Riveting robot

摘要

A computer aided riveting robot has a machine frame for movably mounting a work piece positioning support and riveting tool positioning carriers. A rectangular three-dimensional coordinate system is defined in the machine frame, whereby an x-y-plane (61) constitutes a reference plane. The machine frame extends upwardly from a machine base in the y-direction of the rectangular coordinate system. The work piece positioning support extends upwardly in the y-direction and supports a work piece so that its largest surface area extends approximately in an x-y-plane of the rectangular coordinate system. The work piece positioning support in turn is supported by guide rails for moving the work piece back and forth in the x-direction. Two riveting tool carriers are supported in the machine frame and hold two riveting tools for movement in the z-direction. The tool carriers extend in the y-direction and are so arranged that the work piece extends between the two tool carriers. Each tool carrier supports and positions its riveting tool for movement in the y-direction. Each riveting tool is also tiltable about a fixed axis extending in parallel to the x-axis, so that the respective riveting tool tilts in a y-z-plane. The riveting tools cooperate with each other in a computer aided automatic riveting operation, whereby the computer controls all movements so that each riveting point on a work piece can be reached by the riveting tools.