surface 14 and a portion of the end effector tool 16 may have matching contours. Thus, the work surface 14 may have, for example, a first shape that may be machined to further process the part 12. Referring now to FIGS. 1 and 3 , the fixture 22 may include, for example, a fixture base 26 having an outer surface 28 that has a second shape that is complementary to the first shape of the work surface 14. The complementary features of the fixture base 26 and the work surface 14 may be, for example, the opposing surfaces 14 and 28, as best shown in FIG. 1 . That is, when the end effector tool 16 is positioned adjacent to the workpiece 12, as shown in FIG. 1 , the work surface 14 of the workpiece 12 and the outer surface 28 of the fixture base 26 face each other, and these surfaces 14, 28 may generally complement each other. The first shape of the work surface 14 and the second shape of the fixture platform 26 may be any suitable shape, including, but not limited to, arcuate, flat, wavy, angled, tapered, and the like.

[0024] In some configurations, the workpiece 12 is an aircraft panel, although the workpiece 12 may have other configurations, and the following description of a panel is for illustrative purposes only. In some configurations, the panel is arcuate, e.g., convex and / or concave, and thus the first shape of the work surface 14 is arcuate, e.g., convex and / or concave. Similarly, in some configurations, the second shape of the outer surface 28 of the fixture base 26 is arcuate, e.g., in the opposite convex and / or concave direction from the work surface 14, such that the work surface 14 and the fixture base 26 are complementary. Thus, depending on the orientation of the work surface 14, the fixture base 26 is configured in an opposite orientation, such that the fixture base 26 generally complements the work surface 14. Thus, when the workpiece 12 is oriented as shown in FIG. 1, the work surface 14 is arcuate, e.g., convex and / or concave, and thus the fixture base 26 is complementary to the work surface 14, e.g., in the concave direction.

[0025] As mentioned above, the end effector tool 16 includes processing tools 24, which may have a variety of configurations depending on the desired processing to be performed on the workpiece 12. Each processing tool 24 may be configured to perform the same task or different tasks.

[0026] For example, the end effector tool 16 also includes a set of first processing tools 24 mounted in the fixture 22 in a predetermined pattern. These first processing tools 24 are configured to perform a task on the work surface 14. Thus, the first set of processing tools 24 are configured to perform the same task; that is, the first processing tools 24 are arranged throughout the fixture 22 according to a template.

[0027] In some configurations, the end effector tool 16 may also include a set of second processing tools 24 mounted in the fixture 22 in a predetermined pattern. These second processing tools 24 are configured to perform a task on the work surface 14. Thus, this second set of processing tools 24 are configured to perform the same task; that is, the second processing tools 24 are arranged throughout the fixture 22 according to a template.

[0028] A predetermined pattern or template formed across the fixture 22 via the processing tools 24 can be designed to properly position the processing tools 24 so that the processing system 10 can perform operational cycles at precise locations corresponding to the design of the workpiece 12.

[0029] In some configurations, each first processing tool 24 may be configured to perform one task, and each second processing tool 24 may be configured to perform a different task than the first processing tool 24. That is, the first processing tool 24 may be configured to perform a first process on, for example, the work surface 14, and the second processing tool 24 may be configured to perform a second process on, for example, the work surface 14.

[0030] In any configuration, the end effector tool 16 can incorporate a first set of processing tools 24 and a second set of processing tools 24. Thus, in some configurations, the second set of processing tools 24 can be mounted adjacent to the first set of processing tools 24 on the fixture 22. However, the end effector tool 16 can also incorporate additional sets of processing tools 24 in addition to the first and second sets. That is, the end effector tool 16 can incorporate any suitable number of sets of different processing tools 24.

[0031] Alternatively, in other configurations, multiple separate end effector tools 16 may be coupled to the machine 18. That is, each individual end effector tool 16 may support a different type of processing tool 24. In other words, one set of processing tools 24 is mounted in the fixture 22 of one end effector tool 16, and another set of processing tools 24 is mounted in the fixture 22 of another end effector tool 16.

[0032] Thus, optionally, the end effector tool 16 may be further defined as a first end effector tool 16 having a first set of process tools 24, and the processing system 10 may further include a second end effector tool 16 having a second set of process tools 24. That is, the machine 18 may operate the first end effector tool 16 on a certain workpiece 12 or for a certain process, and then the machine 18 may be disconnected from the first end effector tool 16 and connected to the second end effector tool 16, which may operate on a certain workpiece 12 or for a different process. The first end effector tool 16 and the second end effector tool 16 may be interchangeable to perform different tasks on the work surface 14.

[0033] Different part 12 configurations may require different end effector tools 16. Thus, in yet another configuration, a first end effector tool 16 may have processing tools 24 mounted on its fixture mount 26 in a different pattern than other first end effector tools 16 to accommodate different processing areas of different workpiece configurations. Similarly, a second end effector tool 16 may have processing tools 24 mounted on its fixture mount 26 in a different pattern than other second end effector tools 16 to accommodate different processing areas of different workpiece configurations. In yet another configuration, a first end effector tool 16 may have a fixture mount 26 in one configuration corresponding to one configuration of the work surface, and another first end effector tool 16 may have a fixture mount 26 in a different configuration corresponding to a different configuration of the work surface. Similarly, the fixture mount 26 of a second end effector tool 16 may be one configuration corresponding to one configuration of the work surface, and the fixture mount 26 of another second end effector tool 16 may be a different configuration corresponding to another configuration of the work surface.

[0034] The first processing tool 24 and the second processing tool 24 may be any suitable tool that can be attached to the fixture table 26. Note that the processing tool 24 is referred to as the first processing tool 24 or the second processing tool 24 for convenience of explanation, and thus the processing tool 24 in FIG.

[0035] The processing system 10 then provides accurate positioning of the end effector tool 16 relative to the workpiece 12, thereby enabling consistent manufacturing repeatability. As described above, the machine 18 moves the end effector tool 16 to a desired position relative to the work surface 14. Referring to FIGS. 1 and 2 , the end effector tool 16 may include a plurality of positioning sensors 30 coupled to the fixture 22. Generally, the positioning sensors 30 are configured to position the end effector tool 16 relative to the workpiece 12. More specifically, the positioning sensors 30 are configured to align the end effector tool 16 relative to the workpiece 12 such that the processing tools 24, i.e., the first processing tool 24, the second processing tool 24, etc., are aligned in predetermined positions. That is, various indexing features are implemented to ensure proper placement of the processing tools 24 relative to the work surface 14. The placement of the end effector tool 16 can be recorded and analyzed using the positioning sensors 30. That is, feedback may be obtained via the positioning sensors 30 and used to ensure the desired placement of the processing tool 24 relative to the work surface 14. For example, in one configuration, one of the positioning sensors 30 may set the x, y, and z offsets, while another of the positioning sensors 30 may set the i, j, and k offsets.

[0036] In certain configurations, the positioning sensor 30 may include a camera assembly, a vision assembly, a laser assembly, an optical assembly, a measurement assembly, etc. Thus, the positioning sensor 30 may include visual, infrared, thermal signature, etc. features for accurately positioning / locating the processing tool 24 relative to the work surface 4.

[0037] Depending on the type of positioning sensor 30 implemented, the workpiece 12 may optionally include at least one fiducial guide feature 32 (see FIG. 1 ), which may be implemented in combination with the positioning sensor 30 to assist in positioning the end effector tool 16 relative to the workpiece 12. Accordingly, the positioning sensor 30 may be configured to identify the fiducial guide feature 32 so that the end effector tool 16 can be positioned relative to the work surface 14 such that the processing tools 24, i.e., the first processing tool 24, the second processing tool 24, etc., are aligned in a predetermined position.

[0038] The fiducial guides 32 may have any suitable configuration or characteristics, and non-limiting examples of the fiducial guides 32 include lines, marks, etchings, stickers, projected patterns, optical reference points such as external optical reference points, and magnetic reference targets. One example of an external optical reference point is activating one or more lasers to indicate a point to which the machine 18 should move relative to the workpiece 12, with the positioning sensor 30 of the end effector tool 16 determining the location of the laser point to align the processing tool 24 relative to the work surface 14. One example of a magnetic reference target is placing one or more magnets within or behind the workpiece 12, with the positioning sensor 30 of the end effector tool 16 determining the location of the magnet to align the processing tool 24 relative to the work surface 14. Note that any suitable number of fiducial guides 32 may be implemented. The positioning sensors 30 and fiducial guides 32 may optionally be implemented in place of indexing holes and corresponding indexing rods. However, locating holes and corresponding locating rods may optionally be implemented to position the end effector tool 16 relative to the workpiece 12 .

