Abstract: A method and apparatus for forming rivet joints with a desired amount of clearance to allow pivotal motion of the parts interconnected by such joints. Parts to be riveted together are aligned with each other, and a rivet is placed into aligned holes. A parts clamp urges the parts and a preformed head of the rivet against a rivet support anvil to establish an initial condition. A parts support anvil is placed in a required position with respect to the rivet support anvil prior to formation of the second head on the opposite end of the rivet, to provide the desired amount of clearance. The parts support anvil is moved by pushing against a set of arched leaf springs to adjust their effective length, using a hydraulic motor controlled in response to an electrical signal from a transducer that measures movement of parts by the parts support anvil.

Abstract: A method and apparatus in which a workpiece is supported on one arm of a C-shaped counterforce structure and is operated upon by a mechanism supported on the other arm of the counterforce structure. The operation causes deformation of the counterforce structure, which is measured, and the operation is adjusted responsive to the measured deformation.

Abstract: An apparatus and associated method for joining structural members are provided. The apparatus includes a support structure of extendable members, each with an adjustable support surface for engaging the structural members so that structural members of different sizes and shapes can be accommodated. Gantries, which are longitudinally adjustable, support a joining device having co-operable heads that engage the structural members. The heads are adjustable in a transverse direction along the gantries so that the heads can be configured in an opposing configuration and used to join the structural members therebetween.

Abstract: A fixing band-tightening apparatus comprises a holding section for gripping a shaft section at both ends in an axial direction, the holding section being provided rotatably in a circumferential direction in accordance with a driving action of a rotary driving source, a stopper section arranged in a lateral direction substantially horizontal with respect to the holding section, for positioning a projection of a fixing band in the lateral direction except for a vertical direction, and a band-tightening section for forcibly nipping the projection of the fixing band positioned by the stopper section to tighten the fixing band.

Abstract: The present invention relates to a straight type riveting gun, which comprises a gun body having a pipe body and a tube body, a front gun pipe, and a back cover, wherein the front gun pipe is locked to front end of the pipe body and the back cover is locked to the tail end of the tube body. The tube body is provided for receiving a rivet-ejecting adaptor of an oil pressure rod. A trigger is mounted at the tail end of the pipe body for pushing a trigger ejector rod. The trigger ejector rod moves a valve to allow the exterior gas to enter a gas-collecting room for forcing a pneumatic piston to perform movement by use of air pressure. The oil pressure rod pushes the oil liquid to allow the riveting rod to generate powerful pulling force instantaneously thereby completing the riveting operation.

Abstract: A spring (18) is interposed between the sliding carriage (6) carrying a hammer (13) for driving-in and the actuator rod. The spring is mounted on the head (15) of a push rod, which carries a push contact (16) surrounded by an insulating washer (17). A O pad (20) is housed in the central opening of another insulating washer (19) supported by the spring. These detection means are activated when the spring is compressed in response to the stapling effort required at the moment when a staple comes up against the frame mouldings to be assembled. Application in frame-assembling machines.

Abstract: A button indexing device used in a button attaching machine for attaching a button to be indexed in a specific orientation on a fabric of garments or the like, including lower mold provided at a button attaching position of the attaching machine, a driving section for turning the lower mold around a vertical axis, a laser beam source for irradiating a laser beam onto a point of a specified circular track of the button to be held in the lower mold around the vertical axis, an optical sensor for detecting light reflected from or scattered by the button, and a stop section for stopping said lower mold in a rotation position capable of obtaining the right orientation when said optical sensor detects the minimum or maximum amplitude.

Abstract: A crimp state estimation apparatus includes: an information input section for inputting information on an crimp contact terminal, an electric wire, an anvil, and the crimper and an input compression ratio of a core wire of the electric wire; and an estimation unit for calculating a total length of the bottom wall and the pair of crimp pieces after crimp in a cross section orthogonal to the core wire based on the information and the input compression ratio and estimating a cross-sectional shape of the bottom wall and the pair of crimp pieces after crimp based on the total length.

