Fastener installation assembly, an end-effector tool, and a method
A fastener installation assembly, an end-effector tool, and a method for installing fasteners into respective holes of a workpiece includes a container and retainer assemblies supported by the container. Each of the retainer assemblies include fingers configured to retain a respective one of the fasteners between the fingers in a pre-installed position. A first actuator is configured to move the respective fasteners to an installed position by ejecting the respective one of the fasteners out of the respective retainer assemblies and inserting the respective one of the fasteners into one of the holes of the workpiece. Each of the retainer assemblies include a compliance apparatus configured to allow the respective fasteners and the respective fingers to move independently of each other to self-align the respective fasteners with the respective one of the holes as the first actuator moves the respective fasteners from the pre-installed position to the installed position.
1 . A fastener installation assembly for installing a plurality of fasteners into respective holes of a workpiece, the fastener installation assembly comprising:
a container;
a plurality of retainer assemblies supported by the container, wherein each of the retainer assemblies include a plurality of fingers configured to retain a respective one of the fasteners between the fingers in a pre-installed position;
a first actuator disposed proximal to the container and configured to move the respective fasteners to an installed position by ejecting the respective one of the fasteners out of the respective retainer assemblies and inserting the respective one of the fasteners into one of the holes of the workpiece; and
wherein each of the retainer assemblies include a compliance apparatus configured to allow the respective one of the fasteners and the respective fingers to move independently of each other to self-align the respective one of the fasteners with the respective one of the holes as the first actuator moves the respective one of the fasteners from the pre-installed position to the installed position.
2 . The fastener installation assembly as set forth in claim 1 wherein:
the plurality of fingers of each of the retainer assemblies are further defined as a first finger and a second finger disposed adjacent to each other; and
the first finger and the second finger of each of the retainer assemblies include an inward surface facing each other to define an opening therebetween, and the opening of each of the retainer assemblies is configured to receive the respective one of the fasteners in the pre-installed position.
3 . The fastener installation assembly as set forth in claim 2 wherein:
the first finger and the second finger of each of the retainer assemblies include a first end and a second end spaced from each other along a longitudinal axis;
the second end of the first finger and the second end of the second finger of each of the retainer assemblies is disposed closer to the workpiece than the first end of the first finger and the first end of the second finger of each of the retainer assemblies; and
the opening is disposed along the longitudinal axis.
4 . The fastener installation assembly as set forth in claim 3 wherein:
the inward surface of the first finger and the inward surface of the second finger of each of the retainer assemblies includes a lip extending into the respective opening; and
the lip of the first finger and the second finger of each of the retainer assemblies cooperate to retain the respective one of the fasteners in the pre-installed position.
5 . The fastener installation assembly as set forth in claim 4 wherein the lip of each of the retainer assemblies is disposed closer to the first end of the respective first finger and the respective second finger than to the second end of the respective first finger and the respective second finger.
6 . The fastener installation assembly as set forth in claim 3 wherein the inward surface of the first finger and the second finger of each of the retainer assemblies includes a guide extending into the opening, and the guide is configured to open the first finger and the second finger of each of the retainer assemblies to receive the respective one of the fasteners as the respective one of the fasteners is inserted into the respective opening from a first direction to dispose the respective one of the fasteners in the pre-installed position.
7 . The fastener installation assembly as set forth in claim 6 wherein the guide of each of the retainer assemblies is disposed closer to the second end of the respective first finger and the respective second finger than to the first end of the respective first finger and the respective second finger.
8 . The fastener installation assembly as set forth in claim 6 wherein the first finger and/or the second finger of each of the retainer assemblies includes a stop that limits movement of the respective one of the fasteners in the first direction.
9 . The fastener installation assembly as set forth in claim 8 wherein the stop is disposed at the first end of the first finger and at the first end of the second finger to partially close the opening at the first end.
10 . The fastener installation assembly as set forth in claim 2 wherein:
the first finger and the second finger of each of the retainer assemblies include an outward surface that faces away from the respective opening; and
the compliance apparatus is coupled to the outward surface to allow the first finger and the second finger of each of the retainer assemblies to move independently of each other when the respective one of the fasteners moves between the pre-installed position and the installed position.
11 . The fastener installation assembly as set forth in claim 10 wherein:
the compliance apparatus of each of the retainer assemblies includes a first arm supporting the respective first finger and a second arm supporting the respective second finger; and
the respective first finger is rotatable relative to the respective first arm and the respective second finger is rotatable relative to the respective second arm to allow the respective one of the fasteners to self-align with the respective one of the holes as the respective one of the fasteners moves from the pre-installed position to the installed position.
12 . The fastener installation assembly as set forth in claim 11 wherein:
the compliance apparatus of each of the retainer assemblies includes a first biasing plunger coupled to the respective first arm and a second biasing plunger coupled to the respective second arm; and
the respective first biasing plunger is movable linearly relative to the respective first arm and the respective second biasing plunger is movable linearly relative to the respective second arm to allow compliance of the respective first finger and the respective second finger to allow the respective one of the fasteners to self-align relative to the respective one of the holes during movement from the pre-installed position to the installed position.
