Patent Description:
<CIT>, according to its abstract, states that a blind fastener tool with pulling fingers is provided. One embodiment is a tool for installing a blind fastener in a hole. The tool includes stationary fingers having tips protruding from a front end of the housing to contact a rim of a sleeve of the blind fastener. The tool also includes pulling fingers in the housing arranged longitudinally in spaces between the stationary fingers. Ends of the pulling fingers proximate to the front end are configured to radially expand to receive a drive element of the blind fastener, and to radially collapse to grip a collar of the drive element. The pulling fingers are configured to translate inside the housing to pull the drive element away from the sleeve as the stationary fingers contact the rim of the sleeve to form a bulb with the sleeve at a blind side of the hole.

<CIT>, according to its abstract, states that a tool for installing a blind fastener including a core bolt and a core nut is provided. The tool includes a driving member, a collet driven by the driving member for engaging the core bolt, and an external sleeve for holding the core nut and preventing the core nut from rotating during installation of the blind fastener. The external sleeve is movable between a first position in which the external sleeve is driven by the collet to rotate with the collet and a second position in which the external sleeve is stationary despite rotating action of the collet.

<CIT>, according to its abstract, states that a blind fastener for connecting workpieces includes a bolt and nut. The bolt includes a shaft, bolt head, and lug. The bolt head is between the shaft and lug and extends radially outward from the shaft. The shaft defines external threads opposite the bolt head. The lug includes a first tool engagement portion and a first frangible portion that frangibly couples the lug to the bolt head. The nut includes a sleeve, nut head, and handling member. The shaft is threadably received in the sleeve. The nut head extends radially outward from the sleeve and defines a recess that receives the bolt head. The handling member surrounds at least a portion of the lug. The handling member includes a second frangible portion and a second tool engagement portion. The second frangible portion frangibly couples the second tool engagement portion to the nut head.

<CIT>, according to its abstract, states that the shaft comprises a first free wheel for driving the first sleeve in rotation, a second free wheel, and a driving element positioned coaxially around the second free wheel. The driving element cooperates using a helical link with the second sleeve. The first free wheel drives the first sleeve in rotation in a first rotation direction of the shaft. The second free wheel brings the driving element in rotation in a second rotation direction of the shaft to move the second sleeve axially, allowing full setting in a single operating sequence.

<NPL>, according to its abstract, states that with air traffic demand constantly increasing and several years of aircraft production in their backlog, major aircraft manufacturers are now shifting their focus toward improving assembly process efficiency. One of the most promising solutions, known as "One Side Assembly", aims to perform the whole assembly sequence from one side of the structure (drilling, temporary fastener installation and removal, blind fastener installation, assembly control) and with a high level of integrated automation. A one-sided, or blind fastener that is capable of matching the performance of current two-sided structural fasteners while meeting volume and cost objectives can be a major driver for assembly process efficiency improvements. To achieve a blind fastener assembly capable of both fully automated and manual installations while providing robust cycle times and assembly cost reductions is full of challenges. The first key challenge to overcome is at the mechanical interface between the end-effector and the blind fastener being installed. One can imagine the ease with which human operators can hold a fastener with complex geometry and introduce the fastener to a hole regardless of direction and orientation. In a simple example of being unable to maintain coaxial alignment between the blind fastener and installation nose of the end-effector, the robot can bump into the structure and potentially cause damage or cycle interruption. To overcome this challenge, both the end-effector of the robot and the blind fastener need to be perfectly in sync to repeatedly and reliably pick up and install the blind fasteners. Another important challenge is to provide real-time control and validation of the assembly and installation. Because of the lack of visibility to the blind side of the assembly, it is difficult for human operators to visually check the fastener installation with traditional gages. In order to overcome the challenge of providing assembly installation control, the blind fastener design should take advantage of predictable material deformation properties, and the installation tools should record key installation parameters through sensors and logic integration. With this combination, real time installation analysis of a blind fastener assembly becomes a reality. This presentation will focus on technologies developed by LISI AEROSPACE to bring about a breakthrough "One Side Assembly" based on the combination of OPTIBLIND™ fasteners and a variety of tooling options integrating features and controls necessary to overcome the main challenges of full one-side automation.

According to the present disclosure, a method as defined in claim <NUM> and a tool as defined in claim <NUM> are provided. Further embodiments of the claimed invention are defined in the dependent claims. Although the invention is only defined by the claims, the below embodiments, examples, and aspects are present for aiding in understanding the background and advantages of the invention.

In one aspect, a method is provided for installing a fastener into an opening of a structure. The fastener includes a sleeve and a pin threadably received into the sleeve. The method includes inserting the fastener into the opening, grabbing a pintail of the pin, and deforming a tail of the sleeve radially outward relative to a centerline axis of the fastener by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve. The method also includes rotationally shearing the pintail of the pin from a shaft of the pin.

In another aspect, a method is provided for installing a fastener into an opening of a structure using a tool. The fastener includes a sleeve and a pin threadably received into the sleeve. The method includes inserting the fastener into the opening, clamping a clamp of the tool to a pintail of the pin, and deforming a tail of the sleeve radially outward relative to a centerline axis of the fastener by activating a linear actuator to displace the clamp longitudinally along the centerline axis relative to the structure such that the pin is displaced longitudinally along the centerline axis relative to the sleeve. The method also includes grabbing the pintail of the pin with a wrench of the tool that is interconnected with the clamp, and rotationally shearing the pintail of the pin from a shaft of the pin by activating a rotary actuator to rotate the wrench of the tool.

In another aspect, a tool is provided for installing a fastener that includes a sleeve and a pin threadably received into the sleeve. The tool includes a frame and a clamp mounted to the frame such that the clamp is configured to move longitudinally relative to the frame. The clamp is configured to grab a pintail of the pin of the fastener. The tool includes a linear actuator operatively connected to the clamp such that the linear actuator is configured to drive linear movement of the clamp relative to the frame. The tool includes a wrench mounted to the frame such that the wrench is configured to rotate relative to the frame. The wrench is configured to grab the pintail of the pin. The tool includes a rotary actuator operatively connected to the wrench such that the rotary actuator is configured to drive rotation of the wrench relative to the frame.

The foregoing summary, as well as the following detailed description of certain implementations will be better understood when read in conjunction with the appended drawings. Further, references to "one implementation" are not intended to be interpreted as excluding the existence of additional implementations that also incorporate the recited features. Moreover, unless explicitly stated to the contrary, implementations "comprising" or "having" an element or a plurality of elements having a particular property can include additional elements not having that property.

While various spatial and directional terms, such as "top," "bottom," "upper," "lower," "vertical," and the like are used to describe implementations of the present disclosure, it is understood that such terms are merely used with respect to the orientations shown in the drawings. The orientations can be inverted, rotated, or otherwise changed, such that a top side becomes a bottom side if the structure is flipped <NUM> degrees, becomes a left side or a right side if the structure is pivoted <NUM>°, and the like.

Certain implementations of the present disclosure provide methods and tools for installing a fastener into an opening of a structure. These implementations provide for inserting the fastener into the opening, grabbing a pintail of the pin, and deforming a tail of the sleeve radially outward relative to a centerline axis of the fastener by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve. The pintail of the pin is also rotationally sheared from a shaft of the pin.

Certain implementations of the present disclosure provide methods and tools that operate in an unconventional manner to install fasteners. Certain implementations of the present disclosure provide methods and tools that enable installation of a one-sided fastener by longitudinally displacing and rotating the pin of the fastener. Certain implementations of the present disclosure enable automated installation of fasteners. Certain implementations of the present disclosure enable fasteners to be installed in a transition or interference fit condition. Certain implementations of the present disclosure decrease the difficulty of installing fasteners. For example, certain implementations of the present disclosure reduce the effort required to install fasteners. Certain implementations of the present disclosure provide methods and tools that more efficiently install fasteners. For example, certain implementations of the present disclosure are less time-consuming and/or labor intensive.

