Abstract: According to the invention, a shell handling carriage (19) is provided with grippers (194) which grip the end edges of a shell (2) made of composite material still fixed to a molding drum (11). An expeller strut (13) prevents the drum (11) from moving while the carriage (19) translating 5 removes the shell (2) from the drum (11). The shell (2) is then transported by the carriage (19) to a working station in which robots rivet the transversal ribs on it. The transversal ribs reach the robot working position orderly arranged on a self-moving rib store, which is inserted in the shell (2) itself.

Abstract: A working equipment comprising an external working head and an internal working head both arranged for applying a thrust on a structure having a wall. The wall comprises an external side and an internal side opposite to said external side. The thrust is opposite to the thrust applied to a same part by the other of the internal and external working head. The external working head is provided with a pressure device comprising a slide which holds a piston head comprising a supporting plate, an intermediate plate and a fixed base. The supporting plate is attached to the intermediate plate and the intermediate plate is attached to the fixed base. The supporting plate has a tool passage opening. The suction chamber is arranged inside the intermediate plate and inside the fixed base.

Abstract: A head for a riveting machine for applying shear rivets, the head comprising a plate and a body that have both a hole and are slidable relative to each other, and a sliding chuck equipped with jaws and arranged within a sliding chamber, defined inside said body, so as to engage a stem of the rivet, said chuck being capable of taking a first, engagement position and a second, disengagement position, wherein a control member controlling the sliding movement of the chuck is provided, said control member being in turn controlled by the plate sliding. The invention further concerns the method of controlling the head.

Abstract: A method of controlling a drilling machine comprising the steps of: providing a drilling machine (13); equipping said machine (13) with a tool (15); providing a workpiece (19); associating said workpiece with a support (17a, 17b); applying a load (21) to said workpiece; working said workpiece by means of said tool, the method comprising a step of measuring load variations induced by the workpiece resistance to the working. The invention also concerns an apparatus for carrying out said method.

Abstract: A head for a riveting machine for applying shear rivets, the head comprising a plate and a body that have both a hole and are slidable relative to each other, and a sliding chuck equipped with jaws and arranged within a sliding chamber, defined inside said body, so as to engage a stem of the rivet, said chuck being capable of taking a first, engagement position and a second, disengagement position, wherein a control member controlling the sliding movement of the chuck is provided, said control member being in turn controlled by the plate sliding. The invention further concerns the method of controlling the head.

Abstract: The drilling device, according to the invention, comprises: a) a drilling device (29) arranged to make a drilling hole parallel to a drilling axis (AF); b) a pressure device (25), mechanically connected to the drilling device (29) and comprising in turn b1) a piston head (39), wherein the pressure device (25) is arranged to apply pressure to the work piece during the drilling by leaning on it the piston head (39); b2) a compensating articulated joint (63) connecting the piston head (39) to the rest of the pressure device (25) and allowing it to tilt with respect to the rest of the pressure device (25), adapting to different possible inclinations of the part to manufacture with respect to the drilling axis (AF). This device can be used to achieve with a greater accuracy holes with a opening flared to accept a stud or a rivet having a conic head.

Abstract: The laser beam robot is mounted on a portal framework and comprises at least five axes defined as follows:I. A horizontal linear axis for translating the robot along the portal framework;II. an axis swinging about a center coinciding with the point onto which the laser beam generated outside the robot includes onto the robot;III. a linear axis for translating the robot in a vertical plane;IV-V-VI. two or three polar axes in the hollow operating head to orient and focus the laser beam according to a desired path.The laser beam follows a rectilinear path until a mirror positioned in the swinging center of the robot arm and secured thereto, but fixed in respect of axis III. A slit allows the laser beam to strike the mirror in any position of the robot arm along the axis III. The laser beam is sent to the hollow head and from here it is reflected and focused outside the robot.

Abstract: An industrial robot comprising a column housing a first group of coaxial hollow shafts rotatably coupled to a first articulated joint positioned at about 60.degree. to the first group of hollow shafts. A second group of coaxial hollow shafts receives the rotating movement from the first articulated joint and transmits it to a second articulated joint, also arranged in slanted relationship at 60.degree.. A third group of coaxial hollow shafts receives the rotating movement from the second articulated joint and transmits it to a third articulated joint which in turn is connected to an end bush supporting implements or operative tools.The invention is of particular advantage thanks to its high mobility and to the particular orientation in the space allowed to the several articulated joints.

Abstract: An industrial robot with power laser beam for cutting or welding workpieces according to a desired pattern. The robot has six axes of movement--if desired a seventh axis can be provided--and a triaxial hollow head. The laser beam is generated by a generator separate and outside the robot and reaches the robot through a side opening whereafter it is axially directed by a pair of adjustable mirrors to the hollow head. Two further mirrors fitted in the head direct the beam perpendicularly on the workpiece to be cut or welded, according to a desired path.