Abstract: The preferred embodiment of a fastening system includes a self-piercing fastener having a thread-like pattern. In another aspect of the present invention, a fastener insertion machine employs an electromagnetic actuator without fluid actuation. A further aspect of the present invention uses a rotary-to-linear transmission within the machine to advance the fastener. In still another aspect of the present invention a self-piercing fastener is a clinch nut or a clinch stud.

Abstract: A device supplies a connecting element to a processing unit, in particular supplies punch nuts or rivet nuts to a punching head of a press, by a conveyer belt. The device contains a feed element, which has a flap that can be displaced in the conveyer belt and has a feed surface. The flap is retained in the conveyer belt by a passive force. The flap can be withdrawn or displaced from the conveyer belt by a connecting element that has been supplied to the belt and causes sensor actuation.

Abstract: A panel-securing system for various vehicle types is provided, in which various clamps and fingers for different panel shapes may be selected for operation by a single cylinder, the amount of space utilized to install the system is minimized, and parts used in the system are simplified. The panel-securing system for use in a production line for various vehicle types comprises a controller having stored therein panel information for various vehicle types, the controller generating and outputting a locator-selection control signal and a panel-securing control signal corresponding to panel information of the correct vehicle type; a first actuator for selecting a locator corresponding to the locator-selection control signal output by the controller; a second actuator for driving a locator corresponding to the panel-securing control signal output by the controller; and a panel-securing assembly including a plurality of locators, which correspond to panels of the various vehicle types.

Abstract: A rivet is inserted into a workpiece by apparatus that includes an internal roller screw linear actuator in which rotational movement of an internally threaded cylinder is converted into linear movement of a fastener insertion actuator assembly. The cylinder is driven in rotation by a servo-controlled motor. The angular velocity of the cylinder required to deliver the required energy to effect fastener insertion is calculated and the motor is first controlled to accelerate the cylinder up to the calculated angular velocity, the actuator assembly simultaneously being moved by the cylinder towards the workpiece. The motor is then controlled to maintain the angular velocity of the cylinder at not less than the calculated magnitude at least until insertion of the fastener. The cylinder stores kinetic energy by virtue of its inertia. Using this inertia to insert fasteners eliminates the need for position or force feedback control. The process allows for a rapid cycle time and the apparatus is compact.

Abstract: The present invention is directed to a method and a device for clinching metal sheets disposed one over the other in planar fashion. A joining tool, composed of a punch and a die having an anvil, is used to jointly displace metal sheets, profiles, or multi-sheet connections, out of the sheet-metal plane, under the action of forming energy introduced by ultrasound, compressing and integrally connecting the same.

Abstract: The method according to the invention for riveting, or self-piercing, by means of a riveting or self-piercing device (8), having a male die (3) guided by a pick-up device (4), both of which in each case can be moved towards a female die (5) and/or a workpiece (6), wherein the female die (5) and riveting or self-piercing device (8) will be connected to one another via a counterforce structure (9). The relative movement between the pick-up device (4) and the counterforce structure (9) is measured by a first sensor (1), and the relative movement between counterforce structure (9) and male die (3) is measured by a second sensor (2). The depth of the riveting or piercing is adjusted with the aid of the two measured values.

Abstract: A spin-pull blind insert tool utilizes a control system that generates a stop signal based on the relationship between the force values and the motion values derived from the action of the tool mandrel. The improved control system utilizes the shape of the force-deformation curve and not just a given pre-set force value or pull distance. Hence, the control system of the present invention does not require any set-up for changes in panel thickness unless the mandrel is also changed to install a different thread size. This control system develops a force-deformation curve as the fastener is being installed. The stop signal is generated when a pre-set deformation point has been exceeded and the shape of the force curve can be characterized by either of two types. For either type, an algorithm is followed which establishes an optimum stopping point for the installation tool regardless of the panel thickness into which the blind rivet is being installed.