With references now to the figures, a cross-sectional schematic diagram of a tool <NUM> for installing a fastener (e.g., the fastener <NUM> shown in <FIG>, etc.) is provided in <FIG>. The tool <NUM> includes a frame <NUM>, a clamp <NUM> mounted to the frame <NUM>, a wrench <NUM> mounted to the frame <NUM>, a linear actuator <NUM>, and a rotary actuator <NUM>. The clamp <NUM> is configured to move longitudinally relative to the frame <NUM>, and the wrench <NUM> is configured to rotate relative to the frame <NUM>. Linear movement of the clamp <NUM> relative to the frame <NUM> is driven by the linear actuator <NUM>. Rotation of the wrench <NUM> relative to the frame <NUM> is driven by the rotary actuator <NUM>. As will be described in more detail below, the linear actuator <NUM> and the rotary actuator <NUM> enable the fastener to be installed using automatic linear movement of the clamp <NUM> and automatic rotation of the wrench <NUM>, respectively.

The frame <NUM> extends a length along a central longitudinal axis <NUM>. The frame <NUM> includes a base <NUM>. During installation of the fastener, the base <NUM> of the frame <NUM> is configured to engage in physical contact with the fastener (e.g., the fastener <NUM> shown in <FIG>, etc.) and/or a structure (e.g., the structure <NUM> shown in <FIG>, etc.) into which the fastener is being installed. As used herein, the term "frame" includes a support structure of any type having any size, shape, and geometry, such as, but not limited to, a housing, a base, a case, a frame as shown and described herein, and/or the like. In other words, the frame <NUM> is not limited to the particular implementation shown herein, but rather may additionally or alternatively include any other structure that enables the tool <NUM> to function as described and/or illustrated herein.

The clamp <NUM> is mounted to the frame <NUM> such that the clamp <NUM> is configured to move longitudinally relative to the frame <NUM>. Specifically, the clamp <NUM> is configured to move longitudinally relative to the frame <NUM> along the central longitudinal axis <NUM>, as indicated by the arrows <NUM> and <NUM> in <FIG>. The directions <NUM> and <NUM> are parallel to the central longitudinal axis <NUM>. As will be described below, linear movement of the clamp <NUM> relative to the frame <NUM> during installation of the fastener enables the clamp <NUM> to move longitudinally along a centerline axis (e.g., the centerline axis <NUM> shown in <FIG>, etc.) of the fastener relative to the structure within which the fastener is being installed. In the implementation shown herein, the clamp <NUM> is mounted on rods <NUM> of the frame <NUM>. The rods <NUM> define rails along (i.e., on) which the clamp <NUM> travels as the clamp <NUM> moves longitudinally along the central longitudinal axis <NUM> relative to the frame <NUM>. In other words, the clamp <NUM> moves along both the rods/rails <NUM> and the central longitudinal axis <NUM>. But, in addition or alternatively to the rods <NUM>, the clamp <NUM> is mounted to the frame <NUM> using any other mechanism, structure, and/or the like that enables the clamp <NUM> to move longitudinally relative to the frame <NUM> along the central longitudinal axis <NUM>, such as, but not limited to, bearings, gears, tracks, pulleys, guides, cables, chains, other types of rods, other types of rails, and/or the like.

The clamp <NUM> is configured to grab a pintail (e.g., the pintail <NUM> shown in <FIG>, etc.) of a pin (e.g., the pin <NUM> shown in <FIG>, etc.) of the fastener. In other words, the clamp <NUM> is configured to clamp to the pintail of the fastener. When clamped to the pintail of the fastener, longitudinal movement of the clamp <NUM> relative to the frame <NUM> enables the clamp <NUM> to move (i.e., displace) the pin of the fastener longitudinally along the centerline axis (e.g., the centerline axis <NUM> shown in <FIG>, etc.) of the fastener relative to a sleeve (e.g., the sleeve <NUM> shown in <FIG>, etc.) of the fastener, as will be described below. The centerline axis of the fastener is parallel with the central longitudinal axis <NUM> when the fastener is held by the tool.

The clamp <NUM> may include any clamping mechanism that enables the clamp <NUM> to grab the pintail of the fastener such that the clamp <NUM> is enabled to displace (e.g., configured to displace, capable of displacing, etc.) the pin of the fastener longitudinally along the centerline axis of the fastener relative to the sleeve of the fastener. In the implementation shown herein, the clamping mechanism of the clamp <NUM> includes two or more jaws <NUM> that can be moved (e.g., tightened, etc.) radially inward toward the central longitudinal axis <NUM> to thereby squeeze the pintail of the pin therebetween. But, the clamp <NUM> additionally or alternatively may include any other clamping mechanism that enables the clamp <NUM> to function as described and/or illustrated herein, such as, but not limited to, collars, collets, bands, other circular and semi-circular clamping mechanisms, dogs, other types of jaws, and/or the like.

Moreover, the clamping mechanism of the clamp <NUM> may be configured to clamp to (i.e., grab) any structure of the pintail of the pin that enables the clamp <NUM> to function as described and/or illustrated herein. In other words, the clamping mechanism of the clamp <NUM> may be configured to grab one or more of a variety of different structures of the pintail. For example, the jaws <NUM> of the clamp <NUM> are configured to grab a neck (e.g., the neck <NUM> shown in <FIG>, etc.) of the pintail. Other examples of a pintail structure that the clamping mechanism of the clamp <NUM> may be configured to grab (i.e., clamp to) include, but are not limited to, collars, flanges, lobes, textured surfaces, and/or the like.

The clamping mechanism (e.g., the jaws <NUM>, etc.) of the clamp <NUM> may be actuated to grab the pintail by any power source, mechanism, structure, and/or the like, such as, but not limited to: manually using one or more gears, teeth, handles, knobs, levers, and/or keys (e.g., a chuck key, etc.); automatically using a pneumatic, electric, and/or hydraulic power source; and/or the like.

As briefly described above, the tool <NUM> includes the linear actuator <NUM> for longitudinally moving the clamp <NUM>. Specifically, the linear actuator <NUM> is operatively connected to the clamp <NUM> such that the linear actuator <NUM> is configured to drive (e.g., actuate, enable, allow, etc.) linear movement of the clamp <NUM> along the central longitudinal axis <NUM> relative to the frame <NUM>. In other words, linear movement of the clamp <NUM> along the central longitudinal axis <NUM> relative to the frame <NUM> is driven by the linear actuator <NUM>. The linear actuator <NUM> enables the fastener to be installed using automatic linear movement of the clamp <NUM>.

The linear actuator <NUM> may include any type of linear actuator and any associated components (e.g., linkage, etc.), such as, but not limited to, hydraulically actuated pistons, other types of hydraulic linear actuators, magnetic linear actuators, screw-type linear actuators, ball screws, lead screws, screw jacks, roller screws, linear motors, telescoping linear actuators, solenoids, servomechanisms, servomotors, hydraulic linear actuators, pneumatic linear actuators, electrical linear actuators, electromechanical linear actuators, electric motors, gears, chains, pulleys, differentials, counterweights, and/or the like. The linear actuator <NUM> may be actuated by any power source, such as, but not limited to, a pneumatic power source, an electric power source, a hydraulic power source, and/or the like.

