An automatic riveting machine produces squeezed precision rivet connections in any working direction, including an overhead working direction, while using rivets of different lengths. A rivet bore having a precision fit and linear squeezing motions result in a precision rivet connection. The rivets are also pressed into the rivet bore by a linear motion. For this purpose, the automatic riveting machine includes a drilling unit (2) with a drill bit (212), a lubricator (204), a rivet supply unit (3) including a rivet feeder pipe (302) and rivet transfer tongs (302) journalled to a journal axis (304), and a squeezing rivet setter (4). The rivet transfer unit (3) is held in a fixed position on a support console (5) which in turn is docked to a positioning robot PR. The drilling unit (2) and the rivet setter (4) are movable along the support console (5) on guides for positioning in a working position or in a back rest position. The riveting arms (403, 404) of the rivet setter (4) perform the linear squeezing motion. The upper arm (403) has a rivet clamp (405) for receiving a rivet from the supply unit (3) and for transporting a received rivet into position in alignment with a drilled rivet hole into which the rivet is pressed with a press fit.
A real-time fastener measurement system includes an anvil (10) having a striking surface (16) that engages a fastener as it is upset. Three proximity sensors (20) are disposed at 120.degree. intervals around a striking surface of the anvil. A computer system (110) reads the electronic signals produced by the proximity sensors just after the fastener has been upset and converts the signals to digital values. The computer stores a piecewise linear function that has been predetermined for each sensor and uses the function to convert the digital values of the proximity sensor to fastener head height.
A system for automatically adjusting a fastener screw of a pivot joint between first and second parts of a pair of scissors, each part having a blade and a respective handle. A part clamp engages and holds the handle of the first part. A torque arm engages and moves the handle of the second part relative to the first part about the pivot joint. A driver adjusts the fastener screw to provide a desired resistance to relative movement between the first and second parts. A position encoder is connected to the part clamp and torque arm to generate a position signal indicative of the position of the second part relative to the first part. A torque transducer is connected to the parts clamp and torque arm to generate a torque signal indicative of the resistance to relative movement between the first and second parts. A controller has inputs operatively connected to the position encoder and to the torque transducer and an output operatively connected to the driver. The controller is responsive to the position signal and to the torque signal and controls the driver.