Abstract: A fastener catching and installation tool is provided that comprises a guide tube, a slide device, a translating device, and a pivot frame disposed on a frame. Further, catching fingers are disposed within the pivot frame, a slide device activation member is coupled to the slide device, and a translating device activation member is coupled to the translating device. In operation, a fastener is delivered through the guide tube and to the catching fingers, the slide device activation member activates the slide device to slide the pivot frame and the catching fingers proximate a workpiece, and the translating device activation member activates the translating device to insert the fastener into the workpiece. Additionally, the catching fingers are pivotably retained in the tool and comprise first and second catching fingers that define a tapered bore and opposed slots to properly position and catch a plurality of fastener sizes.

Abstract: This invention refers to a method and a system for the fastening of wire or strip steel (1), (2) onto the outer side of the springs (3), which form the edges of an innerspring unit with metal clamps (4), where the springs are connected too each other with a metal spiral or are pocketed in cloth or non woven, which fastening is achieved by a number of presses equal to the number of springs we want to fasten and which presses are actuated simultaneously or gradually.

Abstract: A rivet gun system includes a rivet gun frame having two ends. A die is coupled to one end, and a force sensor coupled to the rivet gun frame. The force sensor detects force applied to the die and generates a force signal in response to the force. A holding coil defines a channel within the rivet gun frame and generates an electromagnetic force along the channel. The channel includes an end defined by an end stop and an end defined by the die. A main coil further defines the channel between the holding coil and the die. The main coil also generates an electromagnetic force along the channel. A plunger slides through the channel in response to the electromagnetic forces. A force sensor electronics controller receives the force signal from the force sensor and activates the holding coil and the main coil in response to the force signal above an activation threshold.

Abstract: The invention is directed to a method for making a pressure-tight attachment of an elastomeric tubular piece to an attachment part. For making the pressure-tight attachment, an open end of a tubular piece made of elastomeric material is pushed onto a connecting part and a metal clamping ring is positioned thereon. While radially pressing the jaws of the clamping device together, the diameter of the clamping ring is reduced and the tubular piece is thereby tightly clamped to the connecting part. The clamping operation is ended before damage occurs but only when an adequate strength is ensured. During clamping, the force/displacement curve is observed and a characteristic feature of the measured curve is used as a basis of computation for a switchoff criterion. Preferably, the clamping operation is only ended when the clamping force begins to drop for the first time after the maximum force is exceeded in a defined manner in a predetermined localized or bounded curve segment.

Abstract: A method and apparatus for forming rivet joints with a desired amount of clearance to allow pivotal motion of the parts interconnected by such joints. Parts to be riveted together are aligned with each other, and a rivet is placed into aligned holes. A parts clamp urges the parts and a preformed head of the rivet against a rivet support anvil to establish an initial condition. A parts support anvil is placed in a required position with respect to the rivet support anvil prior to formation of the second head on the opposite end of the rivet, to provide the desired amount of clearance. The parts support anvil is moved by pushing against a set of arched leaf springs to adjust their effective length, using a hydraulic motor controlled in response to an electrical signal from a transducer that measures movement of parts by the parts support anvil.

Abstract: A self-piercing type rivet setting system 30 comprises: a rivet swaging assembly 35; a robot 6 which moves the rivet swaging assembly 35 to put it in position relative to a predetermined site on a workpiece to be riveted; a single integrated controller 31 made up by an integration of a controller for controlling a riveting operation of the rivet swaging assembly and a controller for controlling the motion of the robot; and a rivet feeder 9 for automatically feeding a self-piercing type rivet to the rivet swaging assembly. From the integrated controller 31, a interface cable 33 extends to the robot 6 and another interface cable 34 extends to the rivet feeder 9, and the rivet swaging assembly 35 is integrally incorporated into the robot 6.

Abstract: A method for producing a windshield wiper bracket (10) with a U-shaped cross section, with two through holes (12) disposed in the legs (11) of the bracket (10), through which a rivet (13) extends, wherein the method includes the following steps: production of through holes (12) in a flat bracket blank (14); insertion of a rivet slug (15) into one of the through holes (12); folding of the legs (11) to produce the U-shaped profile and to thereby position the rivet slug (15) in a position aligned with the other through hole (12); sliding of the rivet slug (15) into the position extending through both of the through holes (12), and riveting of the rivet slug (15).