The wrench <NUM> is mounted to the frame <NUM> such that the wrench <NUM> is configured to rotate relative to the frame <NUM>. Specifically, the wrench <NUM> is configured to rotate relative to the frame <NUM> about the central longitudinal axis <NUM>, as indicated by the arrows <NUM> and <NUM> in <FIG>. As will be described below, rotation of the wrench <NUM> relative to the frame <NUM> during installation of the fastener enables the wrench <NUM> to rotate about the centerline axis of the fastener relative to the structure within which the fastener is being installed (and relative to the sleeve of the fastener). In the implementation shown herein, the wrench <NUM> is indirectly mounted to the frame <NUM> via the clamp <NUM>. Specifically, the wrench <NUM> is mounted to the clamp <NUM> via one or more bearings <NUM> that enable the wrench <NUM> to rotate about the central longitudinal axis <NUM> relative to the clamp <NUM> and the frame <NUM>. In some other implementations, the wrench <NUM> is mounted directly to the frame <NUM> (e.g., via one or more bearings, etc.) for rotation about the central longitudinal axis <NUM> relative to the frame <NUM>. Although the wrench <NUM> is configured to rotate relative to the clamp <NUM>, in some other implementations the clamp <NUM> is configured to rotate relative to the frame <NUM> along with the wrench <NUM>. In the implementation shown in <FIG>, the wrench <NUM> is mounted to the clamp <NUM> such that the wrench <NUM> travels with the clamp <NUM> longitudinally along the central longitudinal axis <NUM> relative to the frame <NUM>. In other words, the wrench <NUM> is mounted to the frame <NUM> indirectly via the clamp <NUM> in the implementation shown in <FIG>.

The bearing(s) <NUM> may include any type of bearing, such as, but not limited to, plain bearings, bushings, journal bearings, sleeve bearings, rifle bearings, composite bearings, rolling-element bearings, bail bearings, roller bearings, jewel bearings, fluid bearings, magnetic bearings, flexure bearings, and/or the like. In addition or alternatively to the bearing(s) <NUM>, the wrench <NUM> is mounted to the clamp <NUM> and/or the frame <NUM> using any other mechanism, structure, and/or the like that enables the wrench <NUM> to rotate about the central longitudinal axis <NUM> relative to the frame <NUM>, such as, but not limited to, gears, tracks, rails, pulleys, guides, cables, chains, and/or the like.

The wrench <NUM> is configured to grab the pintail of the pin of the fastener. When the pintail of the fastener is grabbed by the wrench <NUM>, rotation of the wrench <NUM> relative to the frame <NUM> enables the wrench <NUM> to rotate the pin of the fastener about the centerline axis of the fastener relative to the sleeve of the fastener, as will be described below. The wrench <NUM> may include any grabbing mechanism that enables the wrench <NUM> to grab the pintail of the fastener such that the wrench <NUM> is enabled to rotate (e.g., configured to rotate, capable of rotating, etc.) the pin of the fastener about the centerline axis of the fastener relative to the sleeve of the fastener. In the implementation shown herein, the grabbing mechanism of the wrench <NUM> includes a socket <NUM> that includes a spline <NUM> that is configured to mesh with a spline (e.g., the spline <NUM> shown in <FIG>, etc.) of the pintail of the pin (i.e., the splines <NUM> and <NUM> are complementary in shape). But, in addition or alternatively to the socket <NUM> and/or the spline <NUM>, the wrench <NUM> may include any other grabbing mechanism that enables the wrench <NUM> to function as described and/or illustrated herein, such as, but not limited to, flats, lobes, hexagonal structures, square structures, triangular structures, hexalobular structures, other multi-sided structures, textured surfaces, collars, collets, bands, other circular and semi-circular clamping mechanisms, dogs, jaws, other clamping mechanisms, socket having one or more of the aforementioned structures and/or the like.

Moreover, the grabbing mechanism of the wrench <NUM> may be configured to grab (e.g., mesh with, interlock with, etc.) any structure of the pintail of the pin that enables the wrench <NUM> to function as described and/or illustrated herein. In other words, the wrench <NUM> may be configured to grab one or more of a variety of different structures of the pintail. For example, the spline <NUM> of the wrench <NUM> is configured to mesh with the spline (e.g., the spline <NUM> shown in <FIG>, etc.) of the pintail. Other examples of a pintail structure that the wrench <NUM> may be configured to grab include, but are not limited to, flats, lobes, hexagonal structures, square structures, triangular structures, hexalobular structures, other multi-sided structures, textured surfaces, and/or the like.

The tool <NUM> includes the rotary actuator <NUM> for rotating the wrench <NUM>. Specifically, the rotary actuator <NUM> is operatively connected to the wrench <NUM> such that the rotary actuator <NUM> is configured to drive (e.g., actuate, enable, allow, etc.) rotation of the wrench <NUM> about the central longitudinal axis <NUM> relative to the frame <NUM>. In other words, rotation of the wrench <NUM> about the central longitudinal axis <NUM> relative to the frame <NUM> is driven by the rotary actuator <NUM>. The rotary actuator <NUM> enables the fastener to be installed using automatic rotation of the wrench <NUM>.

The rotary actuator <NUM> may include any type of rotary actuator and any associated components (e.g., linkage, etc.), such as, but not limited to, rotary screws, electric motors, stepper motors, servomotors, torque motors, memory wires, fluid power actuators, vacuum actuators, hydraulic rotary actuators, pneumatic rotary actuators, electrical rotary actuators, electromechanical rotary actuators, servomechanisms, gears, chains, pulleys, differentials, and/or the like. The rotary actuator <NUM> may be actuated by any power source, such as, but not limited to, a pneumatic power source, an electric power source, a hydraulic power source, and/or the like.

In some implementations, the tool <NUM> includes one or more activators <NUM> for manually activating the linear actuator <NUM> and/or one or more activators <NUM> for manually activating the rotary actuator <NUM>. For example, manual selection of the activator <NUM> by a human operator activates the linear actuator <NUM> to displace (i.e., move) the clamp <NUM> longitudinally along the central longitudinal axis <NUM> of the tool <NUM> relative to the frame <NUM>. In other words, manually selecting the activator <NUM> causes the linear actuator <NUM> to automatically displace the clamp <NUM> longitudinally along the central longitudinal axis <NUM> relative to the frame <NUM>. Moreover, and for example, manual selection of the activator <NUM> by a human operator activates the rotary actuator <NUM> to rotate the wrench <NUM> about the central longitudinal axis <NUM> relative to the frame <NUM>. In other words, manually selecting the activator <NUM> causes the rotary actuator <NUM> to automatically rotate the wrench <NUM> about the central longitudinal axis <NUM> relative to the frame <NUM>. The activator(s) <NUM> and <NUM> each may include any type of activator, such as, but not limited to, buttons, switches, levers, knobs, and/or the like.

In addition or alternatively to the activators <NUM> and/or <NUM>, the tool <NUM> may include and/or be communicatively coupled to one or more optional electronic devices <NUM> that control activation of the linear actuator <NUM> and/or the rotary actuator <NUM>. The electronic device <NUM> includes one or more processors <NUM> and one or more optional memories <NUM>. In some implementations, the electronic device <NUM> is configured to execute some or all of the operations (e.g., activation of a linear actuator, activation of a rotary actuator, etc.) of the methods described herein with respect to <FIG> and <FIG> for installing a fastener. In some implementations, the electronic device <NUM> controls positioning of the tool <NUM> at the intended location of the structure within which the fastener is being installed. In some other implementations, the tool <NUM> is manually positioned at the installation location by a human operator.

