Various embodiments relate to a rivet element supply unit for providing rivet elements, wherein the rivet element supply unit comprises a rivet element provision unit and a handling unit, wherein the rivet element provision unit for conveying the rivet elements comprises a spiral conveyor having a longitudinal axis and a spiral, which extends around the longitudinal axis, wherein the longitudinal axis is inclined to the direction of gravity, wherein the rivet element provision unit has a pick-up region to which the spiral conveyor supplies rivet elements and from which the handling unit picks up the rivet elements for transporting to a rivet element receptacle.

Methods and apparatuses for performing automated operations using a high-density robotic cell. An apparatus comprises a first plurality of robotic devices; a second plurality of robotic devices; and a control system. Each of the second plurality of robotic devices is coupled to a single function end effector. The control system controls the second plurality of robotic devices to concurrently perform tasks at a plurality of locations on an assembly, while the first plurality of robotic devices independently maintain a clamp-up at each of the plurality of locations.

The invention relates to a joining unit (10, 40) for an articulated arm robot (12, 44) for joining a component (24, 58) with a joining element (28, 60) by applying an axial force. The joining unit (10, 40) comprises a base element (14, 42) for connecting to an articulated arm robot (12, 44). The base element (12, 42) is connected to an advancing unit (13, 46), which can be moved relative to the base element (14, 42) in an axial direction in and against a setting direction. The advancing unit (13, 46) is connected to a setting device (16, 54), which can be moved together with the advancing unit (13, 46). Furthermore, a pressure piece (26, 50) mounted for movement relative to the advancing unit (13, 46) in and against the setting direction is connected to the advancing unit (13, 46) by means of a coupling unit (17, 48). The invention is distinguished in that the coupling unit (17, 48) comprises a blocking unit (18, 56), which, starting from a predefined axial blocking position, prevents motion of the pressure piece (26, 50) relative to the advancing unit (13, 46) against the setting direction so long as the advancing force is less than the set blocking force. The blocking unit comprises a release device (20, 62), by means of which the relative motion of the pressure piece (26, 50) against the setting direction is enabled.

A robot vision-based automatic rivet placement system and method. The automatic rivet placement system includes: an industrial robot installed on a frame, a multi-functional end effector, a rivet blowing mechanism, a detection disk, and a rivet holding tray. The multi-functional end effector consists of a flange disk, a support frame, an industrial CCD camera, a laser displacement sensor, a spring, a mixing rod, and a vacuum nozzle. The multi-functional end effector is connected to a terminal end of the industrial robot via the flange disk. The industrial CCD camera is installed directly in front of the support frame, and is used to acquire a rivet image and measure a rivet parameter. The laser displacement sensor is installed at a side surface of the support frame, and is used to measure a rivet depth.

Various embodiments relate to a method for supplying a riveting machine with rivet elements, in particular during operation of the riveting machine, wherein at least one rivet element providing arrangement comprising at least one rivet element providing unit for providing and separating the rivet element is provided, wherein the riveting machine has a rivet element receiving arrangement comprising at least one rivet element receptacle for receiving the rivet elements, wherein at least a part of the transport from one of the rivet element providing units to one of the rivet element receptacles is realized in a robot-based manner.

A fastening device for feeding fasteners to a workpiece and for joining it, the fastening device comprising a fastening tool, a fastening device system. The fastening device including a magazine mounted on the fastening tool for holding a fastener. The magazine includes an isolation module located an outlet of the magazine and including a drawer with a recess and an exit port. The drawer is operable to move between a first position, wherein the recess is aligned with the outlet of the magazine, and a second position, wherein the recess is aligned with the exit port.

A portable programmable machine enhances efficiency and ergonomics associated with conducting otherwise manual operations within confined spaces. A main body supports a programmable telescoping arm configured to extend through an access port to reach a confined space. The arm includes an articulating wrist for holding and manipulating tools for autonomously processing work parts. The machine can also act semi-autonomously to accommodate interventions of an operator for overriding and fine-tuning interaction of a tool with a work part for proper processing of the part. The arm communicates with a computer in the main body for processing numerical data, and the operator may use a reference camera to fine tune any particular process. The machine incorporates multiple processing functions, for example collar swaging, nut running, cleaning, and/or application of sealants, all through an aircraft wing access port. The main body has lockable wheels for securing the main body near the access port.

A system is provided including a first elongated object proximate a first surface on a first side of a structure and a second elongated object proximate a second surface on a second side of the structure, the second surface and the second side opposite the structure relative to the first surface and the first side, the first object aligned with the second object at a first point on the first surface. The system also includes a first plurality of corner cubes affixed to the first object at first known distances from each other and from the first point, wherein the first object abuts the first surface at the first point. The system also includes a second plurality of corner cubes affixed to the second object at second known distances from each other and from the first point, wherein the second object abuts second surface at second point opposite first point.

A method and apparatus for installing a fastener is provided. The apparatus comprises a plate system and an air system that is connected to the plate system. The plate system has a plurality of air passages and at least one opening. The air system directs air through the plurality of air passages, out of the opening, and in a selected direction substantially parallel to a surface of a structure into which a fastener is to be installed such that the air impinges on an exposed portion of a shaft of the fastener.

A dual-interface coupler includes a utilities unit, a number of utility cables configured to provide a number of utilities to the utilities unit, a first coupling unit associated with the utilities unit, and a second coupling unit associated with the utilities unit. The first coupling unit is configured to mechanically couple the utilities unit to a first corresponding coupling unit and comprises a utility interface. The number of utilities are configured to flow from the utilities unit through the utilities interface. The second coupling unit is configured to mechanically couple the second coupling unit to a second corresponding coupling unit.