Abstract: A fastener delivery and installation system is provided that comprises an end effector mounted on an automated machine and operable to drill a hole through a workpiece and insert a fastener through the hole, and a fastener feed unit operable with the automated machine to deliver the fasteners through the end effector and into the workpiece. Further, a hand-held tool is operable against a second surface of the workpiece and is aligned with the end effector. Once the hand-held tool is positioned properly, a magnetic field is generated and the workpiece is clamped to enable the end effector to drill a hole through the workpiece and insert a fastener therethrough. Additionally, a detector is located on the hand-held tool for generating guidance information to inform an operator where to move the hand-held tool so as to align the hand-held tool with the end effector.

Abstract: A fastener system for multi-piece swage type fasteners, including a pin and a collar, and providing a stump type fastener constructed to be set as a pull type fastener with the fastener pin having a threaded gripping portion and including a compact installation tool having a swage anvil and a rotary threaded member adapted to be threaded onto the threaded pull portion of the pin whereby a relative axial force is applied between the pin and the collar via the rotary threaded member and swage anvil to cause the anvil to radially overengage the collar to swage it into locking grooves on the pin and the pull portion remaining on the pin after installation and with the swage anvil being connected to a piston rod of a piston for axially reciprocating movement for swaging the collar with the rotary threaded member being axially fixed and with the swage anvil and rotary threaded member being offset from the remainder of the tool whereby the tool can be used to install such fasteners in applications of limited clearan

Abstract: A hub (2) includes a spindle (14) which projects through a housing (4) and rotates relative to the housing (4) on a bearing (6) that is located between the spindle (14) and the housing (4). The bearing (6) has two sets of raceways (28,40) that are oblique to the axis x, and in addition rolling elements (36) arranged in two rows between the sets of raceways (28,40). The inner raceways (28) that fit around the spindle (14) and have back faces (32), with the back face (32) for one of the races (26) being against a shoulder (18) from which the spindle (14) projects. Initially, the end of the spindle (14) projects straight beyond the back face (32) of the outer race—indeed, so that the races (26) can be installed over the spindle (14).

Abstract: A tubular part having a tubular main body and an integral tubular pullout projecting laterally from the side of the main body and in fluid-tight communication therewith is superplastically formed by inserting the tube in a cavity of a die base and heating the die to a temperature at which the material of which the tube is made exhibits superplastic properties. The distal end of a pull-rod is extended through an opening in the die base and through a hole in the side wall aligned with the opening. A pull-die is selected having a cross section larger than the hole and about equal to the desired internal cross section of the tubular protrusion. The pull die is attached to the distal end of the rod and (before or after attachment) is heated to about the superplastic temperature of the tubing material.

Abstract: Methods and apparatus are provided for monitoring crimping of metal end fittings onto electrically insulating core rods. The force and/or pressure applied to the metal end fittings by crimping jaws are monitored during crimping. The distance travelled by the crimping jaws is also measured during crimping. A change is detected in the relationship between the force and/or pressure and the distance travelled by the crimping jaws, such as by detecting a non-increasing force and/or pressure with an increasing distance. The methods and apparatus of the present invention may provide for detection and/or prediction of cracks in the electrically insulating core rods to improve the crimping process.

Abstract: A fastener system for multi-piece swage type fasteners, including a pin and a collar, and providing a stump type fastener constructed to be set as a pull type fastener with the fastener pin having a threaded gripping portion and including a compact installation tool having a swage anvil and a rotary threaded member adapted to be threaded onto the threaded pull portion of the pin whereby a relative axial force is applied between the pin and the collar via the rotary threaded member and swage anvil to cause the anvil to radially overengage the collar to swage it into locking grooves on the pin and the pull portion remaining on the pin after installation and with the swage anvil being connected to a piston rod of a piston for axially reciprocating movement for swaging the collar with the rotary threaded member being axially fixed and with the swage anvil and rotary threaded member being offset from the remainder of the tool whereby the tool can be used to install such fasteners in applications of limited clearan

Abstract: A machine for automatically applying snap fasteners on a support, such as a fabric, comprises a sensor for sensing the instantaneous value of the riveting pressure applied to the machine punch elements. With respect to prior machines for automatically applying snap fasteners, the machine according to the invention provides the advantage that the snap fastener can be applied to a fabric with a proper riveting pressure, so as to prevent both excessive pressures, which could damage the fabric, and insufficient pressures, which could not provide a proper connection of the snap fastener on the support, from being generated.

