Abstract: A multi-function end effector includes a plurality of tool change mechanisms in a housing in which a spindle is also mounted for translation along an axis of the spindle. Each tool change mechanism has a gripper that releasably grips a tool holder in which a tool is mounted. The gripper of each tool change mechanism is movable between a stowed position to a tool-change position in which the gripper is coaxially aligned with the axis of the spindle for placing a tool holder held in the gripper in a position to be received by the spindle and for positioning the gripper to receive a tool holder from the spindle. The tools mounted in the tool holders include a drill bit, a countersink tool, and a fastener insertion tool. The end effector also includes a fastener feed system, a hammer device, and a sealant applicator.

Abstract: An apparatus under control of a computer for forming into a three-dimensional shape a generally planar workpiece having a pair of spaced holes therein at predetermined positions, the apparatus comprising a forming tool including a molding surface having a pair of spaced bores therein at predetermined positions and a locating pin disposed in each bore for selective axial movement therein; guide tracks and selectively operable drive mechanisms for moving the tool through an operating circuit including sequential mating, molding and removal stations; a selectively operable transferring mechanism at the mating station for disposing the workpiece on the molding surface of the tool with respective hole and bore positions in registration; a ram at the mating station for selectively projecting one end of each locating pin into a respective hole to restrain the workpiece on the molding surface; a hydropress at the molding station for forming the workpiece to the shape of the molding surface; and selectively operable g

Abstract: The invention is directed to a device and method for profiling and deburring a workpiece. The device includes a profiler having a cutting edge for profiling a workpiece, a deburrer having a cutting edge for deburring profiled edges of a workpiece, and a yoke for supporting the profiler and the deburrer in opposed relation on opposite sides of a planar work position, the yoke being movable along a z-axis perpendicular to the work position to alternately move the cutting edges of the profiler and the deburrer toward and away from a workpiece in the work position. The yoke is also movable so that the cutting edges can be maneuvered in a working plane transverse to the z-axis.

Abstract: An automated drilling station for use in a computer controlled manufacturing system comprising an adjustable frame structure for releasably clamping a work piece in a planar work position, a chuck assembly adapted to operatively receive a selected drill bit, a drive train for selectively moving the chuck assembly on an axis perpendicular to the plane of the work position, feed racks for storing a plurality of drill bits of various predetermined sizes, a robot assembly for transferring a selected drill bit between the feed racks and the chuck assembly at a transfer station remote from the work position, a drive train for selectively translating the chuck assembly between the transfer station and work position and between locations on one side of the work piece aligned with predetermined drilling locations in the work position and a selectively rotatable turret having bushings of various sizes disposed about the periphery thereof for selective disposition in opposed relation to the chuck assembly at each predet

Abstract: A two arm robot for selectively manipulating a workpiece comprising an elongated cross beam assembly having an elongated axis extending between opposed ends, a frame assembly supported by the cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about the elongated axis, the elongated axis being parallel to the X axis and the X, Y and Z axis being orthogonal, a pair of arm assemblies supported by the cross beam assembly for selective independent linear movement parallel to the X and Y axes, a wrist assembly operatively supported by each arm assembly and including a motor for selectively moving the wrist assembly about a rotation axis parallel to the Z axis, and motor and mounting structure for moving the arm assemblies relative to the cross beam assembly parallel to the X and Y axes.

Abstract: A method and apparatus for fabricating sheet metal parts using workpiece manipulators to transfer a workpiece from one work station to another and position the workpiece for each operation to be performed. The invention eliminates the need of individual operators and can be managed under microprocessor control using known positions along selected X and Y axes about which programming is performed.A unified design and manufacturing system includes a computer-aided design (CAD) system and a microprocessor-controlled fabrication system consisting of a plurality of manufacturing stations which perform manufacturing and transporting operations upon a workpiece. Design information for a part is entered through the CAD system and includes a reference point.