13 . The fastener installation assembly as set forth in claim 11 wherein:
the container includes a first wall and a second wall spaced from each other, and each of the retainer assemblies are disposed between the first wall and the second wall; and
the first arm of each of the retainer assemblies is attached to the first wall and the second arm of each of the retainer assemblies is attached to the second wall.
14 . The fastener installation assembly as set forth in claim 1 :
further including a bracket disposed proximal to the container and the first actuator is attached to the bracket; and
wherein the bracket or the container is movable to an actuated position, and the other one of the bracket or the container is in a fixed position.
15 . The fastener installation assembly as set forth in claim 14 wherein the container is movable to the actuated position and the bracket is disposed in the fixed position such that the container is movable relative to the bracket to the actuated position.
16 . The fastener installation assembly as set forth in claim 15 further including a second actuator attached to the bracket and operatively coupled to the container, and the second actuator is configured to move the container to the actuated position to cycle the respective one of the fasteners of each of the retainer assemblies to align with the first actuator.
17 . The fastener installation assembly as set forth in claim 14 wherein:
the first actuator includes a housing fixed to the bracket and a rod movable relative to the housing from an initial position to an extended position to eject the respective one of the fasteners from the respective retainer assemblies to the installed position.
18 . The fastener installation assembly as set forth in claim 17 wherein:
the plurality of fingers of each of the retainer assemblies are further defined as a first finger and a second finger disposed adjacent to each other to define an opening therebetween;
the container defines a plurality of access apertures spaced from each other, and each of the access apertures align with the respective opening of the retainer assemblies; and
the rod aligns with one of the access apertures such that the rod is movable through the access aperture and into the respective opening to eject the respective one of the fasteners from the respective retainer assemblies and insert the respective one of the fasteners in the respective one of the holes of the workpiece in the installed position.
19 . An end-effector tool for installing a plurality of fasteners into respective holes of a workpiece, the end-effector tool comprising:
a fixture; and
a plurality of fastener installation assemblies attached to the fixture in a predetermined pattern, wherein each of the fastener installation assemblies include:
a container;
a plurality of retainer assemblies supported by the container, wherein each of the retainer assemblies include a plurality of fingers configured to retain a respective one of the fasteners between the fingers in a pre-installed position;
a first actuator disposed proximal to the container and configured to move the respective fasteners to an installed position by ejecting the respective one of the fasteners out of the respective retainer assemblies and inserting the respective one of the fasteners into one of the holes of the workpiece; and
wherein each of the retainer assemblies include a compliance apparatus configured to allow the respective one of the fasteners and the respective fingers to move independently of each other to self-align the respective one of the fasteners with the respective one of the holes as the first actuator moves the respective one of the fasteners from the pre-installed position to the installed position.
20 . A method of installing a plurality of fasteners into respective holes of a workpiece, the method comprising:
installing one of the fasteners in each of a plurality of retainer assemblies of a container of a fastener installation assembly in a pre-installed position, wherein each of the retainer assemblies include a plurality of fingers configured to retain a respective one of the fasteners between the fingers in the pre-installed position;
aligning one of the fasteners relative to one of the holes of the workpiece;
operating a first actuator to eject the respective one of the fasteners out of the respective retainer assemblies, wherein the first actuator is disposed proximal to the container; and
inserting the respective one of the fasteners into one of the holes of the workpiece to an installed position via the first actuator, wherein each of the retainer assemblies include a compliance apparatus configured to allow the respective one of the fasteners and the respective fingers to move independently of each other to self-align the respective one of the fasteners with the respective one of the holes as the first actuator moves the respective one of the fasteners from the pre-installed position to the installed position.
21 . The method as set forth in claim 20 wherein inserting the respective one of the fasteners into one of the holes further comprises adjusting an orientation of the respective one of the fasteners relative to the respective one of the holes, via the compliance apparatus, to self-align the respective one of the fasteners during insertion into the respective one of the holes.
22 . The method as set forth in claim 20 wherein each of the fasteners are installed into an opening between the respective fingers of the respective retainer assemblies in a first direction to retain the fasteners in the pre-installed position, and wherein each of the fasteners are ejected out of the opening of the respective retainer assemblies in a second direction to dispose the fasteners in the installed position, wherein the first direction and the second direction are opposite of each other.
23 . The method as set forth in claim 22 wherein installing one of the fasteners in each of the retainer assemblies further comprises inserting each of the fasteners into the opening between the respective fingers of the respective retainer assemblies until the respective fasteners passes a lip that retains the respective fasteners inside of the respective opening.
24 . The method as set forth in claim 20 further comprising controlling operation of an end-effector tool, via a controller, such that the controller positions the end-effector tool relative to the workpiece to align one of the fasteners of the fastener installation assembly with one of the holes, and wherein operating the first actuator further comprises operating the first actuator via the controller.