Stringer clip end effector

Abstract

A stringer clip end effector (21) suitable for use with a computer-controlled (CC) machine tool is disclosed. The stringer clip end effector (21) includes a pair of jaws (45,47) for picking up a clip (23) at a presentation location. After being moved by the CC machine tool to an insertion location adjacent to a hat-shaped stringer (31), a pair of cams (60a, 60b) located on opposite sides of the clip (23) are extended into the stringer cavity (25) and rotated to spread the stringer walls (27,29). Thereafter, the clip (23) is positioned in the stringer cavity (25). Then, the cams (60a, 60b) are rotated to a nonspread position, and clamp elements (49a, 49b, 51a, 51b) are actuated to press the walls (27, 29) of the stringer (31) against the clip (23). Next, drill bits (57a, 57b, 59a, 59b) that face the outer surface of the stringer walls (27, 29) are energized and moved toward the stringer walls. After holes are drilled through the stringer walls and the clip, the drill bits are withdrawn. Thereafter, the clip (23) is either released while lying between the walls of the stringer (31), or withdrawn from the stringer (31) and moved to a temporary storage location.

Dependencies are inferred from the claim text.