[0039] Generally, the positioning sensors 30 may be mounted to the fixture 22. In certain configurations, the positioning sensors 30 may be mounted to the fixture base 26. The positioning sensors 30 are spaced apart around the fixture 22, and more specifically, spaced apart relative to the fixture base 26. Figures 1 and 3 show non-limiting examples of where the positioning sensors 30 may be mounted to the fixture 22 / fixture base 26. More or fewer positioning sensors 30 than shown may be implemented.

[0040] In some configurations, the fixture base 26 includes, for example, a perimeter 34 that surrounds the processing tool 24. Optionally, the positioning sensor 30 can be located proximate the perimeter 34, and in some configurations, the positioning sensor 30 can be attached to the perimeter 34. By locating the positioning sensor 30 on the perimeter 34, the positioning sensor 30 can position the end effector tool 16 relative to the workpiece 12 over a wider range than would be possible if the positioning sensor 30 were located elsewhere. Optionally, the positioning sensor 30 can be movable relative to the fixture 22, and more particularly, relative to the fixture base 26, to adjust the range over which the end effector tool 16 can be positioned relative to the workpiece 12. Having a movable positioning sensor 30 can provide a wider positioning range, such as a wider field of view, than would be possible with a fixed positioning sensor.

[0041] In certain configurations, the position sensor 30 may also be configured to provide quality control of the workpiece 12. That is, the position sensor 30 may acquire data about the workpiece 12 using, for example, visual or infrared light, and the collected data may be used by other systems to analyze the data and make decisions about the workpiece 12, such as determining the quality of the workpiece 12.

[0042] A controller 36 may be implemented to control various functions of the processing system 10. Thus, returning to FIGS. 1 and 2, the processing system 10 may also include a controller 36 in communication with the end effector tool 16. The controller 36 may control the operation of the machine 18, the processing tool 24, and other features, some of which are described in more detail below. Additionally, the controller 36 may collect data, analyze the data, and / or make various data-based decisions. For example, the controller 36 may collect data about the workpiece 12 during any of the manufacturing processes and may be programmed to make various quality control decisions about the workpiece 12 / component 12. Further control functions of the controller 36 will be described in more detail below.

[0043] The controller 36 can communicate with various features of the end effector tool 16 via an electrical interface or module 37 (see FIG. 2 ). The controller 36 can include a processor P configured to execute instructions from a memory M. The processing circuit can include one or more processors P alone or in combination with one or more memories. The processing circuit is generally any computer hardware configured to process information, such as data, computer programs, and / or other suitable electronic information. The processing circuit is comprised of a collection of electronic circuits, some of which may be packaged as an integrated circuit or multiple interconnected integrated circuits (integrated circuits sometimes commonly referred to as “chips”). The processing circuit is configured to execute, for example, a computer program, which may be stored in the processing circuit or in a memory M of the same controller 36 or a different controller 36.

[0044] The processing circuitry may include multiple processors P, multi-core processors, or other types of processors, depending on the particular implementation. The processing circuitry may also be implemented using heterogeneous processor systems, in which a primary processor is provided on a single chip along with one or more secondary processors. As another example, the processing circuitry may be a symmetric multiprocessor system including multiple processors of the same type. Thus, while the processing circuitry may be configured to execute a computer program to perform one or more functions, the processing circuitry of various embodiments may be configured to perform one or more functions without the aid of a computer program. In either case, the processing circuitry may be appropriately programmed to perform functions or operations in accordance with exemplary embodiments of the present disclosure.

[0045] The memory M may generally be any computer hardware configured to temporarily and / or permanently store information, such as data, computer programs (e.g., computer-readable program code), or other suitable information. The memory M may include, for example, volatile and / or non-volatile memory, and may be fixed or removable. Non-limiting examples of suitable memory M include random access memory (RAM), read-only memory (ROM), hard drives, flash memory, thumb drives, removable computer diskettes, optical disks, magnetic tapes, or combinations thereof. Optical disks include, for example, compact disk read-only memories (CD-ROMs), read / write compact disks (CD-R / Ws), DVDs, etc. In various examples, the memory M may be referred to as a computer-readable storage medium. A computer-readable storage medium may be a non-transitory device configured to store information. The computer-readable medium herein may generally refer to a computer-readable storage medium or a computer-readable transmission medium.

[0046] In addition to the memory M, the processing circuitry may be connected to one or more interfaces for displaying, transmitting, and / or receiving information. The interfaces may include, for example, a communication interface (e.g., a communication unit) and / or one or more user interfaces. The communication interface may be configured to transmit and receive information to and from other devices, networks, etc. The communication interface may be configured to transmit and receive information via physical (wired) and / or wireless communication links. Examples of suitable communication interfaces include a network interface controller (NIC), a wireless NIC (WNIC), etc.

[0047] Returning to the end effector tool 16, the controller 36 may not only control a single machine 18, but may also control multiple processing tools 24 mounted in the fixture 22 of that single machine 18. In this manner, multiple processing tools 24 mounted in the fixture 22 of a single end effector tool 16 allow a single machine 18 to perform faster and / or higher volume manufacturing operations than a machine with a single processing tool 24, as described in the Background section above. The compactness of the end effector tool 16 allows the capacity of the machine 18 to be reduced, thereby reducing costs. Additionally, the machine 18 allows for the use of cooperative machines 18 with lower payload capacities, thereby improving manufacturing efficiency at a facility.

[0048] The controller 36 is configured to control the movement of the end effector tool 16 to position the processing tools 24, i.e., the first processing tool 24, the second processing tool 24, etc., relative to the work surface 14 so that a predetermined pattern is registered at a predetermined location relative to the work surface 14. The controller 36 is also configured to control the operation of the first processing tool 24 such that the first processing tool 24 performs a task on the work surface 14 to form a first processing region 39 at a predetermined location on the work surface 14. Similarly, the controller 36 is also configured to control the operation of the second processing tool 24 such that the second processing tool 24 performs a task on the work surface 14 to form a second processing region 39 at a predetermined location on the work surface 14. Thus, the controller 36 is configured to control the operation of any number of processing tools 24 to form respective processing regions 39.

[0049] For ease of explanation, FIG. 1 shows one processing area 39, designated as the first processing area 39, and the machine 18 positions the end effector tool 16 at another predetermined position to form other processing areas, such as a second processing area, depending on the number of processing areas 39 desired.

[0050] The controller 36 may activate the processing tools 24 in any order, for example, the processing tools 24 may be activated individually one at a time, in a given pattern, simultaneously, in any combination or group, etc.

[0051] Turning now to the positioning sensor 30, the controller 36 may communicate with the positioning sensor 30 to position the end effector tool 16 relative to the workpiece 12. For example, the controller 36 may use data from the positioning sensor 30 and / or the fiducial guide 32 to properly align the processing tool 24 relative to the work surface 14. Additionally, the controller 36 may use data from the positioning sensor 30 to determine whether the workpiece 12 is within a desired quality control range.

[0052] Once the processing tool 24 is aligned in place, it may perform functions to secure and / or stabilize the fixture 22 relative to the workpiece 12. Thus, for example, the end effector tool 16 may also include an end effector mount assembly 38 (see FIGS. 2 and 4) configured to engage the workpiece 12 and secure the end effector tool 16 in place. The controller 36 may be in communication with the end effector mount assembly 38, and thus may be used to selectively activate and deactivate the end effector mount assembly 38, as will be described in more detail below.

[0053] 2 and 4 , the end effector mounting assembly 38 may include a plurality of holders 40 mounted to the fixture 22. The holders 40 are configured to engage the workpiece 12 to mount the end effector tool 16 thereto, such that one or more manufacturing processes can be performed on the workpiece 12 while the end effector tool 16 is held in a predetermined position relative to the workpiece 12. Additionally, the holders 40 may be configured to absorb energy, dampen vibrations, and / or provide compliance during operation of the processing tool 24, which may help maintain the fixture 22, and thus the processing tool 24, in a desired position, thereby reducing or avoiding manufacturing distortion of the workpiece 12.

[0054] Generally, the holders 40 are spaced apart from one another along the circumference of the fixture 22, and more specifically, along the circumference of the fixture base 26. The holders 40 may be disposed in a gap 42 (see FIGS. 1 and 11 ) between the fixture base 26 and the workpiece 12. That is, the fixture 22 and fixture base 26 are maintained spaced apart from the workpiece 12 via the holders 40 during the manufacturing process. Any suitable number of holders 40 may be implemented. In certain configurations, the holders 40 are further defined as suction cups. It should be noted that the holders 40 may be any suitable configuration; a suction cup is one example; other non-limiting examples of holders 40 include magnets, fasteners that fit through existing holes, expanding mandrels that fit through existing holes, mechanisms that apply pressure to the backside of the workpiece 12, etc.