The electronic device <NUM> represents any device executing instructions (e.g., as application programs/software, operating system functionality, or both) to implement the operations and functionality associated with the electronic device <NUM>. In some implementations, the electronic device <NUM> includes a mobile electronic device or any other portable device, for example a mobile telephone, laptop, tablet, computing pad, netbook, and/or the like. In some implementations, the electronic device <NUM> includes less portable devices, for example desktop personal computers, servers, controllers, kiosks, tabletop devices, industrial control devices, and/or the like. The electronic device <NUM> represents a group of processing units, servers, other computing devices, and/or the like in some implementations.

In some implementations, the electronic device <NUM> is located onboard the tool <NUM>, while in other implementations the electronic device <NUM> is located offboard the tool <NUM> (e.g., at the site of a larger system within which the tool <NUM> is implemented, at a site remote from a larger system within which the tool <NUM> is implemented, etc.). In some implementations, a sensing apparatus (not shown; e.g., a feedback control loop, etc.) guides the tool <NUM> to provide alignment of the wrench <NUM> with the fastener.

<FIG> illustrate a fastener <NUM> that can be installed using the tool <NUM> (<FIG> and <FIG>). The fastener <NUM> is meant solely as one non-limiting example of a fastener with which the tool <NUM> may be used to install. Accordingly, the tool <NUM> is not limited to being used to install the fastener <NUM>, but rather the tool <NUM> may be used to install fasteners having other sizes, shapes, geometries, and/or the like.

The fastener <NUM> extends a length along a centerline axis <NUM> and includes a sleeve <NUM> and a pin <NUM> that is threadably received into the sleeve <NUM>. The sleeve <NUM> extends a length along the centerline axis <NUM> from a flange <NUM> of the sleeve <NUM> to a tail <NUM> of the sleeve <NUM>. The sleeve <NUM> includes an opening <NUM> that extends through the length of the sleeve <NUM>. The opening <NUM> of the sleeve <NUM> is threaded along at least a portion of the length thereof. In other words, the sleeve <NUM> includes one or more threads <NUM> (not visible in <FIG>) that extend into an interior surface <NUM> (not visible in <FIG>) of the sleeve <NUM> that defines the opening <NUM>. As will be described in more detail below, the tail <NUM> of the sleeve <NUM> is configured to be deformed radially outward relative to the centerline axis <NUM> during installation of the fastener <NUM>.

The pin <NUM> extends a length along the centerline axis <NUM>. The pin <NUM> includes a pintail <NUM> and a shaft <NUM> that extends outward from the pintail <NUM> along the centerline axis <NUM>. The shaft <NUM> of the pin <NUM> is threaded along at least a portion of the length thereof such that the shaft <NUM> is configured to be threadably received into the sleeve <NUM>. Specifically, the shaft <NUM> includes one or more threads <NUM> (not visible in <FIG>) that extend into an exterior surface <NUM> (not visible in <FIG>) of shaft <NUM>. The threads <NUM> enable the shaft <NUM> to be threadably received into the opening <NUM> of the sleeve <NUM>.

The pintail <NUM> of the pin <NUM> includes a flange <NUM> (not visible in <FIG>). The flange <NUM> has a complementary shape relative to the flange <NUM> of the sleeve <NUM> such that the flange <NUM> of the pintail <NUM> is configured to seat with (e.g., against, etc.) the flange <NUM> of the sleeve <NUM>. The pintail <NUM> of the pin <NUM> includes a neck <NUM> and a spline <NUM>. As will be described in more detail below, the clamp <NUM> (<FIG> and <FIG>) of the tool <NUM> is configured to grab the neck <NUM> of the pintail <NUM> and the wrench <NUM> (<FIG> and <FIG>) of the tool <NUM> is configured to mesh with the spline <NUM> of the pintail <NUM> during installation of the fastener <NUM>.

The pintail <NUM> of the pin <NUM> is frangible such that the pintail <NUM> of the pin <NUM> is configured to break from the shaft <NUM> of the pin <NUM> during installation of the fastener <NUM>. Specifically, the pintail <NUM> of the pin <NUM> is configured to shear from the shaft <NUM> of the pin <NUM> when a predetermined amount of torque is applied to the pin <NUM> while the flange <NUM> of the pintail <NUM> is seated with the flange <NUM> of the sleeve <NUM>. For example, the pintail <NUM> of the pin <NUM> may be configured to break from the shaft <NUM> of the pin <NUM> along a shear line <NUM> (not visible in <FIG>). A portion of the pintail <NUM> remains with the shaft <NUM> after the pintail <NUM> has broken from the shaft <NUM>. For example, a tapered segment 226a of the flange <NUM> may remain with the shaft <NUM> after the pintail <NUM> has sheared from the shaft <NUM>, as is shown in the example of <FIG>.

Operation of the tool <NUM> to install the fastener <NUM> within an opening <NUM> of a structure <NUM> will now be described with reference to <FIG>. As illustrated in <FIG>, the opening <NUM> of the structure <NUM> includes a countersink <NUM> along a front side <NUM> of the structure <NUM>. The flange <NUM> of the sleeve <NUM> and the countersink <NUM> are complementary in shape to enable the flange <NUM> to seat within the countersink <NUM>. Although the opening <NUM> shown herein has a cylindrical (i.e., circular cross-sectional) shape, the tool <NUM> is not limited to installing fasteners into cylindrical openings, but rather may be used to install fasteners into openings that include any other shape in addition or alternative to a cylindrical shape.

To install the fastener <NUM> within the structure <NUM>, the fastener <NUM> is inserted into the opening <NUM> such that the tail <NUM> of the sleeve <NUM> of the fastener <NUM> extends outward along a back side <NUM> (i.e., opposite the front side <NUM>) of the structure <NUM> and such that the flange <NUM> of the sleeve <NUM> is seated within the countersink <NUM> of the opening <NUM>, as is shown in <FIG>. In some implementations, the fastener <NUM> has a clearance fit within the opening <NUM>, wherein the fastener <NUM> can be inserted into the opening <NUM> manually (e.g., by a human operator, etc.) or automatically (e.g., using one or more other devices such as, but not limited to, a robotic arm or other robotic device, the electronic device <NUM>, and/or the like) using relatively little force. In some other implementations, the fastener <NUM> has an interference (e.g., transition, etc.) fit within the opening <NUM>, wherein the fastener <NUM> is forced, pushed, hammered, and/or riveted into the opening <NUM>, for example manually (e.g., by a human operator, etc.) or automatically (e.g., using one or more other devices such as, but not limited to, a robotic arm or other robotic device, the electronic device <NUM>, and/or the like).

Once the fastener <NUM> is received (e.g., seated, etc.) within the opening <NUM>, the tool <NUM> is positioned over the fastener <NUM> such that the clamp <NUM> extends around the neck <NUM> of the pintail <NUM> and such that the spline <NUM> of the wrench <NUM> is meshed with the spline <NUM> of the pintail <NUM>, as shown in <FIG>. The linear actuator <NUM> (<FIG> and <FIG>) and the rotary actuator <NUM> (<FIG> and <FIG>) are not shown in <FIG> for clarity. The clamp <NUM> of the tool <NUM> is then clamped to the pintail <NUM> of the fastener. Specifically, the jaws <NUM> of the clamp <NUM> are moved radially inward toward the axes <NUM> and <NUM> to thereby grab the neck <NUM> of the pintail <NUM>. In some other implementations, the fastener <NUM> is first inserted (i.e., loaded) into the tool <NUM> (e.g., manually by a human operator, automatically via the tool <NUM> grabbing the fastener <NUM> from a source of the fasteners <NUM>, etc.) and thereafter inserted into the opening <NUM> using the tool <NUM> (i.e., while being held by the tool <NUM>). As is shown in <FIG>, the centerline axis <NUM> of the fastener <NUM> extends parallel and co-linear with the central longitudinal axis <NUM> of the tool <NUM> when the fastener <NUM> is held by the tool <NUM>.

