Front view of SealFast Robot
Based on an automatic screwdriver head, the rivet head accepts rivets shot from the feed cart at high rate.
Early version using rotary turret concept to change tools.
Isometric view of SealFast Robot
Quick-change locking feature.
Side view of SealFast Robot
One of the blow-feeders for the rivets.
The SealFast robot is a prototype built for Boeing. The robot is intended for use in joining fuselage pieces together, after the hole pattern is drilled.
The concept involves eight fastener feeders, which can blow feed different sizes of the rivets to the insertion head. The robot moves along on two rails, using vision to precisely locate each hole.
At a particular hole, the robot locates the hole with a skewed camera, and positions the dispense head over the hole. Adhesive is dispensed into the hole, and the correct rivet size, as determined by the program, is fed to the insertion head. The rivet is then pushed into the hole, and an operator applies the clinch fastener to the end of the rivet. As the fastener is clinched onto the rivet, the robot senses the shock load on the insertion head, and releases the rivet, moving to the next hole.