[0055] 2, the end effector mounting assembly 38 may include a vacuum assembly 44 in fluid communication with the holders 40. More specifically, the vacuum assembly 44 may include a pump 46 and a plurality of conduits 48 connected to the pump 46. The conduits 48 are also connected to each of the holders 40, thereby placing the pumps 46 in fluid communication with the holders 40.

[0056] The vacuum assembly 44 can be activated and deactivated by the controller 36, which accordingly controls whether the holder 40 secures the end effector tool 16 to the workpiece 12. Thus, the controller 36 is configured to activate the vacuum assembly 44 when the holder 40 engages the workpiece 12, creating a suction force between the holder 40 and the workpiece 12 and vacuuming the end effector tool 16 in place relative to the workpiece 12. That is, when it is desired to attach the end effector tool 16 to the workpiece 12, the pump 46 of the vacuum assembly 44 is activated to remove fluid from the space between the holder 40 and the workpiece 12, creating a lower pressure between the holder 40 and the workpiece 12 (compared to the atmospheric pressure outside the holder 40), which can suck the holder 40 to the workpiece 12 and attach the end effector tool 16 to the workpiece 12. To remove the end effector tool 16 from the workpiece 12, for example, the pump 46 is stopped to fill the space between the holder 40 and the workpiece 12 with fluid, or the pump 46 is started to pump fluid into the space between the holder 40 and the workpiece 12, increasing the pressure between the holder 40 and the workpiece 12 and removing the suction force so that the holder 40 is released from the workpiece 12.

[0057] The controller 36 can be configured to activate, deactivate, and / or adjust the vacuum assemblies 44 of any of the holders 40 as desired. Additionally, the controller 36 can be configured to increase or decrease the vacuum pressure to adjust or change the holding force between each holder 40 and the workpiece 12. The controller 36 can control the vacuum assemblies 44 so that each holder 40 is activated in any suitable arrangement. For example, the holders 40 can be activated individually, one at a time, in a pattern, simultaneously, in any combination or group, etc. The controller 36 can be programmed to control the engagement of the holders 40 with the workpiece 12. In this manner, the controller 36 can optimize activation to manage air consumption, control energy absorption, and / or control vibration damping.

[0058] Directional flow control valves and pressure regulators may be implemented to control the holders 40 and / or the sequence in which the holders 40 engage the workpieces 12. Accordingly, the controller 36 may be in communication with such control valves and pressure regulators.

[0059] As described above, the controller 36 can control the processing tools 24, i.e., the first processing tool 24, the second processing tool 24, etc., as desired. For example, one or more of the processing tools 24 can be operated sequentially, in a predetermined pattern, in a particular order, simultaneously, or randomly. Generally, a portion of each first processing tool 24 is movable relative to the fixture 22 and may be movable through the fixture stage 26 as tasks are performed on the work surface 14. That is, the controller 36 can activate each processing tool 24 to move a portion of the processing tool 24 toward or away from the work surface 14. The movement and operation of the processing tools 24 and their corresponding functions can be controlled mechanically, pneumatically, hydraulically, electrically, or by any other suitable mechanism or combination thereof.

[0060] In certain configurations, the controller 36 is configured to simultaneously control the operation of each of the processing tools 24, such as the first processing tool 24 and the second processing tool 24. Thus, for example, once the fixture 22 is positioned relative to the workpiece 12, the controller 36 may simultaneously activate each of the processing tools 24. Thus, for example, if each of the processing tools 24 is configured to drill holes 50, activating these processing tools 24 via the controller 36 may simultaneously drill holes in predetermined locations in the workpiece 12 in a predetermined pattern. Continuing with the drilling example, as another example, the processing tools 24 may also be activated one at a time or in a given pattern, such as in groups.

[0061] As mentioned above, various processing tools 24 may be mounted to the fixture 22, and more particularly to the fixture table 26. Furthermore, the processing tools 24 may perform various manufacturing processes. By way of non-limiting examples, the processing tools 24 may drill holes 50 and / or countersinks 52, perform measurements, apply sealants, coatings, etc., and insert fasteners 54 into the workpiece 12, some of which are described below. These non-limiting examples of processing tools 24 are now described in more detail.

[0062] Optionally, the processing tool may be configured to drill holes 50, which may include countersinks 52, counterbores, spot faces, etc., in the workpiece 12, as desired. Thus, in some configurations of the processing tool, the processing tool may be a drill assembly. Referring to FIG. 1, some of the holes 50 have already been drilled in the workpiece 12 by the drill assembly in one of the end effector tools.

[0063] In some configurations, the processing tool may be configured to measure characteristics of the workpiece 12. Thus, in some configurations of the processing tool, the processing tool may be a measurement device. The measurement device may be in a variety of configurations, including, but not limited to, one or more camera assemblies, vision assemblies, distance sensors, probe assemblies, linear scales, optical distance sensors, ultrasonic distance sensors, magnetic strips, and the like, and combinations thereof, to measure various characteristics of the workpiece 12. For example, the measurement device of the processing tool may be configured to measure the size of each hole 50, the depth of each hole 50, the surface quality of each hole 50, the surface quality of the work surface 14 and / or workpiece 12, the material quality of the workpiece 12, and the like.

[0064] After the holes are drilled with the drill assembly and desired measurements are taken via the measuring device, a fastener 54 may be inserted into each hole 50. The following description focuses on the process tool 24 that inserts the fasteners 54 into each hole 50. Note that an end effector tool 16 may have multiple different types of process tools 24 attached thereto, or may have only one type of process tool 24 attached thereto. Thus, for example, an end effector tool 16 may have two or more types of process tools 24, such as multiple drill assemblies, multiple probe assemblies, or multiple fastener setting assemblies 56, with each of the different types of process tools 24 activated in a predetermined sequence. Alternatively, for example, an end effector tool 16 may have only a fastener setting assembly 56, only a drill assembly, or only a probe assembly. The following description focuses on the end effector tool 16 to which a fastener setting assembly 56 is attached.

[0065] 1-4, end effector tool 16 includes a plurality of fastener setting assemblies 56 mounted to fixture 22. Accordingly, FIGS. 1-4 illustrate end effector tool 16 for installing a plurality of fasteners 54 into holes 50 in workpiece 12. More specifically, fastener setting assemblies 56 are used to install a fastener 54 into each hole 50 in workpiece 12. Accordingly, each fastener setting assembly 56 is mounted to fixture 22 and is used to install a respective fastener 54 into hole 50 in workpiece 12. Generally, fastener setting assemblies 56 are operated after holes 50 are formed by drill assembly. Optionally, a measurement device, such as a probe assembly, may be operated after holes 50 are formed and before fastener setting assemblies 56 are operated. The following description focuses on one fastener mounting assembly 56, but each fastener mounting assembly 56 can be configured identically, and therefore the following description, while primarily referring to one fastener mounting assembly 56, applies to any number of fastener mounting assemblies 56.

[0066] 5-8, fastener installation assembly 56 includes a container 58 and a plurality of retainer assemblies 60 supported by container 58. Container 58 may be any suitable structure, non-limiting examples of which include a track structure, i.e., a circular structure in which container 58 rotates about a central axis 62, correspondingly rotating retainer assemblies 60, a rectangular or elongated structure in which container 58 moves linearly, correspondingly moving retainer assemblies 60, or any other suitable structure.

[0067] The arrangement of the retainer assemblies 60 may vary depending on the configuration of the container 58. If the container 58 is generally circular, the container 58 may be referred to as a drum, and the retainer assemblies 60 may be spaced apart from one another and arranged in a radially circular orientation relative to a central axis 62, as best shown in FIG.

[0068] Generally, a retainer assembly 60 is used to hold each fastener 54 for the installation process. Referring to Figures 9 and 10, each retainer assembly 60 includes a plurality of fingers 64A, 64B configured to hold one of the fasteners 54 between the fingers 64A and 64B in a pre-installation position. That is, the retainer assembly 60 orients each fastener 54 in a specific direction so that the fastener 54 can be installed in the hole 50 in a desired orientation. Figures 7-11 show the fasteners 54 in the pre-installation position.

[0069] In certain configurations, the plurality of fingers 64A, 64B of each retainer assembly 60 are further defined as a first finger 64A and a second finger 64B disposed adjacent to one another. Generally, the first finger 64A and the second finger 64B of each retainer assembly 60 are disposed adjacent to one another to define an opening 66 therebetween. Generally, the opening 66 of each retainer assembly 60 forms a space to accommodate the fastener 54. Thus, the opening 66 of each retainer assembly 60 is configured to receive a respective one of the fasteners 54 in a pre-installed position.

