Annular component mounting system and method

Abstract

To provide an annular component installation system and method for installing an annular component around a workpiece which reduces installation time, improves safety, reduces labor, is easily automated, and minimizes waste of parts.SOLUTION: A component installation system includes an engagement clamp having a circular shape coupled to a robotic arm, being configured to engage an annular component. The component installation system further includes an actuator coupled to the engagement clamp and operable to cause the engagement clamp to engage and disengage the annular component, and a heating element coupled to the engagement clamp and configured to heat the annular component engaged within the engagement clamp. The component installation system further includes a controller in communication with the robotic arm, the actuator, and the heating element.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a method and system for mounting an annular component around a workpiece. [Background technology]

[0002] Annular components such as bushings are often installed in aircraft systems and other industrial machines to reduce or eliminate vibrations and for other purposes. In some examples, the center bushing is attached to a workpiece, such as in a torque tube assembly used in an aircraft for use in a wheel well, high lift device, braking system, etc. In a further example, a torque tube is utilized to mechanically transmit torque from a driver to a driven device.

[0003] Such center bushings are typically installed by preheating the bushing and then manually inserting the bushing around the torque tube. An operator must generally manually handle the hot preheated bushing prior to installation, which is a safety concern. Furthermore, in some instances, an operator must manually position the workpiece at an awkward angle and install the center bushing around the workpiece, which can inherently lead to errors and defects in workmanship. Furthermore, such installations can be returned for revision and rejected due to the manual steps involved in heating and maintaining the bushing in a fixed location on the workpiece. In other instances, there is variability in the installation of the bushing as different operators tend to place the bushing around the workpiece differently. There are also issues with operator fatigue in handling heavy machine parts.

[0004] Therefore, there is a need for an annular component mounting system and method for mounting an annular component around a workpiece that reduces mounting time, improves safety, reduces labor, is easily automated, and minimizes parts waste. Summary of the Invention

[0005] These needs and others are met by aspects of the present disclosure, in one aspect of which a component mounting system is provided. The component mounting system includes an engagement clamp having a circular shape coupled to a robotic arm. The engagement clamp is configured to engage an annular component. An actuator coupled to the engagement clamp is capable of causing the engagement clamp to engage and disengage from the annular component. A heating element coupled to the engagement clamp is configured to heat the annular component engaged within the engagement clamp. The component mounting system further includes a controller in communication with the robotic arm, the actuator, and the heating element. The controller includes a processor and a memory having computer readable instructions. The computer readable instructions, when executed by the processor, cause the controller to actuate the actuator to cause the engagement clamp to engage the annular component, actuate the heating element to heat the annular component in the engagement clamp, deactivate the heating element, direct the robot arm and engagement clamp to position the heated annular component in an attachment position relative to a workpiece, deactivate the heating element to maintain the annular component in the attachment position so that the annular component engages the workpiece upon cooling, and deactivate the actuator to cause the engagement clamp to disengage the annular component from the annular component.

[0006] Another aspect of the disclosure provides a method of coupling an annular component to a workpiece using a mounting system. The mounting system includes a robot arm having an engagement clamp that engages a distal end of the robot arm. The method includes actuating an actuator coupled to the engagement clamp configured to engage the engagement clamp with the annular component and actuating a heating element coupled to the engagement clamp to heat the annular component engaged in the engagement clamp. The heated annular component is positioned by directing movement of the robot arm having the engagement clamp into a mounting position relative to the workpiece, and the annular component is maintained in the mounting position with the heating element deactivated, such that upon cooling, the annular component engages the workpiece. The actuator is then deactivated to direct the engagement clamp to disengage the annular component.

[0007] These and other features, aspects, and advantages of the present disclosure will become apparent upon reading the following detailed description in conjunction with the accompanying drawings, which are briefly described below. In specific embodiments described herein, the present disclosure includes any combination of two, three, four, or more features or elements set forth in this disclosure, whether or not such features or elements are explicitly combined or otherwise recited. The present disclosure is intended to be read holistically, and any separable features or elements of the present disclosure should be considered as intended, i.e. combinable, in any of its aspects and embodiments, unless the context of the present disclosure clearly indicates otherwise.

[0008] It will be understood that the "Summary" of this specification is provided only for the purpose of summarizing some exemplary aspects so as to provide a basic understanding of the present disclosure. Therefore, it will be understood that the exemplary aspects described above are merely examples and should not be construed in any way to narrow the scope or nature of the present disclosure. It will be understood that the scope of the present disclosure encompasses many potential aspects, some of which are further described below in addition to those summarized herein. Furthermore, other aspects and advantages of such aspects disclosed herein will become apparent from the following detailed description taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the described aspects.

