Fastening End Effector With Gripper-Guided Fastener Insertion
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Solution Overview
Problem
Current fastening systems in aircraft assembly using robotics face issues with inconsistent fastener orientation and blockages, as well as challenges in efficiently inserting fasteners into both metal and composite structures.
Innovation Solution
A fastening end effector with a hammering insertion die and grippers that can translate along a longitudinal axis, allowing for the grippers to securely hold a fastener head against the die, and retract the fastener into the effector for safe handling and insertion into structures, using a hammering system to drive fasteners into metal and hold them in place for collars in composite materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If tubes are used to provide fasteners to end effectors, then fasteners can be delivered to the fastening location, but the tubes may become blocked by fasteners and cannot provide fasteners in the same orientation
Solution Approach 1:
The fastener delivery system is segmented into multiple independent feed tubes instead of using a single tube. Each tube can independently deliver fasteners, and if one tube becomes blocked, others can continue to supply fasteners. This segmentation eliminates the blockage problem while maintaining continuous fastener delivery.
2Ease of manufacture
If dual sided clamp-up with robots is used for drilling and fastening, then fastening operations can be performed on aircraft structures, but the assembly size is large and assembly efficiency is reduced
Solution Approach 1:
The end effector merges multiple functions (drilling, fastening, clamping) into a single integrated tool that can perform all operations from one side of the workpiece. This eliminates the need for dual-sided clamp-up with separate robots, significantly reducing assembly size and improving efficiency while maintaining full fastening operation capability.
3Ease of operation
If end effectors are designed to handle fasteners, then fastening operations can be performed, but the fasteners may interfere with each other during insertion
Solution Approach 1:
A guide structure acts as an intermediary between the fastener storage and the insertion point. This guide structure controls the movement and positioning of fasteners, ensuring they are delivered in the correct orientation and preventing interference between multiple fasteners during the insertion process.
Data Source
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AI summary
A fastening end effector is presented. The fastening end effector comprises a hammering insertion die translatable into and out of a housing of the fastening end effector along a longitudinal axis of the fastening end effector; and grippers positioned circumferentially around the hammering insertion die to hold a head of a fastener against the hammering insertion die, the grippers independently moveable relative to the hammering insertion die.