[0070] 9 and 11 , the opening 66 of each retainer assembly 60 extends, for example, along a longitudinal axis 68 that is spaced apart from the central axis 62. The first finger 64A and the second finger 64B of each retainer assembly 60 may include inner surfaces 70 that face each other and define the opening 66 therebetween. The inner surfaces 70 of the first finger 64A and the second finger 64B of each retainer assembly 60 may include lip portions 72 that extend into the opening 66. The lip portions 72 of the first finger 64A and the second finger 64B of each retainer assembly 60 cooperate to hold one of the fasteners 54 in a pre-installation position. That is, a portion of each fastener 54, such as the head portion 74 of the fastener 54, engages with and / or rests on the lip portion 72 of the retainer assembly 60 when the fastener 54 is in the pre-installation position.

[0071] Optionally, the inner surface 70 of the first finger 64A and the inner surface 70 of the second finger 64B of each retainer assembly 60 may include a protrusion 76 that extends into the opening 66 and is spaced from the lip 72. The protrusion 76 on each retainer assembly 60 may help stabilize the fastener 54 in a pre-installation position within the opening 66. Thus, as best shown in FIG. 11 , the protrusion 76 on each retainer assembly 60 may engage a portion of the fastener 54, such as a shank portion 78 of the fastener 54, when the fastener is in the pre-installation position.

[0072] 9 and 11 , the first finger 64A and the second finger 64B of each retainer assembly 60 may include a first end 80 and a second end 82 spaced apart from one another along the longitudinal axis 68. In certain configurations, the opening 66 is disposed along the longitudinal axis 68 and extends from the first end 80 to the second end 82. Generally, the second end 82 of the first finger 64A and the second end 82 of the second finger 64B of each retainer assembly 60 are disposed closer to the workpiece 12 than the first end 80 of the first finger 64A and the second end 82 of the second finger 64B of each retainer assembly 60.

[0073] In certain configurations, the lip 72 of each retainer assembly 60 is positioned closer to the first end 80 of the first finger 64A and the second finger 64B than to the second end 82 of the first finger 64A and the second finger 64B. Accordingly, the head 74 of each fastener 54 is positioned closer to the first end 80 of the first finger 64A and the second finger 64B than to the second end 82 of the first finger 64A and the second finger 64B, such that, during assembly, the shank 78 of each fastener 54 enters the hole 50 in the workpiece 12 before the head 74 of the fastener 54.

[0074] 5 and 6 , fastener installation assembly 56 also includes a first actuator 84 configured to move each fastener 54 to a set position by ejecting one of fasteners 54 from each retainer assembly 60 and inserting that fastener 54 into one of holes 50 in workpiece 12. First actuator 84 may be any suitable actuator capable of moving fastener 54 into hole 50 in workpiece 12; non-limiting examples may include a motor, such as an electric motor, a hydraulic motor, a pneumatic motor, etc.

[0075] 5, fastener installation assembly 56 may also include a bracket 86 disposed proximate to receptacle 58. A first actuator 84 is also disposed proximate to receptacle 58, with first actuator 84 attached to bracket 86. That is, bracket 86 supports first actuator 84.

[0076] 5 , bracket 86 may include an access hole 88 formed therein, positioned along bracket axis 90, with first actuator 84 being at least partially aligned with bracket axis 90. Access hole 88 allows first actuator 84 to access fasteners 54 held by retainer assembly 60, thereby enabling first actuator 84 to eject fasteners 54 aligned with access hole 88 and install the fasteners 54 into workpiece 12.

[0077] 5 and 6 , the first actuator 84 may include a housing 92 secured to the bracket 86 and a rod 94 movable relative to the housing 92 from an initial position to an extended position to eject each fastener 54 from its respective retainer assembly 60 to an installed position. Generally, the rod 94 is movable along the bracket axis 90, i.e., axially relative to the bracket axis 90, between the initial position and the extended position. Furthermore, with the fastener 54 in a position insertable into the hole 50 in the workpiece 12, the longitudinal axis 68 and the bracket axis 90 are substantially coincident with one another. Thus, when the first actuator 84 is actuated to move the rod 94 to the extended position, the rod 94 extends through the access hole 88 in the bracket 86, engages the fastener 54, and pushes the fastener 54 out the opening 66, over the lip 72, and into the hole 50 in the workpiece 12.

[0078] 11-14 illustrate the movement of the rod 94 as it inserts the fastener 54 into the hole 50 in the workpiece 12. In FIG. 11, the rod 94 is shown moving in the direction of arrow B toward the extended position. In FIGS. 12 and 13, the rod 94 continues to move in the direction of arrow B toward the extended position, as the rod 94 moves through the opening 66 between the first finger 64A and the second finger 64B and begins inserting the fastener 54 into the hole 50 in the workpiece 12. In FIG. 14, the rod 94 reaches the extended position, in which the fastener 54 is fully seated in the hole 50 in the workpiece 12. Referring to FIG. 15, once the fastener 54 is fully seated in the hole 50, the rod 94 moves in the direction of arrow C back from the extended position to its initial position.

[0079] When the first actuator 84 is actuated to eject one of the fasteners 54 into an installed position, the bracket 86 or the receptacle 58 can be cycled to another retainer assembly 60 holding another fastener 54 in a pre-installation position, thereby allowing the installation process to occur in another hole 50. Depending on which (bracket 86 or receptacle 58) is movable, the other of the bracket 86 and the receptacle 58 is stationary. Thus, for example, if the bracket 86 is movable, the receptacle 58 is stationary, thereby cycling the first actuator 84 into alignment with another retainer assembly 60. As another example, if the receptacle 58 is movable, the bracket 86 is stationary, thereby cycling the receptacle 58 into alignment with the first actuator 84.

[0080] In this manner, either the bracket 86 or the container 58 may be movable to an operative position, while the other of the bracket 86 or the container 58 is in a fixed position. For example, in some configurations, the container 58 may be movable to an operative position, the bracket 86 may be disposed in a fixed position, and the container 58 may be movable relative to the bracket 86 to the operative position.

[0081] To move the bracket 86 or the receptacle 58, the fastener installation assembly 56 may further include a second actuator 96. The second actuator 96 is coupled to the bracket 86 and / or the receptacle 58, depending on which is movable. In one non-limiting example, the second actuator 96 is attached to the bracket 86 and operably coupled to the receptacle 58. The second actuator 96 is thus configured to move the receptacle 58 to an actuated position, thereby cycling the fasteners 54 of each retainer assembly 60 into alignment with the first actuator 84. In FIG. 6, arrow A is used to indicate the directional movement of the receptacle 58 relative to the first actuator 84, which in this example indicates rotation. The second actuator 96 may be any suitable actuator for moving the receptacle 58 or the bracket 86 to align the next fastener 54 with the first actuator 84, non-limiting examples of which may include a motor, such as an electric motor, a hydraulic motor, a pneumatic motor, or the like.

[0082] In some cases, when the end effector tool 16 is aligned with the workpiece 12, each fastener 54 may be slightly off-center within the hole 50 in the workpiece 12. As such, the alignment of one or more of the processing tools 24 may require minor adjustments. Accordingly, with reference to FIGS. 9-14 , the processing tools 24, such as each fastener installation assembly 56, may include a compliance device 98 that allows compliant movement of one or more of the fasteners 54 relative to the workpiece 12, thereby accommodating tolerances of the one or more workpieces 12 as each fastener 54 is inserted into the hole 50 in the workpiece 12. Generally, the compliance device 98 of each processing tool 24 provides a passive compliance function. The compliance device 98 helps improve the alignment of the fasteners 54 and / or reduce binding of the fasteners 54 during insertion into the hole 50 in the workpiece 12.

[0083] Accordingly, each retainer assembly 60 may also include a compliance device 98 configured to allow one of the fasteners 54 and the fingers 64A, 64B to move independently of one another when the first actuator 84 moves the fastener 54 from a pre-installation position to an installation position, thereby self-aligning the fastener 54 with one of the holes 50.

[0084] 9 , the first finger 64A and the second finger 64B of each retainer assembly 60 may include an outer surface 100 facing away from the opening 66. Generally, the compliance device 98 is coupled to the outer surface 100 to suspend the first finger 64A and the second finger 64B within the receptacle 58. More specifically, the receptacle 58 defines a plurality of spaced-apart pockets 102, and each retainer assembly 60 is suspended within the pocket 102 by its respective compliance device 98. That is, the first finger 64A and the second finger 64B of each retainer assembly 60 are suspended within the respective pocket 102. Generally, each pocket 102 is disposed along the respective longitudinal axis 68.