[0009] The present disclosure having thus far been described in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale. [Brief description of the drawings]

[0010] [Figure 1] 1 illustrates a schematic diagram of an exemplary component mounting system according to one aspect of the present disclosure. [Diagram 2] 1 illustrates a perspective view of an exemplary configuration of a component mounting system according to one aspect of the present disclosure. [Diagram 3] 1A-1C illustrate schematic diagrams of an exemplary process for mounting an annular component around a workpiece according to one embodiment of the present disclosure. [Figure 4] 1A-1C illustrate schematic diagrams of an exemplary process for mounting an annular component around a workpiece according to one embodiment of the present disclosure. [Diagram 5] 1A-1C illustrate schematic diagrams of an exemplary process for mounting an annular component around a workpiece according to one embodiment of the present disclosure. [Figure 6] 1A-1C illustrate schematic diagrams of an exemplary process for mounting an annular component around a workpiece according to one embodiment of the present disclosure. [Figure 7A] 1 illustrates a perspective view of an exemplary engagement clamp and an exemplary actuator of a component mounting system in an engaged position, according to one aspect of the disclosure. [Figure 7B] 1 illustrates a perspective view of an exemplary engagement clamp and an exemplary actuator of a component mounting system in a disengaged position, according to one aspect of the disclosure. [Figure 8] 1 illustrates a perspective view of another exemplary engagement clamp and another exemplary actuator of a component mounting system in accordance with one aspect of the present disclosure. [Figure 9] FIG. 2 is a flow diagram of an exemplary process for mounting an annular component around a workpiece according to one aspect of the present disclosure. [Figure 10] FIG. 1 illustrates a perspective view of an exemplary robot for use in a component installation system, according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The present disclosure is described in more detail below with reference to the accompanying drawings, in which some, but not all, aspects of the disclosure are shown. Indeed, the present disclosure may be embodied in many different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure will be thorough and complete, will fully convey the scope of the disclosure to those skilled in the art, and will satisfy applicable legal requirements. Like numbers refer to like elements throughout. As used in this specification and claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

[0012] 1-10 illustrate a system and method for a component mounting system 100 for mounting a component 120 around a workpiece 200 in accordance with one or more embodiments of the present disclosure. In various embodiments, the component mounting system 100 is applicable to aircraft components, and in one example is particularly applicable to mounting bushings around torque tubes for aircraft wheel wells. In other embodiments, the component mounting system 100 is used in other applications (e.g., other structural components or parts of an aircraft, or structural components of an automobile, boat, ship, etc.). Typically, the component 120 is an annular component that is mounted around a cylindrical workpiece 200, although the component mounting system 100 may include components that are otherwise shaped, arranged, or configured without departing from the present disclosure.

[0013] 1-2, a schematic and perspective view of a component mounting system 100 are shown, respectively. The component mounting system 100 includes an engagement clamp 110 coupled to a distal end 135 of a robot arm 130 of a robot 125. The robot 125 is generally shown in FIG. 10 with six axes or degrees of motion. Generally, the engagement clamp 110 has a circular shape and includes an opening 111 adapted to receive and engage an annular component about the circumference of the annular component 120. The annular component 120 includes an opening 121 configured to allow the annular component 120 to be received about the circumference of a workpiece 200 (shown in FIGS. 5-6). In one embodiment, the annular component 120 includes a bushing configured to be received about a workpiece 200 including a torque tube for an aircraft wheel well, such that the bushing extends about the torque tube. In such an example, the engagement clamp 110 includes a collar having a circular sidewall configured to extend around the bushing.

[0014] 1-2, in one embodiment, the annular component 120 defines an exterior circumference, and a heating element 150 coupled to the engagement clamp 110 is configured to be received by and heat the engaged annular component 120. The component mounting system 100 further includes an actuator 140 coupled to the engagement clamp 110. The actuator 140 is configured to cause the engagement clamp 110 to engage and disengage with the annular component 120. The component mounting system 100 further includes one or more controllers (e.g., controller 170), which are in communication with the robotic arm 130, the actuator 140, and the heating element 150. In one embodiment, the component mounting system includes an optional heating controller 160 that controls the heating element 150. In an embodiment, the heating controller 160 is separate from the controller 170. The terms "controller" and "control system" are used interchangeably throughout this disclosure. The component mounting system 100 further includes a Human Machine Interface (HMI) or computer 180 .

[0015] 1, in an embodiment, the controller 170 and the heating controller 160 are communicatively coupled to transmit and / or receive signals via a communication interface. For example, the controller 170 transmits signals to the robotic arm 130, the actuator 140, and the optional heating controller 160. In another embodiment, the heating controller 160 transmits command signals to the heating element 150 to initiate heating and receives temperature signals. The communication interface includes one or more communication networks (e.g., an Ethernet interface, a Universal Serial Bus (USB) interface, or a wireless interface). In certain embodiments, the controller 170 is coupled to the robotic arm 130, the actuator 140, and / or the heating controller 160 by hardwires or cables (e.g., interface cables). Similarly, the heating controller 160 may be hardwired to the heating element 150. In an embodiment, the controller 170 includes a computer system having one or more processors and a memory having computer readable instructions.

