Riveting process and apparatus

A method of interconnecting assembly components with fasteners by utilizing a pair of computer-controlled machine tool centers capable of multi-axis movements and operable in mirror relationship on opposite sides of said components, comprising the steps of:

• fixing the components to be assembled in a stationary position;
• mounting hole-making tools on one of said tool centers;
• mounting end effectors on both of said tool centers which are operable to engage and clamp said components together with pre-determined force at each hole location;
• positioning said tool centers coaxially opposite a pre-determined hole location on said components;
• actuating said end effectors to clamp said components;
• actuating said hole-making tools to form a fastener hole through said components at said location;
• releasing said end effectors and successively positioning said tool centers coaxially opposite additional hole locations and repeating the clamping and hole-forming steps thereat to form a series of spaced fastener holes through said components;
• replacing the hole forming tools and end effectors on said tool centers with fastener setting tools and end effectors operable to clamp the components therebetween and having means for feeding fasteners for insertion into the formed fastener holes;
• repositioning said tool centers coaxially of a formed fastener hole and actuating said end effectors to clamp said components therebetween;
• activating the fastener feed means and fastener-setting tools to insert and install a fastener in a fastener hole confronted thereby;
• and
• repeating the last two recited steps at each fastener hole.

Apparatus for interconnecting components of an assembly by means of selected rivet type fasteners comprising:

• plural mobile, high speed, remote-control, automatic machine centers or robots capable of multi-axis movements;
• each robot comprising a base supported for movement along a horizontal X-axis, a vertical column supported by said base and rotatable about a vertical Y-axis, a horizontal ram supported on said column for movement along the latter's vertical axis and along its own horizontal Z-axis, a biaxially rotatable head at the outer end of said ram, and a rotatably driven tool driving spindle carried by said head and independently moveable relative to said head along a linear axis;
• fixture means for rigidly holding components to be assembled in stationary position between said robots;
• the heads of said robots being moveable along said X, Y, Z axes and about said rotatable axes for positioning the same at any location on opposite sides of said components;
• means for supplying selected fasteners to said robots;
• means for automatically changing and equipping said robots with selected tools and supporting end effectors as required to form and prepare holes in said components and install selected fasteners therein;
• and
• computer means for controlling and managing coordinated operation of said apparatus in accordance with a pre-determined program and assembly geometry whereby to cause said robots to move over and be positioned at selected locations on opposite sides of said components whereat to effect the interconnection of said components.

Apparatus for automatically interconnecting metal components of an assembly by means of selected rivet fasteners comprising:

• a pair of mobile, high speed, remotely-controlled, automatic machining centers or robots having tool heads operable for movement along three linear and about at least two rotational axes whereby said heads are capable of selected spacial positioning;
• fixture means for rigidly holding components to be assembled in stationary position between said robots whereby the heads of the latter are moveable to any selected location on opposite sides of said components;
• clamping means carried by said tool heads for clamping said components together with pre-determined force selected to control and neutralize stress forces on said fixture means and components;
• said clamping means being selectively activated at pre-determined locations on said components where holes are to be formed and fasteners installed therein;
• tool means selectively attachable and driven by said tool heads for forming and preparing fastener holes through said components at said location;
• means for supplying at least one of said robots with selected fasteners;
• additional tool means selectively attachable to and driven by said tool heads for receiving and installing said fasteners in said holes, and
• computer means for controlling and managing coordinated operation of said robots in accordance with a pre-determined program and assembly geometry whereby to cause the heads thereof to move over opposite sides of said components and carry out hole preparation and installation of said fasteners.