Method and Apparatus for Installing Fasteners

• US 20080244888A1
• Filed: 04/06/2007
• Published: 10/09/2008
• Est. Priority Date: 04/06/2007
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Sarh, Branko
• Granted Patent: US 8,006,362 B2
• Time in Patent Office: Days
• US Class Current: 29/402.01
• CPC Class Codes: B21J 15/14 specially adapted for riveting specific articles, e.g. brake lining machines
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B21J 15/32 Devices for inserting or holding rivets in position with or without feeding arrangements
• CPC Class Codes: B21J 15/323 using a carrier strip
• CPC Class Codes: B23P 19/001 Article feeders for assembling machines screws or nuts being carried by a disposable strip or disc B25B23/045
• CPC Class Codes: B23P 19/003 Escapement mechanisms used therewith
• CPC Class Codes: B23P 19/007 Picking-up and placing mechanisms
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: Y10T 29/49718 Repairing
• CPC Class Codes: Y10T 29/49947 by applying separate fastener
• CPC Class Codes: Y10T 29/53 Means to assemble or disassemble
• CPC Class Codes: Y10T 29/53004 with means to regulate operation by use of templet, tape, card or other replaceable information supply
• CPC Class Codes: Y10T 29/53478 with magazine supply

Abstract

Apparatus for installing fasteners in a workpiece is mounted for computer controlled movement over the workpiece surface. The apparatus includes all of the tools, fasteners, drives and controls on-board that are needed to operate autonomously, without external connections. The apparatus may also include an on-board power supply for powering the tools, drives and controls. A supply of fasteners is held in an on-board replaceable cassette. An on-board fastener transferring device transfers individual fasteners from the cassette to the tools.

Claims

1. Apparatus for installing fasteners in a workpiece, comprising:

a base;

a supply of fasteners mounted on the base;

means for mounting the base for movement over the surface of the workpiece;

at least one tool mounted on the base for installing the fasteners in the workpiece along an installation path; and

,

controls mounted on the base for controlling the operation of the at least one tool.

2. The apparatus of claim 1, wherein the fastener supply includes a cassette having a plurality of cartridges, each of the cartridges holding a plurality of fasteners.

3. The apparatus window system of claim 2, wherein the cartridges include tubes for holding the fasteners in end-to-end relationship to each other.

4. The apparatus of claim 2, wherein the cartridges include a movable ribbon to which the fasteners are releasably attached.

5. The apparatus of claim 2, further comprising a device mounted on the base for transferring fasteners from each of the cartridges to the installation path.

6. The apparatus of claim 1, further comprising a device mounted on the base for transferring fasteners from the fastener supply to the installation path.

7. The apparatus of claim 6, wherein the fastener transferring device includes jaws for gripping a fastener and a transporter for moving the jaws over the base.

8. The apparatus of claim 1, wherein the fastener supply includes:

a plurality of tubes, each of the tubes holding a plurality of the fasteners in end-to-end relationship to each other, and

a valve on each of the tubes for dispensing individual fasteners from the tube.

9. The apparatus of claim 1, further comprising a device mounted on the base for transferring fasteners from the fastener supply to the installation path, wherein the fastener transferring device includes jaws for gripping a fastener and a transporter for moving the jaws over the base.

10. The apparatus of claim 1, further comprising:

a plurality of tools mounted on the base for performing fastener installation operations; and

means for shifting each of the tools from a standby position to an operating position.

11. The apparatus of claim 1, further comprising:

a drive for moving the base over the workpiece; and

,

a power supply mounted on the base for powering the drive.

12. The apparatus of claim 1, wherein the controls include a programmed computer mounted on the base for controlling the operation of the at least one tool and the movement of the base over the surface of the workpiece.

13. The apparatus of claim 1, wherein the workpiece is an aircraft.

14. The apparatus of claim 1, wherein the workpiece is an aircraft and the apparatus is specified for use in a pre-production phase of the construction of the aircraft.

15. The apparatus of claim 1, wherein the workpiece is a subassembly of an aircraft.

16. The apparatus of claim 1, wherein the workpiece is an aircraft and the apparatus is used in the maintenance and rework of the aircraft.

17. Autonomous apparatus for installing fasteners in a workpiece, comprising:

a base including a process station where fastener installation processes are performed;

a drive assembly for moving the base over the surface of the workpiece;

a supply of fasteners mounted on the base;

a fastener transferring device mounted on the base for transferring fasteners from the supply of fasteners to the process station;

a plurality of tools mounted on the base for performing operations related to the installation of the fasteners;

a tool changer; and

,

controls mounted on the base for controlling the operation of at least one of the fastener transferring device, the tools and the drive assembly.

18. The autonomous apparatus of claim 17, wherein the supply of fasteners includes a cassette removably mounted on the base, the cassette including a plurality of cartridges each holding a plurality of fasteners.