[0016] 2-6 show perspective views of the component mounting system 100 as computer readable instructions, when executed by a processor, cause the controller 170 to perform various operations. For example, the computer readable instructions may cause the controller 170 to direct movement of the robot arm 130 to position the engagement clamp 110 above an unmounted annular component 120 before the engagement clamp 110 engages the annular component 120 (FIG. 2), or to direct movement of the robot arm 130 to move the engagement clamp 110 away from the mounted annular component 120 after the engagement clamp 110 disengages from the annular component 120 (not shown). When the engagement clamp 110 is positioned over the annular component 120, the computer readable instructions, when executed, cause the controller 170 to actuate the actuator 140 to cause the engagement clamp 110 to engage the annular component 120 ( FIG. 3 : e.g., contract radially to engage the annular component 120 around its circumference). When the annular component 120 is engaged within the engagement clamp 110, the computer readable instructions, when executed, cause the heating element 150 to heat the annular component 120 within the engagement clamp 110 ( FIGS. 3-4 ). In one embodiment, the controller 170 directs the heating controller 160 to actuate the heating element 150 to heat the annular component 120 within the engagement clamp 110. In another embodiment, the heating controller 160 is directly coupled to the HMI 180, and the heating controller 160 actuates the heating element 150 to heat the annular component 120 within the engagement clamp 110.

[0017] In one embodiment, the computer readable instructions cause the controller 170 to direct the robotic arm 130 to move the annular component 120 to interact with a sensor 152 ( FIG. 4 ) configured to generate a signal indicative of a temperature of the annular component 120, and further cause the controller 170 or the heating controller 160 to direct the heating element 150 to heat the annular component 120 based at least in part on the signal generated by the sensor 152. As the annular component 120 within the engagement clamp 110 heats, the engagement clamp 110 even allows for an expansion of the circumference of the annular component 120 within the engagement clamp 110. The engagement clamp 110 controls the expansion of the annular component 120 during heating to prevent any twisting or distortion of the annular component 120. In another embodiment, the computer readable instructions further cause the controller 170 or the heating controller 160 to control the heating element 150 to heat the annular component 120 and monitor a sensor to detect when the annular component 120 is heated to a predetermined temperature of at least about 485°F.

[0018] 2 and 8, the heating element 150 is depicted as a thin strip embedded circumferentially into the surface of the inner sidewall of the engagement clamp 110, although the heating element 150 may be shaped, sized, or configured in different configurations without departing from this disclosure. The heating element 150 is configured to transfer heat from the engagement clamp 110 to the annular component 120 via conduction. In an embodiment, the heating element 150 is integral with the engagement clamp 110, although the heating element 150 may be attached to the engagement clamp 110 or the annular component 120 without departing from this disclosure.

[0019] In some examples, the computer readable instructions further cause the controller 170 or the heating controller 160 to deactivate the heating element 150. Deactivation of the heating element 150 is based on the annular component 120 reaching a predetermined temperature or based on other parameters, such as a predetermined heating time being reached or a second sensor indicating an expansion of the annular component 120 within the engagement clamp 110. Once the heating element 150 is deactivated and / or the annular component 120 reaches the predetermined temperature, the computer readable instructions further cause the controller 170 to direct the robot arm 130 and the engagement clamp 110 to position the heated annular component 120 in an attachment position relative to the workpiece 200 (FIG. 6).

[0020] 4, in certain embodiments, the sensor 152 is positioned adjacent to the workpiece 200, less than a minimum distance from the workpiece 200 (e.g., less than 4 feet of travel distance). When the controller 170 configured to monitor the sensor 152 or the heating controller 160 detects that the annular component 120 has been heated by the heating element 150 to a predetermined temperature, the computer readable instructions then cause the controller 170 to control the robot arm 130 to move the engagement clamp 110 and the annular component 120 from the sensor 152 to a mounting position on the workpiece 200, thereby minimizing the period during which the heated annular component 120 is positioned around the workpiece 200, such that the heated annular component 120 does not cool and shrinks to the extent that its thermally expanded inner diameter does not fit over the workpiece.

[0021] When the heating element 150 is deactivated, the computer readable instructions further cause the controller 170 to maintain the annular component 120 in the attached position such that the annular component 120 engages the workpiece as it cools ( FIG. 6 ). In some examples, the amount of time the annular component 120 is maintained in the attached position is based on a predetermined amount of time the annular component 120 is allowed to cool. In some embodiments, the computer readable instructions cause the controller 170 to maintain the annular component 120 in the attached position as the annular component 120 cools until radial contraction of the annular component 120 creates an interference fit between the annular component 120 and the workpiece 200.