[0085] That is, compliance device 98 is coupled to exterior surface 100 to allow first finger 64A and second finger 64B of retainer assembly 60 to move independently of one another as fastener 54 moves between a pre-installation position and an installed position. Referring to Figures 12-14, these figures illustrate an example of the independent movement of first finger 64A and second finger 64B when fastener 54 is slightly offset or misaligned with respect to hole 50 in workpiece 12. Each pocket 102 is larger than retainer assembly 60 to allow first finger 64A and second finger 64B to move independently without interfering with receptacle 58.

[0086] As mentioned above, each compliance device 98 suspends a respective retainer assembly 60. Thus, as best shown in FIG. 9 , compliance device 98 of each retainer assembly 60 may include a first arm 104 supporting a first finger 64A and a second arm 106 supporting a second finger 64B. First finger 64A is rotatable relative to first arm 104, and second finger 64B is rotatable relative to second arm 106, thereby allowing fasteners 54 to self-align with corresponding holes 50 as fasteners 54 move from a pre-installation position to an installed position.

[0087] Additionally, the container 58 may have a plurality of channels 108 formed therein that extend along arm axes 110 that transverse the longitudinal axis 68 and / or the central axis 62. The first arm 104 of each first finger 64A is disposed in one of the channels 108, and the second arm 106 of each second finger 64B is disposed in another one of the channels 108. In this manner, the container 58 supports the first arm 104 and the second arm 106 of each compliance device 98.

[0088] 9 , the container 58 may include a first wall 112 and a second wall 114 spaced apart from each other and radially spaced apart from the central axis 62. The first wall 112 and the second wall 114, for example, each surround the central axis 62. Furthermore, the second wall 114 is, for example, disposed between the first wall 112 and the central axis 62. Furthermore, each retainer assembly 60 is disposed between the first wall 112 and the second wall 114.

[0089] 8 and 9, generally, first arm 104 of each retainer assembly 60 is attached to first wall 112, and second arm 106 of each retainer assembly 60 is attached to second wall 114. More specifically, each channel 108 of container 58 intersects first wall 112 and second wall 114 (see FIGS. 8 and 9), and also intersects each pocket 102 (see FIG. 9).

[0090] The compliance device 98 of each retainer assembly 60 may also include a first biasing plunger 116 coupled to the first arm 104 and a second biasing plunger 118 coupled to the second arm 106. The first biasing plunger 116 is linearly movable (along the arm axis 110) relative to the first arm 104, and the second biasing plunger 118 is linearly movable (along the arm axis 110) relative to the second arm 106, thereby enabling compliant movement of each first finger 64A and each second finger 64B to self-align each fastener 54 with the hole 50 when moving from a pre-installation position to an installed position. Each of the first and second biasing plungers 116, 118 may include one or more of a biasing means 120, a biasing member, a spring, or any other suitable elastic component to provide biasing by the first and second biasing plungers 116, 118. The first and second biasing plungers 116, 118 may, for example, each include a plunger 122 against which the biasing means 120 exerts a counter force to continuously urge the plunger 122 toward the first and second fingers 64A, 64B.

[0091] Optionally, the outer surface 100 of each first finger 64A and each second finger 64B defines a seat 124 for receiving the distal end of the first biasing plunger 116 and the distal end of the second biasing plunger 118, respectively. The seat 124 of each first finger 64A and each second finger 64B serves to allow the first finger 64A and the second finger 64B to pivot about the first biasing plunger 116 and the second biasing plunger 118.

[0092] It is desirable to reload the fasteners 54 into the container 58 after each fastener 54 is ejected from its respective retainer assembly 60. Accordingly, features for reloading the container 58 will now be described.

[0093] 16-18 , fasteners 54 enter openings 66 of retainer assemblies 60 from second ends 82 of retainer assemblies 60 in the direction of arrow D. Inner surfaces 70 of first and second fingers 64A, 64B of each retainer assembly 60 may include guide portions 126 extending into openings 66. Guide portions 126 are configured to guide fasteners 54 into openings 66 and open first and second fingers 64A, 64B of retainer assemblies 60 to receive fasteners 54 when the fasteners 54 are inserted into openings 66 from a first direction (see arrow D) to place the fasteners 54 in a pre-installation position.

[0094] In certain configurations, guide portion 126 of each retainer assembly 60 is positioned closer to second end 82 of first finger 64A and second finger 64B than to first end 80 of first finger 64A and second finger 64B. In certain configurations, guide portion 126 is positioned at second end 82 of first finger 64A and second finger 64B. Guide portion 126 may include, for example, a first tapered portion 128 that extends toward longitudinal axis 68 as guide portion 126 extends away from second end 82, thereby facilitating opening of retainer assembly 60 when feeding head 74 of the next fastener 54 into opening 66 (see FIG. 17 ). Guide portion 126 also includes, for example, a second tapered portion 130 that extends away from longitudinal axis 68 as guide portion 126 continues toward first end 80, thereby allowing retainer assembly 60 to close after head portion 74 passes through guide portion 126 (see FIG. 18).

[0095] Additionally, the first finger 64A and / or the second finger 64B of each retainer assembly 60 may include a stop 132 that limits movement of the fastener 54 in the first direction (see arrow D). In certain configurations, both the first finger 64A and the second finger 64B of each retainer assembly 60 include the stop 132. Generally, the stop 132 is located closer to the first end 80 than to the second end 82. In certain configurations, the stop 132 is located at the first end 80 of the first finger 64A and the first end 80 of the second finger 64B to partially close the opening 66 at the first end 80. Thus, for example, engagement of head portion 74 of fastener 54 with stop portion 132 prevents further movement of fastener 54, thereby positioning head portion 74 of fastener 54 between lip portion 72 and stop portion 132 and securely positioning fastener 54 in a pre-installation position within retainer assembly 60.

[0096] 8 and 9, the container 58 may include a top surface 134 and a bottom surface 136 spaced apart from one another relative to the central axis 62 to allow for placement of the retainer assembly 60 within the container 58. The first wall 112 and the second wall 114 are disposed between the top surface 134 and the bottom surface 136. The pocket 102 may be formed through one of the top surface 134 or the bottom surface 136 to provide access to the retainer assembly 60. In some configurations, the pocket 102 is formed through the top surface 134 and spaced apart from the second surface to allow for assembly and removal of the retainer assembly 60 from the container 58 from one side.

[0097] The container 58 may define a plurality of spaced apart access openings 138. Optionally, the container 58 may include a cap 140 defining the access openings 138 and a body 142 defining the pocket 102 and supporting the retainer assembly 60. The cap 140 may thus close the pocket 102 against the top surface 134 of the body 142. Each access opening 138 may be aligned with an opening 66 of the retainer assembly 60. That is, the access openings 138 may be disposed along the longitudinal axis 68. The access openings 138 are sized to allow the rod 94 of the first actuator 84 to pass therethrough. In certain configurations, the outer diameter of the access openings 138 is smaller than the outer diameter of the pocket 102.

[0098] Additionally, the container 58 may define a plurality of discharge openings 144 that are aligned with the access openings 138 of the container 58. That is, the discharge openings 144 may be disposed along the longitudinal axis 68. The discharge openings 144 may be formed through the bottom surface 136 of the body 142. The discharge openings 144 are sized to allow the fasteners 54 to pass therethrough. In certain configurations, the outer diameter of the discharge openings 144 is smaller than the outer diameter of the pockets 102. The rod 94 aligns with one of the access openings 138, such that the rod 94 can be moved through the access opening 138 and into the opening 66 to eject each fastener 54 from the respective retainer assembly 60 through the discharge opening 144 and insert the fastener 54 into a mounting position in one of the holes 50 in the workpiece 12.

[0099] The present disclosure also includes a method for installing a plurality of fasteners 54 into holes 50 in a workpiece 12. A workpiece 12 is provided as shown in FIG. 1. As noted above, the workpiece 12 may be of any suitable configuration, and FIG. 1 is shown for illustrative purposes only. An end effector tool 16 is selected depending on the desired part 12 and / or the desired manufacturing process. In this example, an end effector tool 16 having at least one fastener installation assembly 56 is selected.