Abstract: With reference to FIG. 3 the present invention relates to a method of manufacture of a product from a first component (4) of deformable material and a second component (5), the method comprising the steps of: inserting a portion of the first component (4) through an aperture predefined in the second component (5); and subsequently deforming the material of the first component (4) to form a pair of spaced apart shoulders (50) integral with the first component (4), the spaced apart shoulders (50) holding therebetween the second component (5) and thereby preventing the second component (5) sliding along the first component (4); wherein: each shoulder (50) is formed by applying tool means (20, 21) to a surface of the first component (4) to create a recess in the surface and to form the shoulder (50) adjacent to the recess with the shoulder (50) being formed by displacement of the deformable material of the first component (4) during the creation of the recess.

Abstract: A display strip assembly system for efficiently assembling bags upon a point of purchase display strip. The display strip assembly system includes a base, an elongate frame mounted to the base extending in an angled manner, a receiving channel within the elongate frame for receiving a length of point of purchase (POP) display strip, a plurality of first apertures and second apertures within the receiving channel aligned with the fingers of the POP display strip, and a elevating unit within the frame for extending a corresponding plurality of first shafts and second shafts through the apertures for extending the fingers of the POP display strip for allowing attachment of a plurality of bags without moving the POP display strip.

Abstract: An apparatus for installing rivets or other fasteners through a workpiece includes an automated machine disposed on one side of the workpiece and a hand-held tool that is manipulated by a single worker located on the opposite side of the workpiece. The automated machine includes an end effector supporting tools such as a drill and a riveter. The automated machine also includes a guide structure adapted to be releasably affixed to the workpiece, and a carriage that travels along the guide structure and supports the end effector so that the end effector can be positioned in various locations along the surface of the workpiece where fasteners are to be installed. The end effector includes an electromagnetic clamping device, and the hand-held tool includes a magnetic clamping block that is attracted by the clamping device to clamp the workpiece therebetween. The end effector generates a positioning signal and the hand-held tool includes a detector for detecting the positioning signal.

Abstract: A hub assembly includes a hub having a flange and a spindle projected from the flange, a housing located around the hub spindle, and an antifriction bearing between the housing and the spindle. The bearing includes an inner race which the spindle initially accommodates in that the spindle has a deformable end over which the inner race is passed. Thereafter, the deformable end is upset into a formed end in a rotary forming procedure that involves forcing the deformable end and a forming tool together while the spindle and tool rotate. The formed end should bear snugly against a back face on the inner race and capture the inner race on the spindle. In the forming procedure the spindle and forming tool are forced together initially in a coarse feed which provides the formed end that bears against the back face of the inner race, then at a fine feed, and finally at a dwell.

Abstract: The invention proposes a method for clamping a pipe with a hose or a pipe with the aid of a compression sleeve, in which the influence of dimensional tolerances of the components on the quality of the compressed connection is significantly reduced. In the method according to the invention, the pressing force between a compression tool and the compression sleeve as well as the advancing distance of the compression tool are determined and evaluated.

Abstract: A feed head has a delivery path along which nuts are fed to a pressing station in the feed head, the pressing station having a pressing die which is reciprocated transversely to the delivery path under the action of a press to fasten a nut to a sheet metal member. A cam is provided to reciprocate the pressing die manually to facilitate clearance of blockages in the feed head, and also to hold the pressing die in its lowered position to allow operation of the press without operating the die. A sensor for detecting nuts at the pressing station is positioned on the end of the delivery path, enabling a narrower feed head design. A electrical coupling and nut delivery tube are integrated to facilitate connection in confined spaces.