[0022] The workpiece 200 may include a torque tube for an aircraft with two ends seam-welded together where the annular component 120 may be positioned over the weld seam to provide reinforcement for the weld seam. For example, when the annular component 120 includes a bushing and the workpiece includes a torque tube for an aircraft wheel well such that the bushing extends around the torque tube, the computer readable instructions would cause the controller 170 to deactivate the heating element 150 and direct the robotic arm 130 to move the engagement clamp 110 to position the heated annular component 120 (the bushing) in an attached position relative to the torque tube, and to maintain the bushing in the attached position around the torque tube until, upon cooling of the bushing, radial contraction of the bushing creates an interference fit between the bushing and the torque tube.

[0023] When the heating element 150 is stopped and a predetermined time for maintaining the annular component 120 in the attached position is reached or an interference fit between the annular component 120 and the workpiece 200 is established, the computer readable instructions cause the controller 170 to stop the actuator 140 to cause the engagement clamp 110 to disengage from the annular component 120 and to direct movement of the robot arm 130 to move the engagement clamp 110 away from the annular component 120 after the engagement clamp 110 disengages from the annular component 120.

[0024] 2-6 and further to FIGS. 7A, 7B, and 8, in some embodiments, the engagement clamp 110 includes a split collar 113 having a circular sidewall 112 with spaced apart first and second sidewall ends 114, 116. When the actuator 140 is actuated, the actuator 140 pulls the first sidewall end 114 toward the second sidewall end 116, radially reducing the diameter of the split collar 113 such that the split collar 113 contracts and engages around the annular component 120. The actuator 140, as shown in FIGS. 3A-3B, includes a motorized linear actuator, although the actuator 140 may include a hydraulic or pneumatic actuator and may include a rotary actuator without departing from this disclosure. The actuator 140 in FIGS. 7A and 7B is located proximate to the first sidewall end 114. The actuator 140 includes an extendable internal rod 146 coupled to the second sidewall end 116. The actuator 140 includes a rotating spindle or lead screw 142 that allows the internal rod 146 to be retracted to pull the first and second sidewall ends 114, 116 toward each other to engage the annular component 120 (FIG. 7A) or extended to push the first and second sidewall ends 114, 116 away from each other to disengage from the annular component 120 (FIG. 7B). As shown in FIG. 4, in some embodiments, the engagement clamp 110 includes a manual locking mechanism 146 configured to engage and disengage the annular component 120 within the engagement clamp 110.

[0025] In accordance with the above, another aspect of the disclosure provides a method 900 for coupling an annular component 120 to a workpiece 200 using a mounting system 100 including a robot arm 130 having an engagement clamp 110 engaged with a distal end 135 of the robot arm 130, as shown, for example, in FIG. 9 and further illustrated in FIGS. 2-6. In such aspect, the method 900 includes a step 910 of actuating an actuator 140 coupled to the engagement clamp 110 configured to engage the engagement clamp 110 with the annular component 120 (FIG. 3). In certain embodiments, the method 900 also includes a step of directing movement of the robot arm 130 to position the engagement clamp 110 above the annular component 120 prior to the engagement clamp 110 engaging the annular component 120. In certain embodiments, the method 900 includes coupling a controller 170 to the robotic arm 130, the engagement clamp 110, the actuator 140, and the heating element 150, where the controller 170 includes a processor and a memory including computer readable instructions executable by the processor that cause the controller 170 to control the robotic arm 130, the engagement clamp 110, the actuator 140, and the heating element 150. In certain embodiments, the heating controller 160 may control certain aspects of the heating element 150. In certain embodiments, the engagement clamp 110 includes a split collar having a circular sidewall with spaced apart first and second sidewall ends 114 and 116 (FIGS. 7A-7B and 8). In such an example, engaging the annular component 120 includes actuating the actuator 140 to pull the first sidewall end 114 toward the second sidewall end 116 to radially contract the split collar so that it contracts and engages around the annular component 120, and directing the engagement clamp 110 to disengage the annular component 120 includes stopping the actuator 140 to move the first sidewall end 114 away from the second sidewall end 116 to radially expand the split collar so that it expands and disengages from the annular component 120.In certain embodiments, the actuator 140 includes a linear actuator positioned proximate to the first sidewall end 114 and has an extendable rod 144 coupled to the second sidewall end 116, and actuating the actuator 140 to disengage from the annular component 120 includes actuating the linear actuator to retract the rod 144 and pull the first sidewall end 114 and the second sidewall end 116 toward each other to engage with the annular component 120.