Installation of the fastener <NUM> further includes deforming the tail <NUM> of the sleeve <NUM> radially outward relative to the centerline axis <NUM> of the fastener <NUM>. The tail <NUM> is deformed by activating the linear actuator <NUM> to displace the clamp <NUM> longitudinally along the axes <NUM> and <NUM> relative to the structure <NUM> in the direction <NUM> such that the pin <NUM> of the fastener <NUM> is displaced longitudinally along the centerline axis <NUM> relative to the sleeve <NUM> in the direction <NUM>, as shown in <FIG>. In other words, deforming the tail <NUM> radially outward relative to the centerline axis <NUM> includes automatically displacing the pin <NUM> longitudinally along the centerline axis <NUM> relative to the sleeve <NUM> using the linear actuator <NUM>. As can be seen in <FIG>, the deformation of the tail <NUM> of the sleeve <NUM> radially outward relative to the centerline axis <NUM> expands the size of the tail <NUM> along the back side <NUM> of the structure <NUM>. The expanded tail <NUM> forms a retention feature that cooperates with the flange <NUM> of the sleeve <NUM> to hold the fastener <NUM> within the opening <NUM> (and thereby fasten two segments <NUM> and <NUM> of the structure <NUM> together). The rotary actuator <NUM> is not shown in <FIG> for clarity.

In the exemplary implementation of the tool <NUM>, the base <NUM> of the frame <NUM> of the tool <NUM> includes one or more legs <NUM> that extend over and engage with the flange <NUM> of the sleeve <NUM> and the front side <NUM> of the structure <NUM>. Accordingly, the base <NUM> is braced against the front side <NUM> of the structure <NUM> and against the flange <NUM> of the sleeve <NUM> as the clamp <NUM> moves the pin <NUM> longitudinally along the centerline axis <NUM> relative to the sleeve <NUM>. Although the linear actuator <NUM> and the clamp <NUM> are shown in the illustrated implementation as pulling on the pin <NUM> of the fastener to move the pin <NUM> longitudinally along the centerline axis <NUM> relative to the sleeve <NUM>, additionally or alternatively the linear actuator <NUM> and the clamp <NUM> may move the pin <NUM> longitudinally along the centerline axis <NUM> relative to the sleeve <NUM> by pushing on the pin <NUM>.

Referring now to <FIG> and <FIG>, installation of the fastener <NUM> further includes rotationally shearing the pintail <NUM> of the pin <NUM> from the shaft <NUM> of the pin <NUM>. Optionally, installation of the fastener <NUM> includes waiting a predetermined amount of time (e.g., one second, five seconds, ten seconds, thirty seconds, etc.) after deforming the tail <NUM> of the sleeve <NUM> radially outward before rotationally shearing the pintail <NUM> from the shaft <NUM> of the pin <NUM>. The linear actuator <NUM> is not shown in <FIG> for clarity. In other words, some implementations of the tool <NUM> are configured to include a delay between deforming the tail <NUM> radially outward and rotationally shearing the pintail <NUM> from the shaft <NUM>. In some implementations, the tool <NUM> is configured such that the amount of the delay (i.e., the predetermined amount of time) is adjustable, which may increase the flexibility of the tool <NUM>, allow for improvement of the tool <NUM>, and/or enable adjustment of the tool <NUM> for different fastener diameters.

The pintail <NUM> is rotationally sheared from the pin shaft <NUM> by activating the rotary actuator <NUM> to rotate the wrench <NUM> of the tool <NUM> about the axes <NUM> and <NUM> (e.g., in the direction <NUM>, etc.) such that the pin <NUM> of the fastener <NUM> is rotated about the centerline axis <NUM> relative to the sleeve <NUM> of the fastener <NUM>. In other words, rotationally shearing the pintail <NUM> from the shaft <NUM> includes automatically rotating the pin <NUM> about the centerline axis <NUM> relative to the sleeve <NUM> using the rotary actuator <NUM>. As shown in <FIG>, rotation of the pin <NUM> relative to the sleeve <NUM> threads the shaft <NUM> of the pin <NUM> further into the sleeve <NUM> from the position shown in <FIG> until the flange <NUM> of the pintail <NUM> seats within (e.g., against, etc.) the flange <NUM> of the sleeve <NUM>. Further rotation of the pin <NUM> about the centerline axis <NUM> relative to the sleeve <NUM> from the position shown in <FIG> breaks the pintail <NUM> of the pin <NUM> from the shaft <NUM> of the pin <NUM> (e.g., along the shear line <NUM>, etc.), as is shown in <FIG>. In other words, rotationally shearing the pintail <NUM> from the shaft <NUM> includes rotating the pin <NUM> relative to the sleeve <NUM> until the pintail <NUM> breaks from the shaft <NUM> of the pin <NUM>.

Optionally, the pintail <NUM> is rotationally sheared from the shaft <NUM> such that a broken end portion <NUM> of the shaft <NUM> is approximately flush with the front side <NUM> of the structure <NUM> and/or the flange <NUM> of the sleeve <NUM>, for example as is shown in <FIG>. In other implementations, the broken end portion <NUM> of the shaft <NUM> extends above and/or below (as viewed in <FIG>) the front side <NUM> and/or the flange <NUM>.

<FIG> illustrates another implementation of a tool <NUM> for installing a fastener (e.g., the fastener <NUM> shown in <FIG>, etc.). The tool <NUM> includes a frame <NUM>, a clamp <NUM> mounted to the frame <NUM>, a wrench <NUM> mounted to the frame <NUM>, a linear actuator <NUM>, and a rotary actuator <NUM>. The clamp <NUM> is configured to move longitudinally relative to the frame <NUM>, and the wrench <NUM> is configured to rotate relative to the frame <NUM>. Linear movement of the clamp <NUM> relative to the frame <NUM> is driven by the linear actuator <NUM>. Rotation of the wrench <NUM> relative to the frame <NUM> is driven by the rotary actuator <NUM>. The linear actuator <NUM> and the rotary actuator <NUM> enable the fastener to be installed using automatic linear movement of the clamp <NUM> and automatic rotation of the wrench <NUM>, respectively.

The tool <NUM> is configured to automatically insert a fastener into an opening (e.g., the opening <NUM> shown in <FIG>, etc.) with an interference fit. In other words, the tool <NUM> is configured to install the fastener into an opening that has an interference fit with the fastener. The clamp <NUM> of the tool <NUM> includes one or more legs <NUM> configured to engage the flange (e.g., the flange <NUM> shown in <FIG>, etc.) of the sleeve (e.g., the sleeve <NUM> shown in <FIG>, etc.) when the fastener is held by the tool <NUM>. For example, the legs <NUM> of the tool <NUM> are configured to engage the flange of the sleeve in a substantially similar manner to how the legs <NUM> of the base <NUM> of the tool <NUM> are shown engaging the flange <NUM> of the sleeve <NUM> in <FIG>.

The legs <NUM> of the clamp <NUM> are configured to move longitudinally relative to jaws <NUM> of the clamp <NUM> along a central longitudinal axis <NUM> of the tool <NUM>, as indicated by the arrows <NUM> and <NUM> in <FIG>. In other words, the legs <NUM> are configured to be extended outwardly away from the jaws <NUM> in the direction <NUM> and retracted inwardly toward the jaws <NUM> in the direction <NUM>. Relative movement between the legs <NUM> and the jaws <NUM> of the clamp <NUM> enables adjustment of the position of the legs <NUM> along the central longitudinal axis <NUM> relative to the position of the jaws <NUM>, for example to accommodate the different positions of the pin (e.g., the pin <NUM> shown in <FIG>, etc.) of the fastener relative to the sleeve of the fastener during different stages of the installation process. The tool <NUM> may include a linear actuator <NUM> that is operatively connected to the legs <NUM> such that the linear actuator <NUM> is configured to drive (e.g., actuate, enable, allow, etc.) linear movement of the legs <NUM> relative to the jaws <NUM> along the central longitudinal axis <NUM>.

