Manufacturing method and robotic assembly system

Patent metadata

Field	Value
Publication number	US-10022781-B2
Application number	US-201414552763-A
Country	US
Kind code	B2
Filing date	Nov 25, 2014
Priority date	Oct 10, 2012
Publication date	Jul 17, 2018
Grant date	Jul 17, 2018

Abstract

A manufacturing method employing a robotic assembly system includes first and second fastener system components that are positioned by a robotic assembly on opposite sides of at least two structural pieces that are to be fastened together. The first system component includes a particular tool of a plurality of different types of tools, where the particular tool installs a particular fastener of a plurality of different types of fasteners. Each tool includes a block or base of magnetic material with a passageway opening for the fastener associated with the tool passing through the base. The robotic assembly positions the tool against one side of the structural pieces to be fastened, and positions an electromagnet assembly on the opposite side of the structural pieces. Activating the electromagnet assembly clamps the structural pieces together. With the fastener positioned in a hole through the structural pieces, the tool is activated to install the fastener between the structural pieces.

First claim

What is claimed:

1. A tool comprising:
a plurality of different tooling components, wherein:
each of the plurality of different tooling components is associated with a different type of fastener,
a first one of the plurality of different tooling components is operable to install a rivet-type fastener or a lock bolt-type fastener,
each of the plurality of tooling components comprises a magnetically attractive base with a front surface and a rear surface,
the magnetically attractive base of each of the plurality of tooling components comprises a passageway, extending through the magnetically attractive base at least between the front surface and the rear surface,
the passageway is configured for a predetermined assembly operation,
each of the plurality of tooling components comprises a first spacing protrusion and a third spacing protrusion,
the first spacing protrusion of the first one of the plurality of different tooling components is a U-shaped spacing protrusion,
the third spacing protrusion of the first one of the plurality of different tooling components is a closed-shape spacing protrusion,
the first spacing protrusion of each of the pluralit of tooling components projects a length from the front surface of the magnetically attractive base of a corresponding one the plurality of tooling components to an engagement surface of the first spacing protrusion,
the first spacing protrusion is operable to contact a first surface of a workpiece with the engagement surface of the first spacing protrusion and simultaneously. to space the front surface of the magnetically attractive base from a fastener, installed in the workpiece and protruding above a first surface of the workpiece and toward the front surface of the magnetically attractive base, the workpiece further comprising a second surface, opposite the first surface.

a robotic assembly, wherein:
each of the plurality of tooling components is attachable to the robotic assembly, and
the robotic assembly is operable:
to select one of the plurality of tooling components based on the predetermined assembly operation to be performed on the workpiece,
to align the passageway of the one of the plurality of tooling components, selected based on the predetermined assembly operation to be performed on the workpiece, with an opening in the workpiece, and
to engage the engagement surface of the first spacing protrusion of the one of the plurality of tooling components, selected based on the predetermined assembly operation to be performed on the workpiece, against the surface of the workpiece; and

an electromagnet assembly, comprising an electromagnet, an opening, and a second spacing protrusion projecting a length from a front surface of the electromagnet to an engagement surface of the second spacing protrusion and positioned adjacent to the opening, wherein:
the second spacing protrusion is operable to contact the second surface of the workpiece with the engagement surface of the second spacing protrusion and, simultaneously, to space the front surface of the electromagnet from the fastener, installed in the workpiece and protruding above the second surface of the workpiece and toward the front surface of the electromagnet,
the electromagnet assembly is operable to clamp the workpiece between the engagement surface of the second spacing protrusion of the electromagnet assembly and the engagement surface of the first spacing protrusion of a corresponding one of the plurality of tooling components by creating a magnetic field that draws the electromagnet and the magnetically attractive base of the corresponding one of the plurality of tooling components toward each other,
the opening of the electromagnet assembly is coaxial with the passageway of the magnetically attractive base of the corresponding one of the plurality of tooling components such that the first spacing protrusion of the corresponding one of the plurality of tooling components is aligned with the second spacing protrusion of the electromagnet assembly along a center axis of the tool.

2. The tool of claim 1 , wherein:
the robotic assembly comprises a first robotic arm and a second robotic arm, each of the plurality of different tooling components is attachable to the first robotic arm, and the electromagnet is attachable to the second robotic arm.

3. The tool of claim 1 , wherein the robotic assembly comprises a design database, comprising a set of instructions for operating each of the plurality of different tooling components.

4. The tool of claim 3 , wherein the set of instructions of the design database further comprises instructions for operating the electromagnet and one or more sequences of operating the electromagnet and each of the plurality of different tooling components.

5. The tool of claim 1 , wherein:
one of the plurality of different tooling components comprises a bucking-bar assembly and a force-controlling device,
the bucking-bar assembly comprises a bucking bar, reciprocatively moveable along a center axis of the bucking bar, and
the center axis of the bucking bar is coaxial to a center axis of the passageway.

6. The tool of claim 5 , wherein the bucking-bar assembly further comprises a bearing assembly, supporting the bucking bar.

7. The tool of claim 5 , wherein the bucking bar is coupled to a piston, slidably sealed within the bucking-bar assembly.

8. The tool of claim 5 , wherein the force-controlling device comprises:
a first conduit in fluid communication with a first surface of the piston, and
a second conduit in fluid communication with a second surface of the piston opposite of the first surface.

9. The tool of claim 8 , wherein the first conduit and the second conduit are coupled to a two-position valve, operable to establish communication between either the first conduit or the second conduit and an adjustable source of fluid pressure.

10. The tool of claim 7 , wherein:
the bucking bar is a bending bucking bar, comprising a support portion and a working portion;
the support portion of the bending bucking bar is coupled to the piston;
the working portion is operable to engage the installed fastener; and
the support portion is parallel to and coaxially offset with respect to the working portion.

11. The tool of claim 1 , wherein:
each of the plurality of different tooling components comprises a compliance unit, attachable to the robotic assembly,
the compliance unit comprises a spring, operable to cushion the robotic assembly relative to each of the plurality of different tooling components, and
the compliance unit of each of the plurality of different tooling components is configured to maintain orientation of a center axis of a corresponding one of the plurality of different tooling components relative to the robotic assembly while cushioning the robotic assembly relative to each of the plurality of different tooling components.

12. The tool of claim 1 , wherein the electromagnet comprises a riveting hammer, extending through the opening.

13. The tool of claim 1 , wherein:
the magnetically attractive base comprises a post, extending from the front surface of the magnetically attractive base, and
the post has an adjustable length operable to maintain a perpendicular orientation of the passageway of each of the plurality of different tooling components relative to the first surface of a workpiece while the first spacing protrusion contacts the first surface of the workpiece with the engagement surface of the first spacing protrusion.

14. The tool of claim 13 , wherein the post has a threaded portion, threadably coupled to a gear of an electric motor.

Assignees

• Boeing Co

Inventors

• Sarh Branko
• Oberoi Harinder S
• Wright Rodney S
• Miller Jeffrey L

Classifications

• Y10T29/49956

  Riveting · CPC title

• B23P19/04

  for assembling or disassembling parts · CPC title

• B23P19/001

  Article feeders for assembling machines (screws or nuts being carried by a disposable strip or disc B25B23/045) · CPC title

• Y10T29/49947

  by applying separate fastener · CPC title

• Y10T29/53709

  Overedge assembling means · CPC title