Abstract: A modular head assembly or end effector for a fiber placement machine having a machine controller includes a back plate and a plurality of carbon fabric spool assemblies, each assembly including a servo motor combination and a dancer assembly for maintaining tension of the fabric as it is payed out. The spool assemblies include a linear displacement sensor for the dancer assembly and a sensor for determining the diameter of the carbon spool, the outputs of which are used to control the action of the servo motors. A programmable disconnecting assembly mates the modular head assembly with the fiber placement machine.

Abstract: A nose portion assembly of a riveting apparatus is rotatable between a first vertical position and a second angled position which is adjacent an end of a rivet feed ramp. The angled position of the nose assembly matches the angle of a rivet feed ramp from a rivet feed member positioned on the side of the riveting apparatus.

Abstract: A system for locating the center line of a bolt which extends through an aircraft part, including a robot which carries a nut or collar placement device and a stereo camera. A control system operates the camera to produce two images of the fastener at a specified angle. A processor then transforms the image information to control information for the robot to align the nut or collar placement device with the centerline of the fastener and then to place the nut or collar on the end of the fastener.

Abstract: A system for locating the center line of a bolt which extends through an aircraft part, including a robot which carries a nut or collar placement device and a stereo camera. A control system operates the camera to produce two images of the fastener at a specified angle. A processor then transforms the image information to control information for the robot to align the nut or collar placement device with the centerline of the fastener and then to place the nut or collar on the end of the fastener.

Abstract: The system includes a ram assembly with fingers for grasping a fastener. An actuator moves the ram assembly toward the workpiece, under machine control. A housing member which is movable by the actuator includes a holding member for an anvil portion of the ram assembly, the holding member being movable within the housing member. The holding member and the housing member are arranged so there is a selected air gap between the movable member and the top of the housing at the start of the fastener cycle. An insertion sensor assembly changes signal state when the air gap begins to close. When the air gap begins to close either too early or too late relative to a properly positioned fastener, the actuator is stopped by the cycle motion controller.

Abstract: The magnetic base assembly includes an electromagnet assembly with a top surface open magnetic pole. A shunt plate is magnetically held to the top of the electromagnet. A canting or tilting of the shunt plate results when accidental side or pulling away contact is made between a riveting processing tool and an extending portion of the aircraft part being riveted as the tool is moved from one riveting location to another. The canting or pull off of the tool prevents damage. The operator can observe the tool canting and stop the tool movement or a micro switch or proximity switch senses the canting or tilting automatically so that the tool can be stopped before damage occurs. The magnetic field can be dynamically controlled to provide adequate pulldown force for the riveting function but a breakaway force less than the amount which would cause damage.

Abstract: The system includes a ram assembly with fingers for grasping a fastener. An actuator moves the ram assembly toward the workpiece, under machine control. A housing member which is movable by the actuator includes a holding member for an anvil portion of the ram assembly, the holding member being movable within the housing member. The holding member and the housing member are arranged so there is a selected air gap between the movable member and the top of the housing at the start of the fastener cycle. An insertion sensor assembly changes signal state when the air gap begins to close. When the air gap begins to close either too early or too late relative to a properly positioned fastener, the actuator is stopped by the cycle motion controller.

Abstract: A machine includes a feed system for moving fasteners to a track-type fastener injector system and a pusher for moving the fasteners along the track. A rivet ejector assembly comprises a pair of bomb bay-type doors which support a portion of the track feed system and a mechanism for recognizing misfed rivets as they approach the bomb bay doors. The bomb bay doors are rotated about their longitudinal axes so that opposing inner surfaces of the bomb bay doors pivot away from each other, along with the track portion, permitting the fastener to fall or be blown therethrough, ejected from the injector system.

Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.

Abstract: The system includes a moving feed assembly, including a feed channel, through which a collar is moved by compressed air to a position in substantial alignment with the centerline of a swaging die tool. There is sufficient clearance between the collar and the channel to permit movement of the collar as a forward end of a die pin portion of the swaging die tool moves and engages a center opening of the collar.

Abstract: A machine includes a feed system for moving fasteners to a track-type fastener injector system and a pusher for moving the fasteners along the track. A rivet ejector assembly comprises a pair of bombay-type doors which support a portion of the track feed system and a mechanism for recognizing misfed rivets as they approach the bombay doors. The bombay doors are rotated about their longitudinal axes so that opposing inner surfaces of the bombay doors pivot away from each other, along with the track portion, permitting the fastener to fall or be blown therethrough, ejected from the injector system.

Abstract: Collars having a center opening are conveyed through a feed channel by compressed air to a swaging die tool for bolts. There is sufficient clearance between the collar and the channel to permit movement of the collar as the forward end of the die pin engages a central opening of the collar, the feed assembly or the swaging die tool being moveable sufficiently thereafter to permit a die-pin engaged collar to move forward for engagement with a tail end of a bolt. The collar is loaded onto the bolt and the collar moved forward to a stackup of parts prior to a bolt being moved through an opening in the stackup for engagement with the collar.