To automatically insert the fastener into an opening with an interference fit, the fastener is first inserted (i.e., loaded) into the tool <NUM> (e.g., manually by a human operator, automatically via the tool <NUM> grabbing the fastener from a source thereof, etc.). The linear actuator <NUM> may adjust the position of the legs <NUM> relative to the jaws <NUM> to enable the tool <NUM> to hold the fastener such that the legs <NUM> are engaged with the flange of the sleeve of the fastener while the jaws <NUM> are engaged with a neck (e.g., the neck <NUM> shown in <FIG>, etc.) of a pintail (e.g., the pintail <NUM> shown in <FIG>, etc.) of the fastener. The tool <NUM> is then positioned at the installation location (i.e., over the opening) such that a base <NUM> of the frame <NUM> is braced against a front side (e.g., the front side <NUM> of the structure <NUM> shown in <FIG>, etc.). The linear actuator <NUM> is then activated to move the clamp <NUM> longitudinally along the central longitudinal axis <NUM> relative to the base <NUM> and the structure (e.g., the structure <NUM> shown in <FIG>, etc.) in the direction of the arrow <NUM>. The legs <NUM> of the clamp <NUM> are locked in position (e.g., using the linear actuator <NUM>, etc.) relative to the jaws <NUM> of the clamp <NUM> as the clamp <NUM> moves longitudinally along the axis <NUM> in the direction <NUM> toward the structure such that the legs <NUM> move toward the structure along with the jaws <NUM>. Accordingly, as the clamp <NUM> moves longitudinally along the axis <NUM> in the direction <NUM> toward the structure, the engagement between the legs <NUM> and the flange of the fastener sleeve forcibly inserts the fastener into the opening until the flange of the sleeve is seated within a seat (e.g., the countersink <NUM> shown in <FIG>, etc.) of the opening. The clamp <NUM> of the tool <NUM> thus enables the fastener to be automatically inserted into an opening with an interference fit.

Once the fastener has been automatically inserted into the opening with the interference fit, the remainder of the installation process can be performed to complete installation of the fastener. During the remaining steps of the installation process, relative movement between the legs <NUM> and the jaws <NUM> of the clamp <NUM> can be used to accommodate movement to the different relative positions between the pin and the sleeve of the fastener. For example, the linear actuator <NUM> may control extension of the legs <NUM> away from the jaws <NUM> (i.e., in the direction <NUM>) as the clamp <NUM> moves in the direction of the arrow <NUM> to form the retention feature (e.g., the expanded tail <NUM> shown in <FIG>, etc.) of the fastener. The extension of the legs <NUM> as the jaws <NUM> move away from the structure maintains the engagement between the legs <NUM> and the flange of the sleeve to enable the legs <NUM> to brace against the sleeve flange as the pin of the fastener is moved relative to the sleeve to form the retention feature. Moreover, and for example, the linear actuator <NUM> may control retraction of the legs <NUM> toward the jaws <NUM> (i.e., in the direction <NUM>) as the pin of the fastener is rotated to seat a flange (e.g., the flange <NUM> shown in <FIG>, etc.) of the pintail of the pin within the flange of the sleeve.

<FIG> is a flow chart illustrating a method <NUM> for installing a fastener (e.g., the fastener <NUM> shown in <FIG>, etc.) into an opening (e.g., the opening <NUM> shown in <FIG>, etc.) of a structure (e.g., the structure <NUM> shown in <FIG>, etc.) according to an implementation. The fastener includes a sleeve (e.g., the sleeve <NUM> shown in <FIG>, etc.) and a pin (e.g., the pin <NUM> shown in <FIG>, etc.) threadably received into the sleeve. The method <NUM> includes inserting, at <NUM>, the fastener into the opening of the structure. At <NUM>, the method <NUM> includes grabbing a pintail of the pin. In some implementations, grabbing at <NUM> the pintail of the pin includes meshing, at 404a, with a spline of the pintail of the pin.

The method <NUM> includes deforming, at <NUM>, a tail of the sleeve radially outward relative to a centerline axis of the fastener by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve. In some implementations, deforming at <NUM> the tail of the sleeve radially outward by automatically displacing the pin relative to the sleeve along the centerline axis includes automatically displacing, at 406a, the pin along the centerline axis relative to the sleeve using a linear actuator (e.g., the linear actuator <NUM> shown in <FIG> and <FIG>, the linear actuator <NUM> shown in <FIG>, etc.). Moreover, some implementations of deforming at <NUM> the tail of the sleeve radially outward by automatically displacing the pin relative to the sleeve along the centerline axis include pulling, at 406b, on the pin. Optionally, deforming at <NUM> the tail of the sleeve radially outward by automatically displacing the pin relative to the sleeve along the centerline axis includes bracing, at 406c, against a side of the structure and a flange of the sleeve.

At <NUM>, the method <NUM> includes rotationally shearing the pintail of the pin from a shaft of the pin. In some implementations, rotationally shearing at <NUM> the pintail of the pin from the shaft of the pin includes rotating, at 408a, the pin relative to the sleeve until the pintail of the pin breaks from the shaft of the pin. In some implementations, rotationally shearing at <NUM> the pintail of the pin from the shaft of the pin includes automatically rotating, at 408b, the pin relative to the sleeve using a rotary actuator (e.g., the rotary actuator <NUM> shown in <FIG> and <FIG>, the rotary actuator <NUM> shown in <FIG>, etc.). Optionally, rotationally shearing at <NUM> the pintail of the pin from the shaft of the pin includes shearing, at 408c, the pintail from the shaft such that the shaft is approximately flush with at least one of a side of the structure or a flange of the sleeve.

Some implementations of the method <NUM> further include waiting, at <NUM>, a predetermined amount of time after deforming the tail of the sleeve radially outward before rotationally shearing the pintail of the pin from the shaft of the pin.

<FIG> is a flow chart illustrating a method <NUM> for installing a fastener (e.g., the fastener <NUM> shown in <FIG>, etc.) into an opening (e.g., the opening <NUM> shown in <FIG>, etc.) of a structure (e.g., the structure <NUM> shown in <FIG>, etc.) using a tool (e.g., the tool <NUM> shown in <FIG> and <FIG>, the tool <NUM> shown in <FIG>, etc.) according to an implementation. The fastener includes a sleeve (e.g., the sleeve <NUM> shown in <FIG>, etc.) and a pin (e.g., the pin <NUM> shown in <FIG>, etc.) threadably received into the sleeve. The method <NUM> includes inserting, at <NUM>, the fastener into the opening of the structure. In some implementations, inserting at <NUM> the fastener into the opening of the structure includes automatically inserting, at 502a, the fastener into the opening with an interference fit. At <NUM>, the method <NUM> includes clamping a clamp of the tool to a pintail of the pin. In some implementations, clamping at <NUM> the clamp of the tool to the pintail of the pin includes grabbing, at 504a, a neck of the pintail of the pin.

At <NUM>, the method <NUM> includes deforming a tail of the sleeve radially outward relative to a centerline axis of the fastener by activating a linear actuator (e.g., the linear actuator <NUM> shown in <FIG> and <FIG>, the linear actuator <NUM> shown in <FIG>, etc.) to displace the clamp longitudinally along the centerline axis relative to the structure such that the pin is displaced longitudinally along the centerline axis relative to the sleeve.