Abstract: A fastener system for multi-piece swage type fasteners, including a pin and a collar, and providing a stump type fastener constructed to be set as a pull type fastener with the fastener pin having a threaded gripping portion and including a compact installation tool having a swage anvil and a rotary threaded member adapted to be threaded onto the threaded pull portion of the pin whereby a relative axial force is applied between the pin and the collar via the rotary threaded member and swage anvil to cause the anvil to radially overengage the collar to swage it into locking grooves on the pin and the pull portion remaining on the pin after installation and with the swage anvil being connected to a piston rod of a piston for axially reciprocating movement for swaging the collar with the rotary threaded member being axially fixed and with the swage anvil and rotary threaded member being offset from the remainder of the tool whereby the tool can be used to install such fasteners in applications of limited clearan

Abstract: An apparatus for riveting shell components to form a barrel-shaped structure such as an aircraft fuselage includes an outer part and an inner part that operate coordinated with each other under computer control. The outer apparatus part includes a riveting machine system movably carried on an annular machine guide that is supported on a stand that is movable in a length-wise X-direction. The inner apparatus part includes a multi-axis riveting robot mounted on a mounting frame that is movable along the X-direction. Instead of moving the inner and outer apparatus parts in the X-direction, it is alternatively possible to move the fuselage while keeping the apparatus parts stationary. A computer control unit provides control signals to achieve a coordinated and concurrent positioning of the inner and outer apparatus parts, and to carry out a coordinated sequence of riveting steps.

Abstract: A fastening system including a two piece swage type fastener with a pin and collar with pin having a shank with relatively wide lock grooves having a generally smooth root contour with the collar having a shank with a wall thickness of excess volume of material before swage greater than the volume of the lock grooves and with the clearance between the inside diameter of the collar shank and diameter of lock groove crests being a minimum to reduce the compressive force for swaging the collar shank into the lock grooves with the excess volume providing partial fill of the lock grooves upon swage and with pin shank having a pull portion being a bore with helical grooves and an installation tool having a threaded mandrel to engage the pull grooves while moving into the collar shank to facilitate larger gap pull up between workpieces being secured.

Abstract: A fastener installation assembly having a base, a first support member mounted to the base to slide upon the base and a second support member mounted to the first support member to the slide upon the first support member. The first and second support members have opposed engagement surfaces, one of the engagement surfaces has a stationary member and a moveable member mounted thereon and the other engagement surface has a die member mounted thereon. The fastener installation assembly has first and second power cylinders, the first power cylinder is operatively coupled to the first support member and the second power cylinder is operatively connected to the second power cylinder, the power cylinders move the engagement surfaces together to install a fastener into a panel.

Abstract: A method and apparatus for forming rivet joints with a desired amount of clearance to allow pivotal motion of the parts interconnected by such joints. Parts to be riveted together are aligned with each other, and a rivet is placed into aligned holes. A parts clamp urges the parts and a preformed head of the rivet against a rivet support anvil to establish an initial condition. A parts support anvil is placed in a required position with respect to the rivet support anvil prior to formation of the second head on the opposite end of the rivet, to provide the desired amount of clearance. The parts support anvil is moved by pushing against a set of arched leaf springs to adjust their effective length, using a hydraulic motor controlled in response to an electrical signal from a transducer that measures movement of parts by the parts support anvil.

Abstract: The invention relates to a method for connecting overlapping flat parts in a mechanical joining process, for example for connecting panels, using a mould stamp (1a) and a matrix which is provided with a recess, the parts to be connected being placed between the mould stamp and the matrix. The invention is characterized in that the active axial advancing movement of the mould stamp (1a) is impressed with a tumbling motion throughout the entire joining process or during a part of the joining process and will a variable stamping force (F) which is dependent on said tumbling motion, in or to produce a flow of material that is oriented towards the undercut (6). The invention also relates to a device for carrying out the inventive method.

Abstract: An apparatus for press fitting inserts into corresponding receptacles in workpieces includes a press comprising a ram and a backup tool spaced from the ram. An insertion tool is alignable between the ram and the backup tool. An insert magazine feeds inserts to the insertion tool. A workpiece positioner sequentially moves each workpiece through receiving positions that align the receptacles with the insertion tool between the ram and the backup tool. The ram repeatedly engages the insertion tool to press fit an insert into each of the corresponding receptacles. The backup tool supports the workpiece against the force of press-fit insertion.

