Collar fastening system and method of operating

Patent metadata

Field	Value
Publication number	US-10518371-B2
Application number	US-201615191728-A
Country	US
Kind code	B2
Filing date	Jun 24, 2016
Priority date	Jun 24, 2016
Publication date	Dec 31, 2019
Grant date	Dec 31, 2019

Abstract

A collar fastening system that includes a collar fastening tool, and a collar loading assembly coupled to the collar fastening tool. The collar loading assembly includes a loading arm that rotates into multiple positions and a holding member coupled to the loading arm. The loading arm positions the holding member between a loading position and an unloading position. The holding member includes an arcuate side wall and a vacuum opening defined in the arcuate side wall. The holding member receives a collar when at the loading position, and selectively holds the collar against the arcuate side wall with a retaining force provided by a vacuum applied via the vacuum opening. The loading arm provides the collar to the collar fastening tool when at the unloading position.

First claim

What is claimed is:

1. A collar fastening system comprising:
a collar fastening tool comprising a body portion; and
a collar loading assembly coupled to said collar fastening tool, said collar loading assembly comprising:
an elongated channel coupled to the body portion and extending along an axis;
a loading arm extending from the elongated channel; and
a holding member coupled to said loading arm, wherein said loading arm is rotatable about the axis for positioning said holding member between a loading position and an unloading position, said holding member comprising an arcuate side wall and a vacuum opening defined in said arcuate side wall, said holding member configured to receive a collar when at the loading position, and configured to selectively hold the collar against said arcuate side wall with a retaining force provided by a vacuum applied via said vacuum opening, and
wherein said loading arm is configured to provide the collar to said collar fastening tool when at the unloading position.

2. The system in accordance with claim 1 , wherein said loading arm is configured to rotate to the unloading position to align the collar selectively held against said arcuate side wall with the collar fastening tool.

3. The system in accordance with claim 2 , wherein said loading arm is at least partially hollow for defining a vacuum channel extending therethrough, said vacuum channel coupled in flow communication with said vacuum opening.

4. The system in accordance with claim 1 further comprising a collar feed assembly that comprises:
a container configured to hold a plurality of collars; and
a transport device extending between said container and said collar loading assembly, said transport device configured to feed the collar from said container towards said collar loading assembly.

5. The system in accordance with claim 4 further comprising a robotic arm coupled to said collar fastening tool, wherein said transport device extends at least partially along said robotic arm.

6. The system in accordance with claim 4 , wherein said collar loading assembly further comprises a collar capture receptacle that defines a loading zone for the collar, said collar capture receptacle configured to receive the collar from said collar feed assembly and hold the collar at the loading zone.

7. The system in accordance with claim 6 , wherein said collar capture receptacle comprises:
a first plate that comprises a collar feed opening defined therein, said collar feed opening sized to allow the collar to pass therethrough for positioning within the loading zone; and
a retainer device extending over said collar feed opening, said retainer device configured to open and close for selectively restricting access to the loading zone.

8. The system in accordance with claim 6 , wherein said transport device is configured to feed the collar towards said collar loading assembly in a direction of travel, said collar capture receptacle comprising a second plate positioned to intersect the direction of travel.

9. A robotic device comprising:
an end effector comprising:
a collar fastening tool; and
a collar loading assembly coupled to said collar fastening tool, said collar loading assembly comprising:
a loading arm; and
a holding member coupled to said loading arm, wherein said loading arm is configured to position said holding member between a loading position and an unloading position, said holding member comprising a top edge, a bottom edge, an arcuate side wall extending therebetween, and a vacuum opening defined in said arcuate side wall, said holding member configured to receive a collar when at the loading position, and configured to selectively hold the collar against said arcuate side wall with a retaining force provided by a vacuum applied via said vacuum opening, and
wherein said loading arm is configured to provide the collar to said collar fastening tool when at the unloading position.

10. The device in accordance with claim 9 , wherein said loading arm is configured to rotate to the unloading position to align the collar selectively held against said arcuate side wall with the collar fastening tool.

11. The device in accordance with claim 10 , wherein said loading arm is at least partially hollow for defining a vacuum channel extending therethrough, said vacuum channel coupled in flow communication with said vacuum opening.

12. The device in accordance with claim 9 , wherein said collar loading assembly further comprises a collar capture receptacle that defines a loading zone for the collar, said collar capture receptacle configured to receive and hold the collar at the loading zone.

13. The device in accordance with claim 12 , wherein said collar capture receptacle comprises a first plate and a second plate spaced from each other by a distance such that the loading zone is defined therebetween.

14. The device in accordance with claim 13 , wherein said first plate comprises a collar feed opening defined therein, said collar capture receptacle further comprising a retainer device extending over said collar feed opening, said retainer device configured to open and close for selectively restricting access to the loading zone.

15. A method of operating a collar fastening system including a collar fastening tool, said method comprising:
feeding, from a container configured to hold a plurality of collars, a collar towards a loading zone defined within a collar capture receptacle;
positioning, with a loading arm, a holding member into a loading position within the loading zone, wherein the holding member includes an arcuate side wall configured to receive the collar when at the loading position;
holding the collar against the arcuate side wall of the holding member with a retaining force provided by a vacuum applied via a vacuum opening defined in the arcuate side wall; and
positioning, with the loading arm, the holding member from the loading position into an unloading position, wherein the holding member is configured to provide the collar to the collar fastening tool when at the unloading position.

16. The method in accordance with claim 15 , wherein holding the collar with the holding member comprises releasing the retaining force when the holding member is at the unloading position.

17. The method in accordance with claim 15 further comprising holding the collar at the unloading position as the collar fastening tool installs the collar over a fastener.

18. The method in accordance with claim 15 , wherein holding the collar with the holding member comprises drawing a vacuum at the vacuum opening in the arcuate side wall.

19. The method in accordance with claim 15 further comprising positioning the holding member from the unloading position into the loading position for receiving an additional collar.

20. The device in accordance with claim 9 , wherein said holding member is configured to release the collar provided to said collar fastening tool, and then return to the loading position.

Assignees

• Boeing Co

Inventors

• Eng Raymond
• Porter John Richard
• Long Daniel Thomas

Classifications

• B25J15/0038

  Cylindrical gripping surfaces · CPC title

• B25J9/041

  Cylindrical coordinate type · CPC title

• B23P19/08 Primary

  Machines for placing washers, circlips, or the like on bolts or other members · CPC title

• B25J15/0616 Primary

  with vacuum · CPC title

• B23P19/007

  Picking-up and placing mechanisms · CPC title