[0100] An end effector tool 16 is selected to perform a task on the work surface 14. A machine 18 is then attached to the selected end effector tool 16 to control the end effector tool 16. Fasteners 54 are loaded into respective retainer assemblies 60 of a container 58 of a fastener setting assembly 56 in a pre-installation position. As described above, each retainer assembly 60 includes fingers 64A, 64B configured to hold one of the fasteners 54 between the fingers 64A, 64B in the pre-installation position. Thus, prior to aligning the end effector tool 16 with the workpiece 12 to perform a process on the workpiece 12, each retainer assembly 60 of the container 58 is loaded with fasteners 54, and the fasteners 54 are housed within the container 58 in the pre-installation position.

[0101] The controller 36 then controls the machine 18 to position the end effector tool 16 relative to the workpiece 12. Once the end effector tool 16 is located at the desired position, it is attached to the workpiece 12 via the holder 40. First, the controller 36 uses data from the positioning sensor 30 to position the end effector tool 16 at the desired location and orientation, i.e., the desired positioning relative to the work surface 14. The controller 36 then activates the vacuum assembly 44, which causes the holder 40 to secure the selected end effector tool 16 in place on the workpiece 12, ready to perform its task. For example, the vacuum assembly 44 is activated by the controller 36 to generate a suction force between the holder 40 and the workpiece 12, vacuuming the end effector tool 16 into place on the workpiece 12. Typically, the vacuum assembly 44 is activated prior to initiating operation of the processing tool 24.

[0102] The controller 36 is configured to control the end effector tool 16, including controlling the processing tool 24. The operation of the end effector tool 16 is controlled via the controller 36, which positions the end effector tool 16 relative to the workpiece 12 to align one of the fasteners 54 of the fastener setting assembly 56 with one of the holes 50. For example, the movement of the end effector tool 16 is controlled via the controller 36 to position the processing tool 24 relative to the work surface 14 so that a predetermined pattern is aligned at a predetermined location relative to the work surface 14. In this embodiment, the controller 36 positions the fastener setting assembly 56 relative to each hole 50.

[0103] Additionally, operation of the processing tool 24 is controlled via the controller 36 such that the processing tool 24 performs a task on the work surface 14 to form a first processing region 39 at a predetermined location on the work surface 14. Generally, operation of the processing tool 24 occurs after aligning and securing the end effector tool 16 with respect to the work surface 14. In certain configurations, operation of the processing tool 24 may include operating a first actuator 84 via the controller 36.

[0104] The controller 36 may control the processing tools 24 as desired. In certain configurations, control of the operation of the plurality of first processing tools 24 (or any of the other processing tools 24, i.e., the second processing tool 24, the third processing tool 24, the fourth processing tool 24, etc.) is simultaneous. In other words, all of the first processing tools 24 may be operated simultaneously. In any configuration, control of the operation of the plurality of first processing tools 24 (or any of the other processing tools 24, i.e., the second processing tool 24, the third processing tool 24, the fourth processing tool 24, etc.) may be one at a time, in a given order, pattern, etc. The controller 36 may be programmed with programs / data, etc., for controlling and operating the end effector tools 16 and their corresponding processing tools 24.

[0105] Once the fixture 22 is attached to the workpiece 12 via the holder 40, the process of installing the fasteners 54 can proceed. One of the fasteners 54 is aligned with one of the holes 50 in the workpiece 12. That is, each fastener 54 is aligned with its respective hole 50 in the workpiece 12 at a predetermined location where the installation process of the fastener 54 will occur.

[0106] Next, operation of the processing tool 24 can be initiated via the controller 36 to insert the fasteners 54 into their respective holes 50. That is, the first actuator 84 is actuated to eject each fastener 54 from its respective retainer assembly 60. More specifically, the controller 36 activates the first actuator 84, which moves the rod 94 from its initial position to its extended position. As the rod 94 moves to the extended position, it engages with the fasteners 54, and each fastener 54 is ejected in one direction, i.e., the second direction (see arrow B in FIGS. 11-14 ), from the opening 66 of the respective retainer assembly 60, thereby positioning each fastener 54 in the installation position.

[0107] The controller 36 may activate each fastener setting assembly 56 in any order, for example, the first actuators 84 of each fastener setting assembly 56 may be activated individually, one at a time, in a given pattern, simultaneously, in any combination or group, etc.

[0108] Each fastener 54 is inserted via the first actuator 84 into one of the holes in the workpiece 12 to an installed position. As described above, each retainer assembly 60 includes a compliance device 98 configured to allow one of the fasteners 54 and the fingers 64A, 64B to move independently of one another as the first actuator 84 moves one of the fasteners 54 from a pre-installation position to an installed position, thereby self-aligning the fastener 54 with one of the holes 50. In certain configurations, inserting each fastener 54 into one of the holes 50 further includes adjusting the orientation of the fastener 54 relative to the corresponding hole 50 via the compliance device 98 to self-align each fastener 54 during insertion into the hole 50.

[0109] Optionally, two or more workpieces 12 may be stacked on top of one another such that corresponding holes 50 in the workpieces 12 are aligned, and fastener attachment assemblies 56 may be implemented to attach fasteners 54 through the holes 50 in the stacked workpieces 12.

[0110] Once the fastener 54 is in the installation position, the controller 36 activates the first actuator 84 to retract the rod 94 to its initial position (see arrow C in FIG. 15 ). Once the rod 94 exits the container 58, the controller 36 may activate, for example, the second actuator 96 to cycle the container 58 to the next fastener 54 housed in the next retainer assembly 60, align that fastener 54 with the first actuator 84, and repeat the process for another hole 50 in the workpiece 12 in another area to be processed.

[0111] Once the fastener 54 installation process is completed in place, if the end effector tool 16 includes only the fastener installation assembly 56, the controller 36 stops the vacuum assembly 44, releasing suction, causing the holder 40 to release the end effector tool 16 from the workpiece 12. Alternatively, if the end effector tool 16 includes only the fastener installation assembly 56, the machine 18 may repeat the process for another location on the workpiece 12 or may begin the process for another workpiece 12.

[0112] After a predetermined number of fasteners 54 have been inserted, it may be necessary to reload the fasteners 54 into the receptacle 58. Accordingly, referring now to Figures 16-18, although one retainer assembly 60 is shown being reloaded with one fastener 54, all of the retainer assemblies 60 may be reloaded in the same manner as shown in Figures 16-18.

[0113] 16 and 17 , each fastener 54 is installed in an opening 66 between fingers 64A and 64B of a respective retainer assembly 60 in a first direction (see arrow D in FIGS. 16 and 17 ) to retain it in a pre-installation position. Fingers 64A and 64B open as head 74 of fastener 54 enters retainer assembly 60 from second end 82. In some configurations, installing one fastener 54 in each retainer assembly 60 further includes inserting fastener 54 through opening 66 between fingers 64A and 64B of each retainer assembly 60 until fastener 54 passes lip 72 that retains fastener 54 within opening 66. Fastener 54 may continue to move in the direction of arrow D until head 74 of fastener 54 engages stop 132, thereby ensuring head 74 of fastener 54 passes lip 72 and placing fastener 54 in a pre-installed position. Lip 72 helps retain fastener 54 in the pre-installed position within opening 66. In some configurations, the first and second directions are opposite.

[0114] The fasteners 54 may be placed into the container 58 manually, by an automated process, or by any other suitable process. Once the container 58 is reloaded, the machine 18 may repeat the process for another location on the workpiece 12 or may begin the process for another workpiece 12.

[0115] It should be noted that the order or sequence described herein for carrying out the methods of the present disclosure is for convenience of explanation, and other orders or sequences are within the scope of the present disclosure. Additionally, the methods of the present disclosure may include other features described herein.

[0116] Although the best mode and other configurations for carrying out the present disclosure have been described in detail, those skilled in the art to which the present disclosure pertains will recognize numerous alternative designs and configurations for carrying out the present disclosure within the scope of the appended claims. Furthermore, the features of the various configurations shown in the figures or described herein should not necessarily be considered as independent configurations. Rather, each feature described in one of the embodiments of a configuration may be combined with one or more other desired features of other configurations, resulting in other configurations not indicated by text or by reference to a figure. Accordingly, such other configurations also fall within the scope of the appended claims.

[0117] As used herein, a system, device, structure, article, element, component, or hardware that is "configured" to perform a particular function refers to one that can perform that particular function without any modification, and not one that requires any modification to perform that particular function. That is, a system, device, structure, article, element, component, or hardware that is "configured" to perform a particular function refers to one that has been specifically selected, made, implemented, utilized, programmed, and / or designed to perform that particular function. As used herein, "configured" refers to a characteristic that a system, device, structure, article, element, component, or hardware already possesses, which characteristic enables the system, device, structure, article, element, component, or hardware to perform that particular function without any modification. In this disclosure, a system, device, structure, article, element, component, or hardware that is "configured" to perform a particular function may also or instead be described as being "adapted" and / or "operable" to perform that function.