[0026] The method 900 further includes a step 920 of activating a heating element 150 coupled to the engagement clamp 110 to heat the annular component 120 engaged within the engagement clamp 110. In a particular embodiment, the step of activating the heating element 150 includes receiving a signal from the sensor 152 indicative of a temperature of the annular component 120, and activating the heating element 150 to heat the annular component 120 ( FIG. 4 ) based at least in part on the signal. In another embodiment, the step of activating the heating element 150 includes controlling the heating element 150 to heat the annular component 120 and monitoring the sensor 152 to detect when the annular component 120 is heated to a predetermined temperature of at least 485° F. In certain embodiments, the method 900 includes, at step 920, the further step of activating the actuator 140 to extend the engagement clamp 110 around the circumference of the annular component 120 and activating a heating element 150 coupled to the engagement clamp 110 to heat the annular component 120 around its circumference.

[0027] The method 900 further includes positioning 930 the heated annular component 120 by directing movement of the robot arm 130 having the engagement clamp 110 in an attachment position relative to the workpiece 200 ( FIG. 6 ). In one embodiment, the method further includes positioning 930 the heated annular component 120 including a bushing, where the engagement clamp 110 includes an engagement collar configured to extend around the bushing, in an attachment position with the bushing extending around the workpiece 200 including a torque tube for an aircraft wheel well.

[0028] The method 900 further includes step 940 of deactivating the heating element 150 to maintain the annular component 120 in the mounting position such that upon cooling, the annular component 120 engages the workpiece 200. In certain embodiments, the method 900 includes, at step 940, deactivating the heating element 150 and moving the robot arm 130 to position the engagement clamp 110 holding the annular component 120 in the mounting position of the workpiece 200, while maintaining the annular component 120 in the mounting position until cooling of the annular component 120 results in a radial contraction of the annular component 120 resulting in an interference fit between the annular component 120 and the workpiece 200. In certain other embodiments, the method 900 includes, at step 940, deactivating the heating element 150 and directing movement of the robot arm 130 to move the engagement clamp 110 to position the heated annular component 120 in an attachment position on the workpiece 200 while maintaining the bushing in the attachment position around the torque tube until cooling of the bushing causes radial contraction of the bushing to create an interference fit between the bushing and the torque tube.

[0029] The method 900 further includes a step 950 of stopping the actuator 140 to direct the engagement clamp 110 to disengage from the annular component 120. Once the engagement clamp 110 disengages from the annular component 120, in some embodiments, the method 900 further includes directing movement of the robot arm 130 to move the engagement clamp 110 away from the annular component 120.

[0030] Accordingly, this disclosure includes, but is not limited to, the following provisions.

[0031] Clause 1: A component mounting system comprising: an engagement clamp having a circular shape coupled to the robot arm, the engagement clamp configured to engage the annular component; an actuator coupled to the engagement clamp and operable to cause the engagement clamp to engage and disengage the annular component; a heating element coupled to the engagement clamp and configured to heat the annular component engaged within the engagement clamp; A controller in communication with the robotic arm, the actuator, and the heating element, the controller comprising a processor and a memory having computer readable instructions that, when executed by the processor, cause the controller to: actuating the actuator to cause the engagement clamp to engage the annular component; activating the heating element to heat the annular component within the engagement clamp; deactivating the heating element; directing the robot arm and the engagement clamp to position the heated annular component in an attachment position relative to a workpiece; deactivating the heating element to maintain the annular component in the mounted position such that the annular component engages the workpiece upon cooling; and deactivating the actuator to cause the engagement clamp to disengage from the annular component; A controller for causing A component mounting system comprising:

[0032] Clause 2: The computer-readable instructions, when executed by the processor, cause the controller to: directing movement of the robot arm to position the engagement clamp above the annular component before the engagement clamp engages the annular component; or 2. The component mounting system of claim 1, further comprising: directing movement of the robot arm to move the engagement clamp away from the annular component after the engagement clamp disengages from the annular component.

[0033] Clause 3: The component mounting system of clause 1, wherein the annular component comprises a bushing configured to be received around the workpiece comprising a torque tube for an aircraft wheel well, such that the bushing extends around the torque tube, and the engagement clamp comprises a collar having a circular sidewall configured to extend around the bushing.

[0034] Clause 4: The component mounting system of clause 1, wherein the engagement clamp is configured to extend around a circumference of the annular component, and the heating element is coupled to the engagement clamp to heat the annular component around its circumference.

[0035] Clause 5: The component mounting system of clause 1, wherein the engagement clamp comprises a split collar having a circular sidewall with a first sidewall end and a second sidewall end spaced apart, and actuation of the actuator pulls the first sidewall end toward the second sidewall end radially reducing a diameter of the split collar such that the split collar contracts around and engages the annular component, and deactivation of the actuator moves the first sidewall end away from the second sidewall end radially expanding the split collar such that the split collar expands and disengages from the annular component.