At <NUM>, the method <NUM> includes grabbing the pintail of the pin with a wrench of the tool that is interconnected with the clamp. In some implementations, grabbing at <NUM> the pintail of the pin with the wrench of the tool includes meshing, at 508a, the wrench with a spline of the pintail of the pin.

The method <NUM> includes rotationally shearing, at <NUM>, the pintail of the pin from a shaft of the pin by activating a rotary actuator (e.g., the rotary actuator <NUM> shown in <FIG> and <FIG>, the rotary actuator <NUM> shown in <FIG>, etc.) to rotate the wrench of the tool. In some implementations, rotationally shearing at <NUM> the pintail of the pin from the shaft of the pin includes rotating, at 510a, the pin relative to the sleeve using the wrench until the pintail of the pin breaks from the shaft of the pin. Optionally, rotationally shearing at <NUM> the pintail of the pin from the shaft of the pin includes rotating, at 510b, the wrench relative to the clamp of the tool. Rotationally shearing at <NUM> the pintail of the pin from the shaft of the pin optionally includes shearing, at <NUM>0c, the pintail from the shaft such that the shaft is approximately flush with at least one of a side of the structure or a flange of the sleeve.

Referring now to <FIG>, examples of the disclosure may be described in the context of using the methods and tools disclosed herein to build and/or service (e.g., maintenance, inspection, modification, reconfiguration, refurbishment, repair, replacement, etc.) one or more portions of an aircraft <NUM> that includes an airframe <NUM> with a plurality of high-level systems <NUM> and an interior <NUM>. Examples of high-level systems <NUM> include one or more of a propulsion system <NUM>, an electrical system <NUM>, a hydraulic fluid system <NUM>, a control system <NUM>, and an environmental system <NUM>. Any number of other systems can be included. Although a fixed wing passenger aircraft is shown, the methods and tools disclosed herein can be used with any other type of aircraft, such as, but not limited to, transport aircraft, military aircraft, rotorcraft (e.g., helicopters, etc.), lighter than air vehicles (e.g., balloons, etc.), and/or the like. Moreover, although an aerospace example is shown, the principles can be applied to other industries, such as, but not limited to, the automotive industry, the marine industry, and/or the like.

Examples of the disclosure can be described in the context of an aircraft manufacturing and service method <NUM> as shown in <FIG>. During pre-production, illustrative method <NUM> can include specification and design <NUM> of an aircraft (e.g., the aircraft <NUM> shown in <FIG>, etc.) and material procurement <NUM>. During production, component and subassembly manufacturing <NUM> and system integration <NUM> of the aircraft take place. Thereafter, the aircraft can go through certification and delivery <NUM> to be placed in service <NUM>. While in service by a customer, the aircraft is scheduled for routine maintenance and service <NUM> (which can also include inspection, modification, reconfiguration, refurbishment, repair, replacement, and so on). For example, the operating environment of the methods and tools disclosed herein may include a fuel tank, a wing, a fuselage, and/or the like of an aircraft and one or more of the methods and/or tools disclosed herein may be used therein to service one or more components of the aircraft therein.

Each of the processes of the illustrative method <NUM> can be performed or carried out by a system integrator, a third party, and/or an operator (e.g., a customer, etc.). For the purposes of this description, a system integrator can include, without limitation, any number of aircraft manufacturers and major-system subcontractors; a third party can include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator can be an airline, leasing company, military entity, service organization, and so on.

The present disclosure is operable with an electronic device (i.e., a computing apparatus) according to an implementation as a functional block diagram <NUM> in <FIG>. In an implementation, components of a computing apparatus <NUM> are implemented as a part of an electronic device according to one or more implementations described in this specification. The computing apparatus <NUM> comprises one or more processors <NUM>, for example microprocessors, controllers, and/or any other suitable type of processors for processing computer executable instructions to control the operation of the electronic device. In some implementations, platform software comprising an operating system <NUM> and/or any other suitable platform software is provided on the apparatus <NUM> to enable application software <NUM> to be executed on the device.

Computer executable instructions are provided using any computer-readable media that are accessible by the computing apparatus <NUM>. Computer-readable media include, for example and without limitation, computer storage media such as a memory <NUM> and communications media. Computer storage media, such as a memory <NUM>, include volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or the like. Computer storage media include, but are not limited to, RAM, ROM, EPROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information for access by a computing apparatus. In contrast, communication media embody computer readable instructions, data structures, program modules, and/or the like in a modulated data signal, such as a carrier wave and/or other transport mechanism. As defined herein, computer storage media do not include communication media. Therefore, a computer storage medium should not be interpreted to be a propagating signal per se. Propagated signals per se are not examples of computer storage media. Although the computer storage medium (the memory <NUM>) is shown within the computing apparatus <NUM>, it will be appreciated by a person skilled in the art, that in some implementations the storage is distributed or located remotely and accessed via a network or other communication link (e.g. using a communication interface <NUM>).

In some implementations, the computing apparatus <NUM> comprises an input/output controller <NUM> configured to output information to one or more output devices <NUM>, for example a display and/or a speaker, which is separate from or integral to the electronic device. The input/output controller <NUM> is also configured, in some implementations, to receive and process an input from one or more input devices <NUM>, for example, a keyboard, a microphone, and/or a touchpad. In one implementation, the output device <NUM> also acts as the input device. An example of such a device is a touch sensitive display. In some implementations, the input/output controller <NUM> also outputs data to devices other than the output device, e.g. a locally connected printing device. In some implementations, a user provides input to the input device(s) <NUM> and/or receives output from the output device(s) <NUM>.

In some implementations, the functionality described herein is performed, at least in part, by one or more hardware logic components. According to an implementation, the computing apparatus <NUM> is configured by the program code when executed by the processor <NUM> to execute the implementations of the operations and functionality described. Alternatively, or in addition, the functionality described herein is performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Program-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), Graphics Processing Units (GPUs), and/or the like.

Although some of the present implementations are described and illustrated as being implemented in a server, controller, cloud service, smartphone, mobile phone, personal computer, and/or tablet computer, these are only examples of a device and not a limitation. As those skilled in the art will appreciate, the present implementations are suitable for application in a wide variety of different types of devices, such as portable and mobile devices, for example, in laptop computers, tablet computers, etc..

At least a portion of the functionality of the various elements in the figures can be performed by other elements in the figures, or an entity (e.g., processor, web service, server, application program, computing device, etc.) not shown in the figures.

Although described in connection with an example of a computing system environment, examples of the disclosure are capable of implementation with numerous other general purpose or special purpose computing system environments, configurations, and/or devices.

Examples of well-known computing systems, environments, and/or configurations that can be suitable for use with aspects of the disclosure include, but are not limited to, mobile computing devices, personal computers, server computers, hand-held or laptop devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, mobile telephones, mobile computing and/or communication devices, network PCs, minicomputers, mainframe computers, controllers, distributed computing environments that include any of the above systems and/or devices, and/or the like. Such systems and/or devices can accept input from the user in any way, including from input devices such as a keyboard or pointing device, via gesture input, proximity input (for example by hovering), and/or via voice input.

Implementations of the disclosure may be described in the general context of computer-executable instructions, such as program modules, executed by one or more computers or other devices in software, firmware, hardware, or a combination thereof. The computer-executable instructions can be organized into one or more computer-executable components or modules. Aspects and implementations of the disclosure can be implemented with any number and organization of such components or modules. For example, aspects and implementations of the disclosure are not limited to the specific computer-executable instructions or the specific components or modules illustrated in the figures and described herein. Other examples of the disclosure can include different computer-executable instructions and/or components having more or less functionality than illustrated and described herein.

In examples involving a general-purpose computer, aspects and implementations of the disclosure transform the general-purpose computer into a special-purpose computing device when configured to execute the instructions described herein.

