A transfer station for temporarily storing at least one interchangeable die. The die can be removed by a joining tool to carry out a joining operation and can be returned back into the transfer station after the joining operation. The transfer station including a carriage that is movable between a first position, wherein a first die receptacle is in a standby position, and a second position, wherein a second die receptacle is in the standby position. In the standby position the chosen die receptacle is accessible by the joining tool when in its transfer position.

A transfer station for temporarily storing at least one interchangeable die. The die can be removed by a joining tool to carry out a joining operation, and can be returned back into the transfer station after the joining operation. The transfer station including a die receptacle for holding the die, and a rotating device for rotating the die in the receptacle in order to establish an axial engagement between the die and the joining tool.

The disclosure relates to a processing station for aircraft structural components, having a gantry processing machine, a clamping frame for fastening at least one component, and a holding device assembly for receiving the clamping frame, wherein the gantry processing machine has a gantry and the gantry supports a processing tool which defines a processing point, wherein the processing tool is configured so as to be pivotable in relation to the gantry, and wherein the processing tool for displacing the processing point is height adjustable in the z direction in relation to the gantry, wherein the holding device assembly has at least two holding devices, and wherein at least one holding device has a drive for the height adjustment, and the clamping frame is height-adjustable in the z direction by means of the holding device.

Fastener delivery apparatus for automatically selecting and delivering fasteners such as rivets to a setting tool. The fasteners are pre-loaded in a package and dispense via at least one fastener delivery tube that interconnects the setting tool to a fastener feeder device. The fastener feeder device releases selected fasteners from the package into the delivery tube. The fasteners are transportable individually or in groups in the tube from the feeder device to the tool. A transfer station attached to the tool or the delivery tube transfers a fastener from the delivery apparatus into the tool, transfer station is adjacent to the tool so that a delivered fastener may be inserted by the transfer station into the tool and a second position in which it is clear of the tool so as to permit the tool or a portion thereof to move towards a workpiece to insert a smooth, rapid and reliable delivery of fasteners of various sizes and types to the nose of a setting tool in any particular order and provides all the fastener types for any particular work cycle.

A method and system are provided to position and drill an opening for a fastener through one or more workpieces. In the context of a method, a peen mark is formed on a workpiece at a location at which the opening is to be drilled. The method also includes utilizing a robotic vision system to identify the peen mark on the workpiece and thereafter drilling the opening configured to receive the fastener at the location designated by the peen mark. In the context of a system, the system includes a dot peen marking system configured to form a peen mark on a workpiece at a location at which the opening is to be drilled. The system also includes a robot comprising a vision system configured to identify the peen mark on the workpiece and a drilling machine configured to drill the opening at the location designated by the peen mark.

A method and system are provided to position and drill an opening for a fastener through one or more workpieces. In the context of a method, a peen mark is formed on a workpiece at a location at which the opening is to be drilled. The method also includes utilizing a robotic vision system to identify the peen mark on the workpiece and thereafter drilling the opening configured to receive the fastener at the location designated by the peen mark. In the context of a system, the system includes a dot peen marking system configured to form a peen mark on a workpiece at a location at which the opening is to be drilled. The system also includes a robot comprising a vision system configured to identify the peen mark on the workpiece and a drilling machine configured to drill the opening at the location designated by the peen mark.

In an example, a clamp foot for a clamp assembly includes a housing having a distal end for engaging a workpiece, an aperture in the distal end of the housing, and a cavity in the housing extending proximally from the aperture. The clamp foot also includes a flapper in the cavity and adjacent to the distal end. The clamp foot further includes a pneumatic port in the cavity configured to direct a pneumatic force from a pneumatic source to the flapper, and a vacuum port in the cavity for coupling the cavity to a vacuum source. Responsive to the pneumatic force, the flapper is movable within the cavity to separate debris from the workpiece. The vacuum port is configured to remove from the cavity, via a vacuum force from the vacuum source, the debris separated from the workpiece by the flapper.

Fastener delivery apparatus for automatically selecting and delivering fasteners such as rivets to a setting tool. The fasteners are pre-loaded in a package and dispense via at least one fastener delivery tube that interconnects the setting tool to a fastener feeder device. The fastener feeder device releases selected fasteners from the package into the delivery tube. The fasteners are transportable individually or in groups in the tube from the feeder device to the tool. A transfer station attached to the tool or the delivery tube transfers a fastener from the delivery apparatus into the tool, transfer station is adjacent to the tool so that a delivered fastener may be inserted by the transfer station into the tool and a second position in which it is clear of the tool so as to permit the tool or a portion thereof to move towards a workpiece to insert a smooth, rapid and reliable delivery of fasteners of various sizes and types to the nose of a setting tool in any particular order and provides all the fastener types for any particular work cycle.

A riveting tool configured to install a plurality of fasteners simultaneously is provided including a body having a generally central cavity. A strike surface is arranged at a first end of the body and a plurality of contactors extends generally outwards from a second, opposite end of the body. Each contactor includes an engagement surface configured to contact a surface of an adjacent fastener when a force is applied to the strike surface. A biasing mechanism is arranged within the cavity adjacent an upper cavity surface. A dowel is positioned within the cavity adjacent the biasing mechanism. The dowel is configured to engage a portion of an adjacent nut plate and translate within the cavity.

A system includes a frame having spaced apart first and second upright members, and a robot including an end effector and a plurality of arms. The arms extend from the end effector and clamp onto the first and second frame members to position the end effector between the first and second frame members.