US5036576A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method of installing a fastener
Assignee: Textron Inc
•
Filing: 1989-12-05
•
Granted: 1991-08-06
•
Expires: 2009-12-05
Abstract
Abstract A powered fastener installation apparatus and method wherein the successful installation of a fastener is indicated by directly detecting the event of the fastener stem breaking. The device releases any partially upset fastener before withdrawing from the workpiece so as to prevent damage to the workpiece. The fastener installation device includes means for transferring the fastener from a feed module to the pulling head and avoiding partial upsetting or disassembly of the fastener, which can lead to jamming the device. The pulling head and transfer apparatus are provided with a vacuum to retain the fastener without mechanical gripping, thereby allowing easy purging of the fastener and preventing the fastener from falling out of the device unintentionally. Moreover, use of the vacuum retention allows greater flexibility and tolerance of errors in the placement and angular orientation of the robot arm and workpiece. The load and feed phases of the cycle overlap to reduce cycle time and can occur while the apparatus is being moved to a second fastener installation location.
Inventors
- 👤 Robert L. Gast
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 09:50
CPC Classifications
B; B21; B21J; B21J15/00; B21J15/10; B21J15/30; B21J15/32; B21J15/02; B21J15/04; B21J15/043; B21J15/105; B21J15/28; Y; Y10; Y10T; Y10T29/00; Y10T29/49; Y10T29/49764
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
187 words
A method of installing a fastener having a head and a stem in a workpiece using a powered fastener installation device mounted on a robot, comprising the steps of: sending a signal from said robot to said installation device for initiating installation of a fastener; inhibiting said robot from moving; sensing the presence of a first fastener in a front end of said installation device; moving said installation device forward toward said workpiece until said first fastener is seated in said workpiece; holding the head portion of said first fastener against said workpiece while simultaneously pulling the stem portion of said first fastener away from said workpiece, said pulling resulting in breaking of the fastener stem portion; detecting the breaking of the fastener stem portion; releasing the fastener stem portion; moving said installation device rearward away from said workpiece, resulting in the absence of a fastener in said installation device; releasing the inhibition of said robot for allowing said robot to move to its next position; stopping the rearward movement of said installation device; and loading a second fastener into said front end of said installation device.
Claim 2
Independent Claim
187 words
A method of installing a fastener having a head and a stem in a workpiece using a powered fastener installation device mounted on a robot, comprising the steps of: sending a signal from said robot to said installation device for initiating installation of a fastener; inhibiting said robot from moving; sensing the presence of a first fastener in a front end of said installation device; moving said installation device forward toward said workpiece until said first fastener is seated in said workpiece; holding the head portion of said first fastener against said workpiece while simultaneously pulling the stem portion of said first fastener away from said workpiece, said pulling resulting in breaking of the fastener stem portion; detecting the breaking of the fastener stem portion; releasing the fastener stem portion; moving said installation device rearward away from said workpiece, resulting in the absence of a fastener in said installation device; releasing the inhibition of said robot for allowing said robot to move to its next position; stopping the rearward movement of said installation device; and loading a second fastener into said front end of said installation device.
Claim 3
Dependent Claim
22 words
The method of claim 1 wherein said releasing is responsive to said breaking and is performed while said device is moving rearward.
Claim 4
Dependent Claim
20 words
The method of claim 1 wherein said detecting is performed by detecting acceleration of said device when said breaking occurs.
Claim 5
Dependent Claim
19 words
The method of claim 2 wherein said loading is performed while said robot is moving to its next position.
Claim 6
Dependent Claim
43 words
The method of claim 4, wherein said loading step is performed by a loading apparatus and said method includes the step of feeding a third fastener to said loading apparatus in response to the absence of said second fastener from the loading apparatus.
Claim 7
Dependent Claim
50 words
The method of claim 4 including sensing the absence of said first fastener in said installation device before said step of sensing the presence of said first fastener in said installation device and initiating loading of said first fastener in response to said sensing the absence of said first fastener.
Claim 8
Dependent Claim
32 words
The method of claim 1 including sensing the presence of said workpiece with a movable portion of said installation device to stop the forward moving of said device prior to said holding.
Claim 9
Independent Claim
154 words
A method of installing a fastener in a workpiece using a robot-mounted powered fastener installation device having a pulling head and a fastener transfer apparatus for transferring fasteners from a fastener feed means to the pulling head, comprising the steps of: sending a signal from said robot to said installation device for initiating an installation cycle; inhibiting said robot from further movement; installing a first fastener in the workpiece; withdrawing the pulling head away from the workpiece sufficiently far to provide clearance between said pulling head and the workpiece; releasing the inhibition of the robot from moving so that the robot is allowed to move to its next position; and transferring a second fastener from said transfer apparatus to said pulling head while the robot is moving to its second position so that said second fastener can be installed as soon as a signal is received that the robot is in its next position.
Claim 10
Independent Claim
154 words
A method of installing a fastener in a workpiece using a robot-mounted powered fastener installation device having a pulling head and a fastener transfer apparatus for transferring fasteners from a fastener feed means to the pulling head, comprising the steps of: sending a signal from said robot to said installation device for initiating an installation cycle; inhibiting said robot from further movement; installing a first fastener in the workpiece; withdrawing the pulling head away from the workpiece sufficiently far to provide clearance between said pulling head and the workpiece; releasing the inhibition of the robot from moving so that the robot is allowed to move to its next position; and transferring a second fastener from said transfer apparatus to said pulling head while the robot is moving to its second position so that said second fastener can be installed as soon as a signal is received that the robot is in its next position.
