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A no moving part vacuum device has been developed. The device when used as a fastener escapement can pick up a fastener from the end of any type of feed track, such as a vibratory bowl, a cassette unit or a mini hopper and will propel the fastener down a feed tube. The fastener is drawn into the end of the escapement using a vacuum and then is propelled through an exit tube using air pressure. The same principle applies when the device is used as a chip removal tool. The chips are pulled into the front opening of the device by a vacuum and then are discharged out a waste removal tube via air pressure. The paper discusses the advantages of the no moving part device as an escapement and then as a chip removal device.

The multiple axis flexible CNC riveting cell consists of three major systems: a multi-axis part positioner, a multiple head drill and rivet machine and a multi-bowl rivet feed system. The CNC positioner has seven axis of control; the five common axis of X, Y, Z, Alpha, and Beta plus lower ram position and tool position on the knee style lower ram. The six function rivet head contains a pre-drill spindle, a rotary spin dimple spindle, a final drill spindle, a sealant applicator, a rivet insertion station and a rivet shave spindle. The unique lower knee style ram will allow the machine to fasten small radius high curvature parts as well as flat panels with minimal changes. The fastener feed system utilizes a bank of vibratory bowls that feed fasteners through a single feed tube. The fasteners are allowed to tumble and then are aligned prior to insertion into the anvil fingers. Countersunk fasteners as small as -4-3 will be fed by the system.

The multiple axis flexible CNC riveting cell consists of three major systems: a multi-axis part positioner, a multiple head drill and rivet machine and a multi-bowl rivet feed system. The CNC positioner has six axis of control; the five common axis of X, Y, Z, Alpha, and Beta plus tool position on the lower ram. The four function rivet head contains a drill spindle, a sealant applicator, a rivet insertion station and a camera unit. The unique lower ram will allow the machine to fasten high curvature parts as well as flat panels with minimal changes. The fastener feed system utilizes a bank of vibratory bowls that feed fasteners through a single feed tube. The fasteners are allowed to tumble and then are aligned prior to insertion into the anvil fingers. Countersunk fasteners as small as -4-3 will be fed by the system. The system will be used by Raytheon Aircraft Corporation to produce body panels and wing parts for the JPATS Program (Joint Procurement Aircraft Training System).

Fasteners are currently being fed into automated installation machines by a variety of different devices. Once fed, the fastener often travels to the machine's installation point via a track or feed tube. Some tracks and tubes keep the fastener oriented while others allow the fastener to tumble and reorient it at the machine head. Fastener escapements, shuttles, tracks, blow tubes and injectors are all part of the overall system. Fastener grip length selection and fastener inspection devices add to the overall complexity of feeding systems. The technical paper discusses the theory and operation of each of the fastener feeding devices including; hoppers, magazines, cassettes and vibratory bowls. Support systems are covered and methods to optimize fastener feed times are presented.

The CNC controlled automatic riveting work cell represents the latest State-Of-The-Art in automatic fastening machines and support hardware. The work cell contains a unique designed knee type drill and rivet machine that has a sixty inch throat depth, four position upper head and sixteen thousand pounds of upset force. The machine is equipped with dual drill spindles, one for drilling and one for deburring. The knee style machine was developed for fabricating tubular assemblies which are fed into the throat of the machine over an eight inch square lower knee. A CNC controlled four axis positioning system presents the part to the machine for riveting. Support systems include an automatic fastener feed system and a vacuum chip collection system. The work cell is controlled by an Allen Bradley series 9/290 enhanced CNC processor. The paper presents each individual system and it's role as part of the total CNC duct riveting work cell.

A small, lightweight end effector drill and rivet machine has been developed. The system is capable of installing fasteners in areas that have previously been inaccessible to automatic fastening machines. The unique lower ram system is so small that it can reach through access openings to drill and install fasteners. The system incorporates sensors, a fiber-optic camera system and electronic measurement devices to provide statistical process control data (SPC) for the installed fasteners. An automatic fastener feeding system provides the correct diameter and grip length fastener to the machine. Fastener information is either stored in the part program or is determined by the machine measurement system. The mechanical functions of the system, the machine controls, and the communications between the automatic drill and rivet end effector and the robotic system are discussed. The fully automatic system is mounted on a Jomach 16 Robot.