[0036] Clause 6: The component mounting system of clause 1, wherein the computer readable instructions, when executed by the processor, further cause the controller to direct the robot arm to move the annular component to interact with a sensor configured to generate a signal indicative of a temperature of the annular component, and the computer readable instructions, when executed by the processor, further cause the controller to direct the heating element to heat the annular component based at least in part on the signal generated by the sensor.

[0037] Clause 7: The component mounting system of clause 6, wherein the computer readable instructions, when executed by the processor, further cause the controller to control the heating element to heat the annular component and monitor the sensor to detect when the annular component is heated to a predetermined temperature of at least about 485°F.

[0038] Clause 8: The component mounting system of clause 7, wherein the sensor is positioned adjacent to the workpiece and the controller is configured to monitor the sensor to detect when the annular component is heated by the heating element to the predetermined temperature, and in response, the controller is configured to control the robot arm to move the engagement clamp and the annular component from the sensor to the mounting position on the workpiece, thereby minimizing the time period for positioning the annular component on the workpiece.

[0039] Clause 9: The component mounting system of clause 8, wherein the computer readable instructions, when executed by the processor, cause the controller to deactivate the heating element, move the robot arm to position the engagement clamp holding the annular component to a mounting position on the workpiece, and maintain the annular component in the mounting position until radial contraction of the annular component creates an interference fit between the annular component and the workpiece upon cooling of the annular component.

[0040] Clause 10: The component mounting system of clause 1, wherein the annular component comprises a bushing configured to be received around the workpiece comprising a torque tube for an aircraft wheel well, such that the bushing extends around the torque tube, and the computer readable instructions, when executed by the processor, cause the controller to deactivate the heating element, direct the robot arm to move the engagement clamp to position the heated annular component in an attachment position relative to the workpiece, and maintain the bushing in the attachment position around the torque tube until radial contraction of the bushing creates an interference fit between the bushing and the torque tube upon cooling of the bushing.

[0041] Clause 11: The component mounting system of clause 5, wherein the actuator comprises a linear actuator positioned adjacent to the first sidewall end and having an extendable rod connected to the second sidewall end, and when actuated, the actuator retracts the rod to pull the first sidewall end and the second sidewall end toward each other to engage the annular component.

[0042] Clause 12: A method of connecting an annular component to a workpiece using a mounting system comprising a robot arm having an engagement clamp engaged with a distal end of the robot arm, the method comprising: actuating an actuator coupled to the engagement clamp configured to cause the engagement clamp to engage the annular component; activating a heating element coupled to the engagement clamp to heat the annular component engaged within the engagement clamp; positioning the heated annular component in a mounting position relative to the workpiece by directing movement of the robot arm having the engagement clamp; deactivating the heating element to maintain the annular component in the mounted position such that the annular component engages the workpiece upon cooling; and deactivating the actuator to direct the engagement clamp to disengage from the annular component; A method comprising:

[0043] Clause 13: Directing movement of the robot arm to position the engagement clamp above the annular component before the engagement clamp engages the annular component; or 13. The method of claim 12, further comprising directing movement of the robot arm to move the engagement clamp away from the annular component after the engagement clamp disengages from the annular component.

[0044] Clause 14: The method of clause 12, further comprising coupling a controller to the robotic arm, the engagement clamp, the actuator, and the heating element, the controller comprising a processor and a memory having computer readable instructions executable by the processor to cause the controller to control the robotic arm, the engagement clamp, the actuator, and the heating element.

[0045] Clause 15: The method of clause 12, wherein positioning the heated annular component by directing movement of the robot arm having the engagement clamp in an attachment position relative to the workpiece includes positioning the heated annular component with a bushing, wherein the engagement clamp includes an engagement collar configured to extend around the bushing in an attachment position with the bushing extending around the workpiece comprising a torque tube for an aircraft wheel well.

[0046] Clause 16: The method of clause 12, wherein the engagement clamp is configured to extend around a circumference of the annular component, and activating the heating element includes activating the heating element coupled to the engagement clamp to heat the annular component around its circumference.

[0047] Clause 17: The method of clause 12, wherein the engagement clamp comprises a split collar having a circular sidewall with spaced apart first and second sidewall ends, and engaging the annular component comprises actuating the actuator to pull the first sidewall end toward the second sidewall end to radially contract the split collar such that the split collar contracts around and engages the annular component.

[0048] Clause 18: The method of clause 17, wherein directing the engagement clamp to disengage from the annular component includes stopping the actuator to move the first sidewall end away from the second sidewall end to radially expand the split collar such that the split collar expands and disengages from the annular component.

[0049] Clause 19: The method of clause 12, wherein activating the heating element to heat the annular component includes receiving a signal from a sensor indicative of a temperature of the annular component, and activating the heating element to heat the annular component based at least in part on the signal received from the sensor.