Abstract: A robot end effector exchange system comprises a movable robot arm and an end effector. Connecting structure on each of the arm and end effector are operable for releasably attaching the arm and end effector in an operative relationship. A fixture supportably receives the end effector attached to the robot arm and includes restraining structure operable for holding the end effector on the fixture to permit attachment and detachment of the end effector and the arm. Hydraulic actuators on the fixture selectively operate the connecting structure and the restraining structure.

Abstract: An apparatus and a method for bending a workpiece to a predetermined angle in a brake press and automatically compensating for springback of the workpiece which has a sensing device, biased relative the workpiece, for detecting a neutral position of the workpiece corresponding to the cessation of springback motion and generating a signal in response thereto, and a device, responsive to the signal, for measuring the linear distance of springback, and for calculating an amount of overbend required to compensate for springback based on said measured linear distance of springback and the physical geometry of the workpiece. Preferably, the sensing devcie having a linear variable differential transformer having a core rod biased toward the workpiece and in opposition to the punch member of the brakepress.

Abstract: A method and apparatus for fabricating sheet metal parts using workpiece manipulators to transfer a workpiece from one work station to another and position the workpiece for each operation to be performed. The invention eliminates the need of individual operators and can be managed under microprocessor control using known positions along selected X and Y axes about which programming is performed.

Abstract: A magnetic machine tool changer and driver for electro-magnetically holding and driving a cutting tool when working on a work piece. The changer and driver further including a transfer mechanism for removing the cutting tool by electro-magnetic means.

Abstract: A slip joint tooling fixture for providing unrestricted growth of material used in an airframe structure when heated under high temperatures. The fixture while allowing the unrestricted growth of the material also maintains the overall configuration and integrity of the structure being built. The fixture further provides for minimum restriction of airflow around the outer surface of the structure during the heating up and cooling down process.

Abstract: A sealant applicator for applying a thin film donut like ring of sealant in and around the top of a rivet hole prior to the installation of a rivet and immediately after the rivet hole has been drilled. The applicator is characterized by having an air operated probe assembly which is held in a retracted position with the center line of the probe displaced from the center line of the rivet hole while the hole is being drilled. Upon the completion of the drilled hole the probe assembly is immediately moved into alignment with the center line of the hole and lowered onto the work piece and a premeasured amount of sealant is uniformly applied to the top of the hole prior to the assembly being retracted and the rivet installed.

Abstract: A mechanized contour-following drill machine for drilling and reaming holes in a contoured surface. The machine orienting a drill spindle of a drill assembly perpendicular to a plane tangent to the contoured surface of a work piece so that the center line of the holes drilled therein are perpendicular to the contoured surface.

Abstract: Welding apparatus for making metal honeycomb core panels by welding together preformed corrugated metal strips is disclosed. The assembled portion of the core panel is positioned by vertical finger electrodes on a horizontal base with the core panel workpiece end located along the line of a welding station extending across the base. The finger electrodes are arranged in two rows extending parallel to the welding station line, one row being insertable into the honeycomb core from above and the other being insertable into the core from below, each row also being movable from a first workpiece engaging position to a second welding position with one edge thereof along a welding station line. Welding heads, each including a welding element, are movable to and from the welding station. A corrugated metal strip is detachably held onto and carried to the welding station by the welding heads.

Abstract: A pair of mating die halves are employed to die form an elongate strip or ribbon composed of material capable of undergoing plastic deformation. The first die half is an elongate, substantially rigid member having a die face of predetermined configuration. The second die half is an elongate, flexible die member having a die face of configuration complementary to the die face of the rigid die half. The die face of the rigid die half is fed into registering relationship along a substantially straight path with the die face of the flexible die half. The flexible die half is fed toward the rigid die half along an arcuate path until it registers with the rigid die half, after which it is fed along a straight path parallel to that of the rigid die half. The elongate ribbon to be formed is fed between the die halves as the latter are fed into registration.