[0118] The following appendix provides some example configurations of the fastener installation assembly 56, end effector tool 16, and methods of the present disclosure.

[0119] Supplementary Note 1: A fastener installation assembly for installing a plurality of fasteners into each of a plurality of holes in a workpiece, comprising: a container; a plurality of retainer assemblies supported by the container, each retainer assemblies including a plurality of fingers configured to hold one of the plurality of fasteners between the fingers in a pre-installation position; and a first actuator positioned proximate to the container, wherein the first actuator is configured to move each fastener to an installation position by ejecting one of the fasteners from each of the plurality of retainer assemblies and inserting it into one of the plurality of holes in the workpiece, and each of the plurality of retainer assemblies includes a compliance device configured to allow one of the fasteners and each of the plurality of fingers to move independently of one another to self-align one of the fasteners with one of the holes as the first actuator moves the one of the fasteners from the pre-installation position to the installation position.

[0120] Appendix 2: The fastener installation assembly described in Appendix 1, wherein the plurality of fingers of each of the plurality of retainer assemblies are further defined as a first finger and a second finger arranged adjacent to each other, the first finger and the second finger of each of the plurality of retainer assemblies including inner surfaces facing each other and defining an opening therebetween, and the opening of each of the plurality of retainer assemblies is configured to receive one of the fasteners in the pre-installation position.

[0121] Appendix 3: The fastener installation assembly of Appendix 1 or 2, wherein the first finger and the second finger of each of the plurality of retainer assemblies include a first end and a second end spaced apart from each other along a longitudinal axis, the second end of the first finger and the second end of the second finger of each of the plurality of retainer assemblies are positioned closer to the workpiece than the first end of the first finger and the first end of the second finger of each of the plurality of retainer assemblies, and the opening is positioned along the longitudinal axis.

[0122] Appendix 4: A fastener installation assembly as described in Appendix 2 or 3, wherein the inner surface of the first finger and the inner surface of the second finger of each of the plurality of retainer assemblies include a lip portion extending into the opening, and the lip portions of the first finger and the second finger of each of the plurality of retainer assemblies cooperate to hold one of the fasteners in the pre-installation position.

[0123] Appendix 5: A fastener installation assembly as described in Appendix 4, wherein the lip portion of each of the plurality of retainer assemblies is positioned closer to the first ends of the first and second fingers than to the second ends of the first and second fingers.

[0124] Appendix 6: A fastener installation assembly described in any one of Appendixes 2 to 4, wherein the inner surfaces of the first finger and the second finger of each of the plurality of retainer assemblies include a guide portion extending into the opening, and the guide portion is configured to open the first finger and the second finger of the corresponding retainer assembly to accept one of the fasteners when the fastener is inserted into the opening from a first direction and positioned in the pre-installation position.

[0125] Appendix 7: A fastener installation assembly as described in Appendix 6, wherein the guide portion in each of the plurality of retainer assemblies is positioned closer to the second ends of the first and second fingers than to the first ends of the first and second fingers.

[0126] Addendum 8: A fastener installation assembly as described in Addendum 6 or 7, wherein the first finger and / or the second finger of each of the plurality of retainer assemblies includes a stop portion that limits movement of one of the fasteners in the first direction.

[0127] Appendix 9: The fastener installation assembly of Appendix 8, wherein the stop portion is disposed at the first end of the first finger and the first end of the second finger to partially close the opening at the first end.

[0128] Addendum 10: A fastener installation assembly described in any one of the preceding addendums, wherein the first finger and the second finger of each of the plurality of retainer assemblies include an outer surface facing opposite the opening, and the compliance device is coupled to the outer surface to enable the first finger and the second finger of each of the plurality of retainer assemblies to move independently of one another when one of the fasteners moves between the pre-installation position and the installed position.

[0129] Addendum 11: The fastener installation assembly of any one of the preceding addendums, wherein the compliance device of each of the plurality of retainer assemblies includes a first arm supporting the first finger and a second arm supporting the second finger, the first finger rotatable relative to the first arm and the second finger rotatable relative to the second arm, thereby enabling one of the fasteners to self-align with one of the holes as the one of the fasteners moves from the pre-installation position to the installation position.

[0130] Addendum 12: The fastener installation assembly of any one of the preceding addendums, wherein the compliance device of each of the plurality of retainer assemblies includes a first biasing plunger coupled to the first arm and a second biasing plunger coupled to the second arm, the first biasing plunger being linearly movable relative to the first arm and the second biasing plunger being linearly movable relative to the second arm, thereby enabling compliant movement of the first finger and the second finger to self-align one of the fasteners with one of the holes upon movement from the pre-installation position to the installation position.

[0131] Addendum 13: The fastener mounting assembly of any one of the preceding addendums, wherein the container includes a first wall and a second wall spaced apart from each other, each of the plurality of retainer assemblies is disposed between the first wall and the second wall, the first arm of each of the plurality of retainer assemblies is attached to the first wall, and the second arm of each of the plurality of retainer assemblies is attached to the second wall.

[0132] Addendum 14: The fastener installation assembly of any one of the preceding addendums, further comprising a bracket positioned adjacent to the container, the first actuator being attached to the bracket, the bracket or the container being movable to an actuated position, and the other of the bracket or the container being in a fixed position.

[0133] Addendum 15: The fastener installation assembly of Addendum 14, wherein the container is movable to the operating position, the bracket is disposed in the fixed position, and the container is movable to the operating position relative to the bracket.

[0134] Addendum 16: The fastener installation assembly of Addendum 14 or 15, further comprising a second actuator attached to the bracket and operably connected to the container, the second actuator configured to move the container to the actuated position and cycle one of the fasteners in each of the plurality of retainer assemblies into alignment with the first actuator.

[0135] Addendum 17: A fastener installation assembly described in any one of Addendums 14 to 16, wherein the first actuator includes a housing fixed to the bracket and a rod movable relative to the housing from an initial position to an extended position to eject one of the fasteners from each of the plurality of retainer assemblies to the installation position.

[0136] Addendum 18: The fastener installation assembly of any one of Addendums 14 to 17, wherein the fingers of each of the plurality of retainer assemblies are further defined as first and second fingers disposed adjacent to one another and defining an opening therebetween, the container defining a plurality of spaced apart access openings, the plurality of access openings align with the respective openings of the plurality of retainer assemblies, and the rod is movable through and into one of the access openings to align with the one of the access openings to eject one of the fasteners from the respective one of the plurality of retainer assemblies and insert the one of the fasteners into the installation position in one of the holes in the workpiece.

[0137] Appendix 19: An end effector tool for installing a plurality of fasteners into each of a plurality of holes in a workpiece, the end effector tool comprising: a fixture; and a plurality of fastener installation assemblies mounted to the fixture in a predetermined pattern, each of the plurality of fastener installation assemblies including a container; a plurality of retainer assemblies supported by the container and each including a plurality of fingers configured to hold one of the plurality of fasteners in a pre-installation position; and a first actuator disposed proximate to the container, the first actuator actuating the plurality of retainer assemblies. and a first actuator configured to eject one of the fasteners from each of the plurality of retainer assemblies and insert the one of the fasteners into one of the plurality of holes in the workpiece, thereby moving each fastener to an installed position, wherein each of the plurality of retainer assemblies includes a compliance device configured to allow the one of the fasteners and each of the plurality of fingers to move independently of one another to self-align the one of the fasteners with one of the holes when the first actuator moves the one of the fasteners from the pre-installation position to the installed position.

[0138] Appendix 20: A method of installing a plurality of fasteners into each of a plurality of holes in a workpiece, the method comprising: loading one of the fasteners into a pre-installation position in each of a plurality of retainer assemblies provided in a receptacle of a fastener installation assembly, the retainer assemblies each including a plurality of fingers configured to hold one of the fasteners between the fingers in the pre-installation position; aligning one of the fasteners with one of the plurality of holes in the workpiece; and actuating a first actuator disposed proximate to the receptacle to retain one of the plurality of fasteners in the pre-installation position. and inserting, via the first actuator, one of the fasteners into an installation position in one of the holes in the workpiece, wherein each of the plurality of retainer assemblies includes a compliance device configured to allow one of the fasteners and each of the plurality of fingers to move independently of one another to self-align one of the fasteners with one of the holes when the first actuator moves the one of the fasteners from the pre-installation position to the installation position.

[0139] Addendum 21: The method of Addendum 20, wherein inserting one of the fasteners into one of the holes further includes adjusting an orientation of one of the fasteners relative to one of the holes via the compliance device to self-align one of the fasteners upon insertion into one of the holes.