[0050] Clause 20: The method of clause 19, wherein activating the heating element to heat the annular component includes controlling the heating element to heat the annular component and monitoring the sensor to detect when the annular component is heated to a predetermined temperature of at least 485°F.

[0051] Clause 21: The method of clause 20, wherein stopping the heating element includes stopping the heating element and moving the robot arm to position the engagement clamp holding the annular component at a mounting position on the workpiece, while maintaining the annular component in the mounting position until cooling of the annular component results in radial contraction of the annular component resulting in an interference fit between the annular component and the workpiece.

[0052] Clause 22: The method of clause 12, wherein the annular component comprises a bushing configured to be received around the workpiece comprising a torque tube for an aircraft wheel well, such that the bushing extends around the torque tube, and deactivating the heating element includes deactivating the heating element and directing movement of the robot arm to move the engagement clamp to position the heated annular component at an attachment position on the workpiece, while maintaining the bushing in the attachment position around the torque tube until cooling of the bushing causes radial contraction of the bushing to create an interference fit between the bushing and the torque tube.

[0053] Clause 23: The method of clause 17, wherein the actuator comprises a linear actuator positioned adjacent to the first sidewall end and having an extendable rod connected to the second sidewall end, and actuating the actuator to disengage from the annular component comprises actuating the linear actuator to retract the rod to pull the first sidewall end and the second sidewall end toward each other to engage the annular component.

[0054] Numerous modifications and other embodiments of the invention related to the embodiments of the present disclosure will occur to one skilled in the art having the benefit of the teachings presented in the above description and the associated drawings. It is therefore to be understood that the embodiments of the present invention are not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be within the scope of the invention. Moreover, while the above description and the associated drawings describe exemplary embodiments in the context of certain exemplary combinations of elements and / or functions, it should be recognized that alternative embodiments may provide various combinations of elements and / or functions without departing from the scope of the present disclosure. That is, for example, combinations of elements and / or functions different from those expressly described above are also contemplated within the scope of the present disclosure. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

[0055] Although terms such as first, second, etc. may be used herein to describe various steps or calculations, it should be understood that these steps or calculations should not be limited to these terms. These terms are used only to distinguish one operation or calculation from another. For example, a first calculation may be referred to as a second calculation, and similarly, a second calculation may be referred to as a first calculation, without departing from the scope of the present disclosure. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0056] As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly dictates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including," as used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Thus, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

Claims

1. A component mounting system (100), comprising: an engagement clamp (110) having a circular shape coupled to a robotic arm (130), the engagement clamp (110) configured to engage an annular component (120); an actuator (140) coupled to the engagement clamp (110) and operable to cause the engagement clamp (110) to engage and disengage with the annular component (120); a heating element (150) coupled to the engagement clamp (110) and configured to heat the annular component (120) engaged within the engagement clamp (110); a controller (170) in communication with the robotic arm (130), the actuator (140), and the heating element (150), the controller (170) including a processor and a memory having computer readable instructions that, when executed by the processor, cause the controller (170) to: actuating the actuator (140) to cause the engagement clamp (110) to engage the annular component (120); activating the heating element (150) to heat the annular component (120) within the engagement clamp (110); deactivating said heating element (150); directing the robot arm (130) and the engagement clamp (110) to position the heated annular component (120) in an attachment position relative to a workpiece (200); deactivating the heating element (150) to maintain the annular component (120) in the mounted position such that the annular component (120) engages the workpiece (200) upon cooling; and deactivating the actuator (140) to cause the engagement clamp (110) to disengage from the annular component (120); A controller for causing A component mounting system (100) comprising:

2. The computer readable instructions, when executed by the processor, cause the controller (170) to: directing movement of the robot arm (130) to position the engagement clamp (110) above the annular component (120) before the engagement clamp (110) engages the annular component (120); directing movement of the robot arm (130) to move the engagement clamp (110) away from the annular component (120) after the engagement clamp (110) has disengaged from the annular component (120); The system (100) of claim 1, further comprising:

3. 3. The system (100) of claim 1 or 2, wherein the engagement clamp (110) is configured to extend around a circumference of the annular component (120), and the heating element (150) is coupled to the engagement clamp (110) to heat the annular component (120) around its circumference.

4. 4. The system of claim 1, wherein the engagement clamp comprises a split collar having a circular sidewall with spaced apart first and second sidewall ends, actuation of the actuator pulls the first sidewall end toward the second sidewall end to radially reduce a diameter of the split collar such that the split collar contracts around and engages the annular component, and deactivation of the actuator moves the first sidewall end away from the second sidewall end to radially expand the split collar such that the split collar expands and disengages from the annular component.