Abstract: Disclosed is a workpiece conveyor and delivery device for a vacuum processing plant. Workpieces are delivered from one device to another, both devices being located opposite each other and moving in relation to each other. A controllable magnet arrangement is provided on one of the devices. A moveable armature element acts as a holding device for the workpiece on one of the two devices which move in relation to each other, namely the device provided with the magnet arrangement. Magnet arrangement is driven to activate the holding device which can be deactivated for delivery of workpiece.

Abstract: A fastener installation assembly having a base, a first support member mounted to the base to slide upon the base and a second support member mounted to the first support member to the slide upon the first support member. The first and second support members have opposed engagement surfaces, one of the engagement surfaces has a stationary member and a moveable member mounted thereon and the other engagement surface has a die member mounted thereon. The fastener installation assembly has first and second power cylinders, the first power cylinder is operatively coupled to the first support member and the second power cylinder is operatively connected to the second support member the power cylinders move the engagement surfaces together to install a fastener into a panel.

Abstract: The method according to the invention for riveting, or self-piercing, by means of a riveting or self-piercing device (8), having a male die (3) guided by a pick-up device (4), both of which in each case can be moved towards a female die (5) and/or a workpiece (6), wherein the female die (5) and riveting or self-piercing device (8) will be connected to one another via a counterforce structure (9). The relative movement between the pick-up device (4) and the counterforce structure (9) is measured by a first sensor (1), and the relative movement between counterforce structure (9) and male die (3) is measured by a second sensor (2). The depth of the riveting or piercing is adjusted with the aid of the two measured values.

Abstract: The invention relates to a device for balancing the weight carried by a robot arm of a robot. Said device comprises a fluid spring, rotably a pneumatic spring, and a control device for controlling the movements of the robot. The device is characterized by a pressure sensor which measures the pressure of the fluid of the fluid spring. Said device and the method provided for by the invention permit the exact adjustment and balancing of the movements of the robot arm.

Abstract: An apparatus for installing rivets or other fasteners through a workpiece includes an automated machine disposed on one side of the workpiece and a hand-held tool that is manipulated by a single worker located on the opposite side of the workpiece. The automated machine includes an end effector supporting tools such as a drill and a riveter. The automated machine also includes a guide structure adapted to be releasably affixed to the workpiece, and a carriage that travels along the guide structure and supports the end effector so that the end effector can be positioned in various locations along the surface of the workpiece where fasteners are to be installed. The end effector includes an electromagnetic clamping device, and the hand-held tool includes a magnetic clamping block that is attracted by the clamping device to clamp the workpiece therebetween. The end effector generates a positioning signal and the hand-held tool includes a detector for detecting the positioning signal.

Abstract: An apparatus for installing rivets or other fasteners through a workpiece includes an automated machine disposed on one side of the workpiece and a hand-held tool that is manipulated by a single worker located on the opposite side of the workpiece. The automated machine includes an end effector supporting tools such as a drill and a riveter. The automated machine also includes a guide structure adapted to be releasably affixed to the workpiece, and a carriage that travels along the guide structure and supports the end effector so that the end effector can be positioned in various locations along the surface of the workpiece where fasteners are to be installed. The end effector includes an electromagnetic clamping device, and the hand-held tool includes a magnetic clamping block that is attracted by the clamping device to clamp the workpiece therebetween. The end effector generates a positioning signal and the hand-held tool includes a detector for detecting the positioning signal.

Abstract: A machine for automatically applying snap fasteners on a support, such as a fabric, comprises a sensor for sensing the instantaneous value of the riveting pressure applied to the machine punch elements.

Abstract: The system includes means for moving a rivet or a collar from a storage bin to an initial position for the respective gripping assemblies. The presence of the rivet and/or collar is recognized as it moves through a feeding mechanism. After the rivet or collar is gripped, they are moved either into an opening in the workpiece, in the case of a rivet, or onto the tail of a lockbolt, in the case of a collar. The gripping assembly is then released from the rivet or the collar, with the gripping means moving back to an initial position. Further operations can then be carried out on the rivet or collar.