Abstract: An automatic drilling machine for simultaneously drilling at least two holes through a surface of a crosspiece. The machine comprises an automatic drilling unit having at least two tool holders, each one adapted for receiving a drilling tool. The automatic drilling unit has a cross-shaped channel configured to receive, at least partially, the crosspiece to be drilled inside the automatic drilling unit with. The tool holders are arranged, such as, when the drilling machine is mounted with the crosspiece to be drilled, the tool holders are positioned in accordance with the locations of the crosspiece where a hole is to be drilled.

Abstract: An automatic drilling machine for simultaneously drilling at least two holes through a surface of a crosspiece. The machine comprises an automatic drilling unit having at least two tool holders, each one adapted for receiving a drilling tool. The automatic drilling unit has a cross-shaped channel configured to receive, at least partially, the crosspiece to be drilled inside the automatic drilling unit with. The tool holders are arranged, such as, when the drilling machine is mounted with the crosspiece to be drilled, the tool holders are positioned in accordance with the locations of the crosspiece where a hole is to be drilled.

Abstract: The present invention refers to an orthogonal positioning instrument for robotically positioning a tool at a desired location of a working surface, which comprises a support (2) adapted for coupling the tool (7) along a coupling axis (4); three positioning elements (3) coupled to the support (2) around the coupling axis (4); wherein the three positioning elements (3) have ends (5) protruding from the support (2) so as to define a plane substantially normal to the coupling axis (4) for positioning the tool (7) orthogonally to the working surface (8); and wherein each positioning element (3) comprises a distance sensor (6) capable of measuring the distance to the working surface (8) for positioning the tool (7) at the desired location of the working surface (8). Additionally, the invention refers to an orthogonal positioning system, and an orthogonal positioning method for positioning a tool (7) orthogonally to a working surface (8).

Abstract: A head of a riveting device—for Hi-Lite type rivets—of at least two components of a structure for installing automatically collars on pins previously inserted in the structure. The head comprises: a collar installation tool; a collar supply to supply collars to the collar installation tool; a tool actuating device; a linear displacement device to linearly move the tool during the threading operation; a withdrawal device arranged to withdraw the second part of the collars; a control arrangement configured to automatically perform the installation of collars on pins and after this the withdrawal of the second part of the collars, using tools and collars appropriate for the pins. Also a robot having as end-effector the head and to a method of riveting two components of an aircraft fuselage are provided.

Abstract: The system comprises a headstock (1) in which is established a rotary shaft (10) driven via a cone (8) that can be coupled to a drive means, for example a robot, the shaft (10) being linked to a spring (11) which permits axial displacement of the shaft (10) in the upward and downward direction, while coupled to the other end, with the interposition of an eccentric (21), is a plate (2) for carrying an abrasive disc (3) intended for sanding the pins of the fasteners, following the operation of shaving said pins. The eccentric (21) transforms the rotation of the shaft (10) into an orbital motion so that, in combination with the upward and downward displacements by means of the spring (11), the abrasive disc (3) is successfully adapted on the surface on which the pin of the fasteners intended to sand is located.

Abstract: The system comprises a headstock (1) in which is established a rotary shaft (10) driven via a cone (8) that can be coupled to a drive means, for example a robot, the shaft (10) being linked to a spring (11) which permits axial displacement of the shaft (10) in the upward and downward direction, while coupled to the other end, with the interposition of an eccentric (21), is a plate (2) for carrying an abrasive disc (3) intended for sanding the pins of the fasteners, following the operation of shaving said pins. The eccentric (21) transforms the rotation of the shaft (10) into an orbital motion so that, in combination with the upward and downward displacements by means of the spring (11), the abrasive disc (3) is successfully adapted on the surface on which the pin of the fasteners intended to sand is located.