5. 5. The system of claim 1, wherein the computer readable instructions, when executed by the processor, further cause the controller to direct the robotic arm to move the annular component to interact with a sensor configured to generate a signal indicative of a temperature of the annular component, the computer readable instructions, when executed by the processor, further cause the controller to direct the heating element to heat the annular component based at least in part on the signal generated by the sensor, and the computer readable instructions, when executed by the processor, further cause the controller to control the heating element to heat the annular component and monitor the sensor to detect when the annular component has been heated to a predetermined temperature of at least 252° C. (485° F.).

6. 6. The system of claim 5, wherein the sensor is positioned adjacent to the workpiece, and the controller is configured to monitor the sensor to detect when the heating element has heated the annular component to the predetermined temperature, and in response, the controller is configured to control the robot arm to move the engagement clamp and the annular component from the sensor to the attachment position on the workpiece, thereby minimizing a time period for positioning the annular component on the workpiece.

7. 7. The system of claim 6, wherein the computer readable instructions, when executed by the processor, cause the controller to: deactivate the heating element, move the robot arm to position the engagement clamp holding the annular component at the attachment position on the workpiece, and maintain the annular component in the attachment position until radial contraction of the annular component creates an interference fit between the annular component and the workpiece as the annular component cools.

8. 8. The system of claim 1, wherein the annular component comprises a bushing configured to be received around the workpiece including a torque tube for an aircraft wheel well such that the bushing extends around the torque tube, and the computer readable instructions, when executed by the processor, cause the controller to deactivate the heating element, direct the robot arm to move the engagement clamp to position the heated annular component in the attachment position relative to the workpiece, and maintain the bushing in the attachment position around the torque tube until radial contraction of the bushing creates an interference fit between the bushing and the torque tube upon cooling of the bushing.

9. 1. A method (900) for connecting an annular component (120) to a workpiece (200) using a mounting system (100) comprising a robot arm (130) having an engagement clamp (110) engaged with a distal end (135) of the robot arm, comprising: actuating an actuator (140) coupled to the engagement clamp (110) configured to cause the engagement clamp (110) to engage the annular component (120); activating a heating element (150) coupled to the engagement clamp (110) to heat the annular component (120) engaged within the engagement clamp (110); Positioning the heated annular component (120) in an attachment position relative to the workpiece (200) by directing movement of the robot arm (130) having the engagement clamp (110); deactivating the heating element (150) to maintain the annular component (120) in the mounted position such that the annular component (120) engages the workpiece (200) upon cooling; and deactivating the actuator (140) to direct the engagement clamp (110) to disengage from the annular component (120); The method (900).

10. directing movement of the robot arm (130) to position the engagement clamp (110) above the annular component (120) before the engagement clamp (110) engages the annular component (120); directing movement of the robot arm (130) to move the engagement clamp (110) away from the annular component (120) after the engagement clamp (110) has disengaged from the annular component (120); 10. The method of claim 9, further comprising:

11. 11. The method (900) of claim 9 or 10, wherein the engagement clamp (110) is configured to extend around a circumference of the annular component (120), and actuating the heating element (150) comprises receiving a signal from a sensor (152) indicative of a temperature of the annular component (120) based at least in part on the signal received from the sensor (152), actuating the heating element (150) coupled to the engagement clamp (110) to heat the annular component (120) around its circumference, and monitoring the sensor (152) to detect when the annular component (120) is heated to a predetermined temperature of at least 252° C. (485° F.).

12. 12. The method (900) of any one of claims 9 to 11, wherein the engagement clamp (110) comprises a split collar having a circular sidewall with spaced apart first and second sidewall ends (114 and 116), and engaging the annular component (120) comprises actuating the actuator (140) to pull the first sidewall end (114) toward the second sidewall end (116) to radially contract the split collar such that the split collar contracts around and engages the annular component (120).

13. 13. The method (900) of claim 12, wherein directing the engagement clamp (110) to disengage from the annular component (120) comprises stopping the actuator (140) to move the first sidewall end (114) away from the second sidewall end (116) to radially expand the split collar such that the split collar expands and disengages from the annular component (120).

14. 14. The method (900) of any one of claims 9 to 13, wherein stopping the heating element (150) includes stopping the heating element (150) and moving the robot arm (130) to position the engagement clamp (110) holding the annular component (120) at the mounting position of the workpiece (200), while maintaining the annular component (120) in the mounting position until cooling of the annular component (120) results in a radial contraction of the annular component (120) resulting in an interference fit between the annular component (120) and the workpiece (200).

15. 15. The method of claim 9, wherein the annular component comprises a bushing configured to be received around the workpiece comprising a torque tube for an aircraft wheel well such that the bushing extends around the torque tube, and deactivating the heating element includes deactivating the heating element and directing movement of the robot arm to move the engagement clamp to position the heated annular component at the installation position on the workpiece while maintaining the bushing in the installation position around the torque tube until cooling of the bushing causes radial contraction of the bushing to create an interference fit between the bushing and the torque tube.

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