Riveting device for aircraft fuselages
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.
1. A head of a device for riveting together at least two components of a structure and for installing collars on pins previously inserted in the structure, said collars having a first part which is designed to be threadingly attached to the pins and a second part separable from the first part by a frangible zone which is designed to break when a torque applied to the collars reaches a predetermined value, the head comprising:
at least one collar installation tool;
a collar supply comprising a plurality of collars, the collar supply retained with the collar installation tool and arranged to supply a collar from the supply of collars to said collar installation tool;
an actuating device arranged to rotate at least a portion of the collar installation tool;
a linear displacement device arranged to linearly move the collar installation tool during an operation of threading said collars on said pins;
a withdrawal device arranged to withdraw the second part of the collars after they have separated from the first part of the collars;
a control arrangement configured to automatically perform the installation of collars on pins and the withdrawal of the second part of the collars after the installation of collars on pins, using tools and collars appropriately sized and shaped for the pins.
2. The head of a riveting device according to claim 1 , further comprising:
collar supply ducts connected to collar deposits;
a suction duct connected to a reservoir in which a plurality of second parts separated from a corresponding plurality of first parts is stored;
a movable arm between the collar installation tool and the collar supply ducts or the suction duct; and
a vacuum duct connected to the movable arm.
3. The head of a riveting device according to claim 2 , including an actuation device for said movable arm comprising a rotary actuator and a linear actuator.
4. The head of a riveting device according to claim 2 , wherein:
said collar installation tool being one of a straight tool, having its actuating terminal arranged along an axis common with the tool actuating device, and an angled tool having its actuating terminal in a displaced axis with respect to an axis along which said tool actuating device is arranged;
the head being arranged so that said movable arm can reach actuating terminals of the straight tool and the angled tool.
5. The head of a riveting device according to claim 2 , wherein the head is configured with at least two predefined interchangeable assemblies of one collar installation tool and one tool actuating device adapted to different size ranges of collars.
6. The head of a riveting device according to claim 1 , further comprising artificial vision means adapted to perform recognition of the position and orientation of pins so that the head can be properly positioned with respect to the pins.
7. The head of a riveting device according to claim 1 , further comprising a cleaning device arranged to remove any sealant material remaining on the pins.
8. The head of a riveting device according to claim 1 , further comprising a vacuum duct connected to the collar installation tool.
9. The head of a riveting device according to claim 1 , wherein said tool actuating device is one of an electric motor and a pneumatic motor.
10. A robot for riveting at least two components of a structure for installing collars on pins previously inserted in the structure, said collars having a first part which is designed to be attached to the pins and a second part separable from the first part by a frangible zone which is designed to break when a torque applied to the collars reaches a predetermined value, comprising:
an articulated arm having as an end-effector;
a head; and
a control device arranged to place the end-effector in a suitable position for reaching the pins with the collar installation tool, wherein the head comprises:
at least one collar installation tool;
a collar supply arranged to supply collars to said collar installation tool;
an actuating device arranged to rotate at least a portion of the collar installation tool;
a linear displacement device arranged to linearly move the collar installation tool during an operation of threading said collars on said pins;
a withdrawal device arranged to withdraw the second part of the collars after they have separated from the first part of the collars; and
a control arrangement configured to automatically perform the installation of collars on pins and after the installation of collars on pins the withdrawal of the second part of the collars, using tools and collars appropriately sized and shaped for the pins.
11. The robot according to claim 10 , wherein said structure is a section of an aircraft fuselage.
12. The robot according to claim 10 , wherein the components of the structure being riveted are made of composite materials and said pins are inserted in the structure without interference.