[0140] Addendum 22: The method of Addendum 20 or 21, wherein each of the plurality of fasteners is loaded into openings between the fingers of each of the plurality of retainer assemblies in a first direction and held in the pre-installation position, and each of the plurality of fasteners is ejected from the openings of each of the plurality of retainer assemblies in a second direction and placed in the installation position, the first direction and the second direction being opposite.

[0141] Addendum 23: The method of any one of Addendums 20 to 22, wherein installing one of the fasteners in each of the plurality of retainer assemblies further includes inserting the fastener into the opening between the fingers of each of the plurality of retainer assemblies until the fastener passes through a lip that holds the fastener within the opening.

[0142] Addendum 24: The method of any one of Addendums 20 to 23, further comprising controlling operation of an end effector tool via a controller, the controller positioning the end effector tool relative to the workpiece to align one of the fasteners of the fastener installation assembly with one of the holes, and actuating the first actuator further comprising actuating the first actuator via the controller.

Claims

1. 1. A fastener installation assembly for installing a plurality of fasteners into respective holes in a workpiece, the assembly comprising: A container and a plurality of retainer assemblies supported by the container, each retainer assemblies including a plurality of fingers configured to retain one of the plurality of fasteners therebetween in a pre-installation position; a first actuator disposed proximate to the container; the first actuator is configured to eject one of the fasteners from each of the plurality of retainer assemblies and insert each fastener into one of the plurality of holes in the workpiece, thereby moving each fastener to an installed position; a compliance device configured to allow one of the fasteners and each of the plurality of fingers to move independently of one another when the first actuator moves one of the fasteners from the pre-installation position to the installed position, thereby self-aligning the one of the fasteners with one of the holes.

2. the plurality of fingers of each of the plurality of retainer assemblies are further defined as a first finger and a second finger disposed adjacent to one another; 2. The fastener installation assembly of claim 1, wherein the first finger and the second finger of each of the plurality of retainer assemblies include inner surfaces facing each other and defining an opening therebetween, the opening of each of the plurality of retainer assemblies configured to receive one of the fasteners in the pre-installation position.

3. the first finger and the second finger of each of the plurality of retainer assemblies include a first end and a second end spaced apart from one another along a longitudinal axis; the second end of the first finger and the second end of the second finger of each of the plurality of retainer assemblies are positioned closer to the workpiece than the first end of the first finger and the first end of the second finger of each of the plurality of retainer assemblies; The fastener installation assembly of claim 2 , wherein the opening is disposed along the longitudinal axis.

4. the inner surface of the first finger and the inner surface of the second finger of each of the plurality of retainer assemblies include a lip portion extending into the opening; The fastener installation assembly of claim 3 , wherein the lips of the first and second fingers of each of the plurality of retainer assemblies cooperate to retain one of the fasteners in the pre-installation position.

5. 5. The fastener installation assembly of claim 4, wherein the lip portion of each of the plurality of retainer assemblies is positioned closer to the first ends of the first and second fingers than to the second ends of the first and second fingers.

6. 4. The fastener installation assembly of claim 3, wherein the inner surfaces of the first finger and the second finger of each of the plurality of retainer assemblies include a guide portion extending into the opening, the guide portion configured to open the first finger and the second finger of a corresponding retainer assembly to receive one of the fasteners when the fastener is inserted into the opening from a first direction and positioned in the pre-installation position.

7. 7. The fastener installation assembly of claim 6, wherein the guide portion in each of the plurality of retainer assemblies is positioned closer to the second ends of the first and second fingers than to the first ends of the first and second fingers.

8. The fastener installation assembly of claim 6 , wherein the first finger and / or the second finger of each of the plurality of retainer assemblies includes a stop that limits movement of one of the fasteners in the first direction.

9. The fastener installation assembly of claim 8 , wherein the stop is disposed at the first end of the first finger and the first end of the second finger to partially close the opening at the first end.

10. the first finger and the second finger of each of the plurality of retainer assemblies include an outer surface facing opposite the opening; 3. The fastener installation assembly of claim 2, wherein the compliance device is coupled to the outer surface to enable the first finger and the second finger of each of the plurality of retainer assemblies to move independently of one another as one of the fasteners moves between the pre-installation position and the installed position.

11. the compliance device of each of the plurality of retainer assemblies includes a first arm supporting the first finger and a second arm supporting the second finger; 11. The fastener installation assembly of claim 10, wherein the first finger is rotatable relative to the first arm and the second finger is rotatable relative to the second arm, thereby enabling one of the fasteners to self-align with one of the holes as the one of the fasteners moves from the pre-installation position to the installation position.

12. the compliance device of each of the plurality of retainer assemblies includes a first biasing plunger coupled to the first arm and a second biasing plunger coupled to the second arm; 12. The fastener installation assembly of claim 11, wherein the first biasing plunger is linearly movable relative to the first arm and the second biasing plunger is linearly movable relative to the second arm, thereby enabling compliant movement of the first finger and the second finger to self-align one of the fasteners with one of the holes during movement from the pre-installation position to the installation position.

13. the container includes a first wall and a second wall spaced apart from each other, and each of the plurality of retainer assemblies is disposed between the first wall and the second wall; The fastener installation assembly of claim 11 , wherein the first arm of each of the plurality of retainer assemblies is attached to the first wall and the second arm of each of the plurality of retainer assemblies is attached to the second wall.

14. further comprising a bracket disposed proximate to the container, the first actuator being attached to the bracket; The fastener installation assembly of claim 1 , wherein the bracket or the receptacle is movable to an operative position and the other of the bracket or the receptacle is in a fixed position.

15. The fastener installation assembly of claim 14 , wherein the receptacle is movable to the operative position, the bracket is disposed in the fixed position, and the receptacle is movable to the operative position relative to the bracket.

16. 16. The fastener installation assembly of claim 15, further comprising a second actuator mounted to the bracket and operatively coupled to the receptacle, the second actuator configured to move the receptacle to the actuated position to cycle one of the fasteners in each of the plurality of retainer assemblies into alignment with the first actuator.

17. 15. The fastener installation assembly of claim 14, wherein the first actuator includes a housing fixed to the bracket and a rod movable relative to the housing from an initial position to an extended position to eject one of the fasteners from each of the plurality of retainer assemblies to the installation position.

18. the plurality of fingers of each of the plurality of retainer assemblies is further defined as a first finger and a second finger disposed adjacent to one another and defining an opening therebetween; the container defines a plurality of spaced apart access openings aligned with respective openings of the plurality of retainer assemblies; 18. The fastener installation assembly of claim 17, wherein the rod is movable through and into one of the access openings such that alignment with the one of the access openings ejects one of the fasteners from a respective one of the retainer assemblies and inserts the one of the fasteners into the installation position in one of the holes in the workpiece.

19. 1. An end effector tool for installing a plurality of fasteners into respective holes in a workpiece, comprising: Fixtures and a plurality of fastener installation assemblies attached to the fixture in a predetermined pattern, each of the plurality of fastener installation assemblies comprising: A container and a plurality of retainer assemblies supported by the container and each including a plurality of fingers configured to hold one of the plurality of fasteners therebetween in a pre-installation position; a first actuator disposed proximate to the container, the first actuator configured to eject one of the fasteners from each of the plurality of retainer assemblies and insert the one of the fasteners into one of the plurality of holes in the workpiece, thereby moving each fastener to an installation position; an end effector tool, wherein each of the plurality of retainer assemblies includes a compliance device configured to allow one of the fasteners and each of the plurality of fingers to move independently of one another when the first actuator moves the one of the fasteners from the pre-installation position to the installed position, thereby self-aligning the one of the fasteners with one of the holes.

20. 1. A method for installing a plurality of fasteners into respective holes in a workpiece, comprising: installing one of the fasteners in a pre-installation position on each of a plurality of retainer assemblies provided in a fastener installation assembly receptacle, each retainer assemblies including a plurality of fingers configured to hold one of the fasteners between the fingers in the pre-installation position; aligning one of the fasteners with one of the plurality of holes in the workpiece; actuating a first actuator disposed proximate to the container to eject one of the fasteners from each of the plurality of retainer assemblies; inserting one of the fasteners via the first actuator into an installation position in one of the holes in the workpiece, wherein each of the plurality of retainer assemblies includes a compliance device configured to allow one of the fasteners and each of the plurality of fingers to move independently of one another when the first actuator moves one of the fasteners from the pre-installation position to the installation position, thereby self-aligning one of the fasteners with one of the holes.

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