There is provided a method for installing a fastener into an opening of a structure, the fastener comprising a sleeve and a pin threadably received into the sleeve, the method comprising:.

Preferably, rotationally shearing the pintail of the pin from the shaft of the pin comprises rotating the pin relative to the sleeve until the pintail of the pin breaks from the shaft of the pin.

Preferably, the method further comprises waiting a predetermined amount of time after deforming the tail of the sleeve radially outward before rotationally shearing the pintail of the pin from the shaft of the pin.

Preferably, deforming the tail of the sleeve radially outward by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve comprises bracing against a side of the structure and a flange of the sleeve.

Preferably, deforming the tail of the sleeve radially outward by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve comprises pulling on the pin.

Preferably, deforming the tail of the sleeve radially outward by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve comprises automatically displacing the pin longitudinally along the centerline axis relative to the sleeve using a linear actuator.

Preferably, rotationally shearing the pintail of the pin from the shaft of the pin comprises automatically rotating the pin relative to the sleeve using a rotary actuator.

Preferably, grabbing the pintail of the pin comprises meshing with a spline of the pintail of the pin.

There is further provided a method for installing a fastener into an opening of a structure using a tool, the fastener comprising a sleeve and a pin threadably received into the sleeve, the method comprising:.

Preferably, rotationally shearing the pintail of the pin from the shaft of the pin comprises rotating the pin relative to the sleeve using the wrench until the pintail of the pin breaks from the shaft of the pin.

Preferably, rotationally shearing the pintail of the pin from the shaft of the pin comprises rotating the wrench relative to the clamp of the tool.

Preferably, clamping the clamp of the tool to the pintail of the pin comprises grabbing a neck of the pintail of the pin.

Preferably, grabbing the pintail of the pin with the wrench of the tool comprises meshing the wrench with a spline of the pintail of the pin.

Preferably, inserting the fastener into the opening comprises automatically inserting the fastener into the opening with an interference fit.

There is further provided a tool for installing a fastener that includes a sleeve and a pin threadably received into the sleeve, the tool comprising:.

Preferably, linear movement of the clamp relative to the frame along a centerline axis of the fastener is configured to move the pin of the fastener along the centerline axis relative to the sleeve of the fastener such that a tail of the sleeve deforms radially outward relative to the centerline axis.

Preferably, rotation of the wrench relative to the frame about a centerline axis of the fastener is configured to rotate the pin of the fastener relative to the sleeve of the fastener to thereby thread a shaft of the pin further into the sleeve, wherein further rotation of the wrench about the centerline axis relative to the frame is configured to break the pintail of the pin from the shaft of the pin.

Preferably, linear actuator comprises at least one of a pneumatic, hydraulic, or electric linear actuator.

Preferably, the rotary actuator comprises at least one of a pneumatic, hydraulic, or electric rotary actuator.

Preferably, the wrench is configured to rotate relative to the clamp.

Preferably, at least one of the clamp or the wrench comprises a socket that grabs the pintail of the pin.

Preferably, the clamp is configured to grab a neck of the pintail of the pin.

Preferably, the wrench comprises a spline that is configured to mesh with a spline of the pintail of the pin.

Preferably, the tool further comprises at least one processor configured to control activation of at least one of the linear actuator or the rotary actuator.

Any range or value given herein can be extended or altered without losing the effect sought, as will be apparent to the skilled person.

It will be understood that the benefits and advantages described above can relate to one implementation or can relate to several implementations. The implementations are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages.

That is, the operations can be performed in any order, unless otherwise specified, and examples of the disclosure can include additional or fewer operations than those disclosed herein. For example, it is contemplated that executing or performing a particular operation before, contemporaneously with, or after another operation (e.g., different steps, etc.) is within the scope of aspects and implementations of the disclosure.

The terms "comprising," "including," and "having" are intended to be inclusive and mean that there can be additional elements other than the listed elements. In other words, the use of "including," "comprising," "having," "containing," "involving," and variations thereof, is meant to encompass the items listed thereafter and additional items. Further, references to "one implementation" are not intended to be interpreted as excluding the existence of additional implementations that also incorporate the recited features. The term "exemplary" is intended to mean "an example of'.

In other words, the indefinite articles "a", "an", "the", and "said" as used in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean "at least one.

The phrase "one or more of the following: A, B, and C" means "at least one of A and/or at least one of B and/or at least one of C. " The phrase "and/or", as used in the specification and in the claims, should be understood to mean "either or both" of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Thus, as a non-limiting example, a reference to "A and/or B", when used in conjunction with open-ended language such as "comprising" can refer, in one implementation, to A only (optionally including elements other than B); in another implementation, to B only (optionally including elements other than A); in yet another implementation, to both A and B (optionally including other elements); etc..

As used in the specification and in the claims, "or" should be understood to have the same meaning as "and/or" as defined above. Only terms clearly indicated to the contrary, such as "only one of or "exactly one of," or, when used in the claims, "consisting of," will refer to the inclusion of exactly one element of a number or list of elements. In general, the term "or" as used shall only be interpreted as indicating exclusive alternatives (i.e. "one or the other but not both") when preceded by terms of exclusivity, such as "either," "one of "only one of or "exactly one of.

As used in the specification and in the claims, the phrase "at least one," in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. Thus, as a non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B," or, equivalently "at least one of A and/or B") can refer, in one implementation, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another implementation, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another implementation, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc..

Use of ordinal terms such as "first," "second," "third," etc., in the claims to modify a claim element does not by itself connote any priority, precedence, or order of one claim element over another or the temporal order in which acts of a method are performed. Ordinal terms are used merely as labels to distinguish one claim element having a certain name from another element having a same name (but for use of the ordinal term), to distinguish the claim elements.

It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described implementations (and/or aspects thereof) can be used in combination with each other. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the various implementations of the disclosure without departing from their scope. While the dimensions and types of materials described herein are intended to define the parameters of the various implementations of the disclosure, the implementations are by no means limiting and are example implementations. Many other implementations will be apparent to those of ordinary skill in the art upon reviewing the above description. The scope of the various implementations of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms "including" and "in which" are used as the plain-English equivalents of the respective terms "comprising" and "wherein. " Moreover, the terms "first," "second," and "third," etc. are used merely as labels, and are not intended to impose numerical requirements on their objects. Further, the limitations of the following claims are not written in means-plus-function format and are not intended to be interpreted based on <NUM> U. § <NUM>(f), unless and until such claim limitations expressly use the phrase "means for" followed by a statement of function void of further structure.

Claim 1:
A method (<NUM>) for installing a fastener into an opening of a structure using a tool, the fastener comprising a sleeve and a pin threadably received into the sleeve, the method (<NUM>) comprising:
inserting (<NUM>) the fastener into the opening;
grabbing (<NUM>) a pintail of the pin, wherein grabbing (<NUM>) the pintail of the pin comprises clamping a clamp of the tool to the pintail;
deforming (<NUM>) a tail of the sleeve radially outward relative to a centerline axis of the fastener by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve, wherein the tail (<NUM>) is deformed by activating a linear actuator (<NUM>) to displace the clamp longitudinally along the centerline axis relative to the structure such that the pin is displaced longitudinally along the centerline axis relative to the sleeve;
rotationally shearing (<NUM>) the pintail of the pin from a shaft of the pin;
wherein clamping the clamp of the tool to the pintail of the pin comprises grabbing a neck (<NUM>) of the pintail (<NUM>) of the pin, and
wherein deforming (<NUM>) the tail of the sleeve radially outward by automatically displacing the pin longitudinally along the centerline axis relative to the sleeve comprises bracing (406c) against a side of the structure and a flange of the sleeve.