Claim 11
Dependent Claim
49 words
The method of claim 8, wherein said transferring results in the absence of a fastener in said transfer apparatus and including the step of feeding a third fastener from said feed means to said transfer apparatus in response to sensing said absence of a fastener in said transfer apparatus.
Claim 12
Dependent Claim
48 words
The method of claim 8 including moving said pulling head toward the workpiece before installing the first fastener; and withdrawing said pulling head away from the workpiece after installing said first fastener; said releasing being initiated in response to the moving of the head away from the workpiece.
Claim 13
Dependent Claim
44 words
The method of claim 10, further comprising the step of sensing the absence of a fastener in said pulling head after said withdrawing, wherein the transferring of said second fastener is initiated by said sensing of the absence of a fastener in the head.
Claim 14
Dependent Claim
115 words
The method of claim 10 wherein prior to transferring said second fastener, the method includes sensing the withdrawal of the pulling head; determining whether a fastener is present in the pulling head; determining whether a fastener is present in the transfer apparatus if a fastener is not present in the pulling head; and delivering a fastener from the feed mean to the transfer apparatus if a fastener is not present in the transfer apparatus; initiating forward movement of the pulling head toward the workpiece; determining whether a fastener is present in the transfer apparatus; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus.
Claim 15
Independent Claim
86 words
A method of installing a breakstem fastener having a head and a stem into a workpiece using a powered fastener installation device, comprising: seating said fastener in said workpiece by moving said installation device forward towards said workpiece; pulling said fastener stem rearward away from said workpiece with sufficient force to break the stem at a predetermined location; detecting the breaking of said fastener; releasing said fastener stem in response to said detecting; and moving said installation device rearward away from said workpiece after said releasing.
Claim 16
Independent Claim
86 words
A method of installing a breakstem fastener having a head and a stem into a workpiece using a powered fastener installation device, comprising: seating said fastener in said workpiece by moving said installation device forward towards said workpiece; pulling said fastener stem rearward away from said workpiece with sufficient force to break the stem at a predetermined location; detecting the breaking of said fastener; releasing said fastener stem in response to said detecting; and moving said installation device rearward away from said workpiece after said releasing.
Claim 17
Dependent Claim
21 words
The method of claim 13 wherein said detecting includes sensing the acceleration of said head that occurs when said stem breaks.
Claim 18
Dependent Claim
25 words
The method of claim 13 including releasing said stem in response to the occurrence of an event other than breaking if breaking is not detected.
Claim 19
Independent Claim
320 words
A method of installing a fastener in a workpiece using a robot-mounted powered fastener installation apparatus having a pulling head and a fastener transfer apparatus for transferring fasteners from a fastener feed means to the pulling head, comprising the steps of: sending a signal from said robot to said installation device for initiating an installation cycle; inhibiting said robot from further movement; determining whether a fastener is present in the transfer apparatus if a fastener is not present in the pulling head; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus; transferring a fastener from the transfer apparatus to the pulling head if a fastener is not present in the pulling head; initiating forward movement of the pulling head toward the workpiece; determining whether a fastener is present in the transfer apparatus; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus; inserting the fastener into the workpiece by forward movement of the pulling head; mechanically grasping the fastener with the pulling head; upsetting the fastener; releasing the fastener; initiating rearward movement of the pulling head away from the workpiece; sensing the withdrawal of the head from the workpiece; releasing the inhibition of the robot from moving in response to said sensing, so that the robot is allowed to move to its next position; sensing the arrival of the pulling head at its rearmost position; determining whether a fastener is present in the pulling head; determining whether a fastener is present in the transfer apparatus if a fastener is not present in the pulling head; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus; and transferring a fastener from the transfer apparatus to the pulling head if no fastener is present in the pulling head.
Claim 20
Independent Claim
320 words
A method of installing a fastener in a workpiece using a robot-mounted powered fastener installation apparatus having a pulling head and a fastener transfer apparatus for transferring fasteners from a fastener feed means to the pulling head, comprising the steps of: sending a signal from said robot to said installation device for initiating an installation cycle; inhibiting said robot from further movement; determining whether a fastener is present in the transfer apparatus if a fastener is not present in the pulling head; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus; transferring a fastener from the transfer apparatus to the pulling head if a fastener is not present in the pulling head; initiating forward movement of the pulling head toward the workpiece; determining whether a fastener is present in the transfer apparatus; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus; inserting the fastener into the workpiece by forward movement of the pulling head; mechanically grasping the fastener with the pulling head; upsetting the fastener; releasing the fastener; initiating rearward movement of the pulling head away from the workpiece; sensing the withdrawal of the head from the workpiece; releasing the inhibition of the robot from moving in response to said sensing, so that the robot is allowed to move to its next position; sensing the arrival of the pulling head at its rearmost position; determining whether a fastener is present in the pulling head; determining whether a fastener is present in the transfer apparatus if a fastener is not present in the pulling head; delivering a fastener from the feed means to the transfer apparatus if a fastener is not present in the transfer apparatus; and transferring a fastener from the transfer apparatus to the pulling head if no fastener is present in the pulling head.
References Cited (Backward Citations)
No citation records indexed.
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1994-08-05 | 1995-02-04 | 1995-08-06 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-08-05 | 1999-02-04 | 1999-08-06 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-08-05 | 2003-02-04 | 2003-08-06 | $7700.00 | Window Closed / Lapsed |