초록 ▼

Improved process and apparatus for assembling component parts by means of rivets or similar fasteners in which computer controlled robotic machining centers present selected tools in predetermined special position on opposing sides of the components which are held stationary in a fixture. The robots

Improved process and apparatus for assembling component parts by means of rivets or similar fasteners in which computer controlled robotic machining centers present selected tools in predetermined special position on opposing sides of the components which are held stationary in a fixture. The robots prepare the rivet holes at multiple selected locations, followed by repositioning of roboticly controlled tools at each hole location for the installation of the fasteners. Throughout hole preparation and fastener installation novel end effectors maintain a symmetrical balance of forces on the components in a manner which avoids stressing and deformation of the components, holding fixture and end assembly.

대표청구항 ▼

A method of riveting assembly components by means of computer controlled mobile machine tool centers or robots comprising the steps of: (a) holding the assembly components to be riveted in predetermined fixed positions of interfacial engagement; (b) mounting hole-forming tools and work-engageable en

A method of riveting assembly components by means of computer controlled mobile machine tool centers or robots comprising the steps of: (a) holding the assembly components to be riveted in predetermined fixed positions of interfacial engagement; (b) mounting hole-forming tools and work-engageable end effector means on the tool head of a first robot; (c) mounting work-engageable end effector means on the tool head of a second robot; (d) positioning said first and second robots on opposite sides of the held components and in coaxial alignment with a pre-determined hole location thereon; (e) actuating said end effector means on said first and second robots to engage and tightly clamp said components therebetween; (f) controlling the clamping forces applied to said components to avoid stress and unbalanced thrust forces thereon; (g) actuating said hole-forming tools to form a rivet hole through said components at said hole location; (h) unclamping said end effectors and positioning said robots in coaxial alignment with another hole location; and performing steps (d) through (g) thereat and repeating this step until all the rivet holes are formed through said components; (i) replacing the end effector means and hole-forming tools on the heads of said robots with end effector means comprising rivet setting tools, work-engageable means and means for feeding rivets to the rivet setting tools; (j) repositioning said robots on opposite sides of said components and in coaxial alignment with a previously formed rivet hole; (k) actuating said robots and end effector means to clamp said components tightly therebetween with regulated clamping force to avoid stress and unbalanced thrust forces thereon; (l) actuating said rivet feed means to position a rivet for insertion into said previously formed rivet hole; (m) actuating said rivet setting tools to insert and upset said rivet in said previously formed rivet hole; and (n) unclamping said end effector means and successively repositioning said robots in coaxial alignment with each of the previously formed rivet holes and repeating steps (k) through (n) thereat until a rivet is installed in each of the previously formed holes.