Abstract: The system includes a moving feed assembly through which a collar is moved by compressed air to a position in substantial alignment with the centerline of a swaging die assembly. Two spring-loaded fingers are mounted on opposing sides of the feed assembly for receiving the collar by compressed air action where it is maintained in substantial alignment with the swaging die assembly. The spring action of the fingers is strong enough that the collar can be pressed firmly against a curved receiving portion of the fingers by the compressed air. A die pin portion of the swaging die is then inserted into the collar, thereafter maintaining the position of the collar as the feed assembly with the opposing fingers are stripped away from the collar, leaving the die pin-engaged collar free to be moved by action of a ram assembly to a stackup of parts to be fastened, where the collar can be transferred onto a bolt which extends through the stackup.

Abstract: The system includes a moving feed assembly through which a collar is moved by compressed air to a position in substantial alignment with the centerline of a swaging die assembly. Two spring-loaded fingers are mounted on opposing sides of the feed assembly for receiving the collar by compressed air action where it is maintained in substantial alignment with the swaging die assembly. The spring action of the fingers is strong enough that the collar can be pressed firmly against a curved receiving portion of the fingers by the compressed air. A die pin portion of the swaging die is then inserted into the collar, thereafter maintaining the position of the collar as the feed assembly with the opposing fingers are stripped away from the collar, leaving the die pin-engaged collar free to be moved by action of a ram assembly to a stackup of parts to be fastened, where the collar can be transferred onto a bolt which extends through the stackup.

Abstract: The system includes a moving feed assembly through which a collar is moved by compressed air to a position in substantial alignment with the centerline of a swaging die assembly. Two spring-loaded fingers are mounted on opposing sides of the feed assembly for receiving the collar by compressed air action where it is maintained in substantial alignment with the swaging die assembly. The spring action of the fingers is strong enough that the collar can be pressed firmly against a curved receiving portion of the fingers by the compressed air. A die pin portion of the swaging die is then inserted into the collar, thereafter maintaining the position of the collar as the feed assembly with the opposing fingers are stripped away from the collar, leaving the die pin-engaged collar free to be moved by action of a ram assembly to a stackup of parts to be fastened, where the collar can be transferred onto a bolt which extends through the stackup.

Abstract: The system includes a collar feed assembly which includes a channel within a step assembly at the end thereof, which defines a receiving cavity for the collar. The receiving cavity is configured so that the collar can move slightly therein, permitting a die portion of a die tool to engage a center opening of the collar, so that the collar can come into accurate alignment with the center axis of the die tool. The die tool is mounted to be movable slightly transversely to permit a reliable transfer of the collar onto the bolt. The collar is more compliant than the die tool during loading of the collar onto the die pin and the die tool is more compliant than the collar during transfer of the collar from the die pin onto the bolt.

Abstract: The injector assembly receives fasteners such as bolts used in the manufacture of composite aircraft wing structures, at a high speed from a supply thereof, such as a cartridge. The injector assembly includes a post assembly which includes a hollow post housing having a post mass and a mass stop pin positioned within the housing. The bolt moves through a feed tube assembly, a muzzle member and into a chamber portion of the injector assembly. A urethane contact member is positioned at a forward end of the mass. A source of compressed air moves the mass and the contact member into a position slightly past the rear end of the housing and into a chamber portion of the injector assembly. When the bolt contacts the contact member at high speed, the mass is moved back toward a base portion of the post assembly. The mass is sufficient to dissipate the kinetic energy of the moving bolt without damage thereto.

Abstract: The system includes a collar feed assembly which includes a channel within a step assembly at the end thereof, which defines a receiving cavity for the collar. The receiving cavity is configured so that the collar can move slightly therein, permitting a die portion of a die tool to engage a center opening of the collar, so that the collar can come into accurate alignment with the center axis of the die tool. The die tool is mounted to be movable slightly transversely to permit a reliable transfer of the collar onto the bolt. The collar is more compliant than the die tool during loading of the collar onto the die pin and the die tool is more compliant than the collar during transfer of the collar from the die pin onto the bolt.

Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.

Abstract: The system includes a moving feed assembly through which a collar is moved by compressed air to a position in substantial alignment with the centerline of a swaging die assembly. Two spring-loaded fingers are mounted on opposing sides of the feed assembly for receiving the collar by compressed air action where it is maintained in substantial alignment with the swaging die assembly. The spring action of the fingers is strong enough that the collar can be pressed firmly against a curved receiving portion of the fingers by the compressed air. A die pin portion of the swaging die is then inserted into the collar, thereafter maintaining the position of the collar as the feed assembly with the opposing fingers are stripped away from the collar, leaving the die pin-engaged collar free to be moved by action of a ram assembly to a stackup of parts to be fastened, where the collar can be transferred onto a bolt which extends through the stackup.