19. The autonomous apparatus of claim 18, wherein each of the cartridges includes a tube for holding the fasteners in end-to-end relationship to each other, and a valve for dispensing the fasteners from the tube.

20. The autonomous apparatus of claim 18, wherein each of the cartridges includes a movable ribbon to which the fasteners are releasably attached.

21. The autonomous apparatus of claim 17, wherein the fastener transferring device includes jaws for gripping a fastener and a transporter for moving the jaws between the fastener supply and the process station.

22. The autonomous apparatus of claim 17, further comprising a power supply mounted on the base for supplying power to drive assembly, the fastener transferring device, the tools and the tool changer.

23. The autonomous apparatus of claim 17, wherein the controls include a programmed computer.

24. The autonomous apparatus of claim 17, wherein the tools include a drill for drilling a hole in the workpiece and a inserter for inserting a fastener into the hole.

25. The autonomous apparatus of claim 17, wherein the workpiece is an aircraft.

26. Apparatus for installing fasteners in a workpiece, comprising:

a base mounted for movement over the surface of the workpiece;

a tool mounted on the base for performing fastener installation operations on the workpiece;

a magazine mounted on the base for holding a supply of fasteners; and

,

a device mounted on the base for transferring fasteners from the cassette to the tool.

27. The apparatus of claim 26, wherein the magazine includes a cassette for dispensing individual fasteners, and a quick release device for removably mounting the cassette on the base.

28. The apparatus of claim 26, wherein the magazine includes a plurality cartridges, each of the cartridges containing a plurality of fasteners, and,

the transferring device transfers individual fasteners from each of the cartridges to the tool.

29. The apparatus of claim 28, wherein the cartridges are removably mounted on the magazine.

30. The apparatus of claim 26, further comprising a releasable connection between the magazine and the base allowing the magazine to be removed from the base.

31. The apparatus of claim 28, wherein each of the cartridges includes a tube for holding the fasteners in end-to-end relationship to each other, and a valve for dispensing the fasteners from the tube.

32. The apparatus of claim 28, wherein each of the cartridges includes a movable ribbon to which the fasteners are releasably attached.

33. The apparatus of claim 26, wherein the fastener transferring device includes jaws for gripping a fastener and a transporter for moving the jaws between the magazine and the tool.

34. The apparatus of claim 26, further comprising a controller mounted on the base for controlling the operation of the fastener transferring device.

35. The apparatus of claim 26, wherein the workpiece is a skin on an aircraft.

36. A method of installing fasteners in a workpiece, comprising the steps of:

(A) mounting a base on the workpiece;

(B) moving the base to each of a plurality of locations on the workpiece where fasteners are to be installed;

(C) moving each of a plurality of tools on the base to a process station on the base; and

(D) performing fastener installation operations at process station using tools moved to the process station in step (C).

37. The method of claim 36, wherein step (B) includes:

issuing base movement commands from a location onboard the base, and

controlling the movement of the base on the workpiece using the base movement commands.

38. The method of claim 37 wherein the base movement commands are issued on-board the base by a computer.

39. The method of claim 36, wherein step (C) includes:

issuing tool movement commands from a location onboard the base, and

controlling the movement of the tools using the tool movement commands.

40. The method of claim 39 wherein the tool movement commands are issued on-board the base by a computer.

41. The method of claim 36, wherein step (D) includes at least one of—

viewing the surface of the workpiece,

drilling a hole in the workpiece,

removing chips from a hole in the workpiece,

measuring features of a hole in the workpiece,

inserting a fastener into a hole in the workpiece.

42. The method of claim 36, further comprising the steps of:

(E) placing a magazine of fasteners on-board the base, and

(F) supplying fasteners to the process station from the magazine.

43. The method of claim 42, wherein step (F) includes:

issuing fastener supply commands from a location on-board the base, and

controlling the supply of fasteners to the process station using the fastener supply commands.

44. The method of claim 42, wherein step (E) includes:

installing fasteners in each of a plurality of cartridges,

installing the cartridges in the magazine, and

installing the magazine on the base.

45. The method of claim 42, wherein step (F) includes:

moving a fastener transfer device to the magazine,

dispensing a fastener from the magazine, and

moving the dispensed fastener from the magazine to the process station using the fastener transfer device.

46. The method of claim 42, wherein step (F) includes dispensing fasteners from the magazine using air pressure.

47. The method of claim 42, further comprising the step of:

(G) selecting a fastener to be supplied from the magazine to the process station using a computer located on-board the base.

48. The method of claim 36 wherein the workpiece is an aircraft.

49. The method of claim 36, wherein the workpiece is an aircraft and the method is specified for use in a pre-production phase of the construction of the aircraft.

50. The method of claim 36, wherein the workpiece is a subassembly of an aircraft.

51. The method of claim 36, wherein the workpiece is an aircraft and the method is used in the maintenance and rework of the aircraft.