RIVET SETTING DEVICE

Description

1. Domaine de l'invention

[0001] The field of the invention is that of the design and production of devices used in industry to perform the setting of rivets prior to their final crimping, and more particularly the evacuation of a rivet from a rivet support module. 2. Art antérieur

[0002] We know of techniques to enable the automated setting of rivets in industry, particularly in aeronautics.

[0003] For example, US patent document 3,111,869 describes a rivet-setting device comprising rivet storage means 183 and means for dispensing rivets 178 one by one into a receptacle 211 in a rivet loading zone. Located in a setting zone, a punch 32 is first lowered to create a hole and a countersink before a rivet is set. Then the receptacle containing a rivet is moved to the setting zone and the punch 32 is lowered again to place the rivet in the previously made hole.

[0004] These techniques are generally not entirely erasable, reliable and safe, and are usually quite cumbersome.

[0005] It is therefore still possible to improve devices of this type, which is one of the objectives pursued by the invention. 3. Objectifs de l'invention

[0006] The invention aims in particular to provide an effective solution to at least some of these different problems.

[0007] In particular, according to at least one embodiment, an objective of the invention is to provide a rivet setting device that can optimize rivet setting.

[0008] The invention aims, according to at least one embodiment, to provide such a device which is compact and / or lightweight, and which consequently allows tasks to be carried out in confined spaces.

[0009] Another objective of the invention is, according to at least one embodiment, to provide such a device which is simple in design.

[0010] Another objective of the invention is, according to at least one embodiment, to provide such a device which is simple to maintain.

[0011] Another objective of the invention is to provide, in at least one embodiment, such a device which is relatively inexpensive. 4. Présentation de l'invention

[0012] For this purpose, the invention proposes a rivet placement device in an orifice made in a structure to be worked according to claim 1.

[0013] This implementation automates both the feeding and riveting processes using a single device. The invention thus provides a compact and optimized system.

[0014] According to one possible characteristic, said evacuation means are mobile over two successive strokes of partial pre-insertion and then total final insertion of the rivet into said orifice during which the end of the rivet and then the body of the rivet are successively inserted into said orifice.

[0015] This improves the reliability and safety of installation by first ensuring a pre-insertion of the rivet to make it sufficiently secure to the structure to which it will be attached, and then finalizing its final placement.

[0016] According to the invention, said module comprises a sleeve housing a piston mounted to move in translation inside said sleeve between at least: a retracted position in which it extends inside said sheath, and a deployed position in which it extends at least partly outside said sheath, said module comprising means for retaining said rivet at the end of said piston.

[0017] According to the invention, said evacuation means comprise a telescopic spindle, mounted movable in translation along the axis of said module, comprising an end intended to come into contact with a rivet placed in said module, said device comprising means for driving said spindle in translation.

[0018] The use of a telescopic spindle makes it possible to provide a compact system and to integrate it into a multi-task system.

[0019] According to one possible characteristic, said telescopic spindle includes: an external main spindle mounted movably in translation between at least: a retracted position, and a deployed position towards the module placed at the workstation, and an internal secondary spindle mounted movably in translation inside said external spindle between at least: a retracted position in which it is housed inside said external spindle, and a deployed position in which it extends at least partly outside said external spindle.

[0020] According to one possible feature, said external pin includes an end capable of acting on said piston when said external pin is translated into a deployed position, and said internal pin occupies its retracted position in said external pin, to move said piston into its deployed position so as to partially insert said rivet attached to the module located at the workstation into said orifice.

[0021] According to one possible feature, a device according to the invention comprises means for translational connection of said internal spindle with said external spindle, said translational connection means being able to take at least: an unlocking position in which said internal pin is free to slide inside said external pin, and a locking position in which said internal and external pins are linked in translation.

[0022] According to one possible characteristic, said translational linking means comprise a movable locking ring between: said locking position in which it cooperates with a housing of complementary shape provided in said internal pin, and said unlocking position in which it does not cooperate with said housing.

[0023] According to one possible feature, said housing provided in said internal spindle is a circumferential groove, and said locking ring is movable in translation along an axis essentially orthogonal to that of said internal spindle.

[0024] According to one possible feature, a device according to the invention includes elastic return means tending to bring said connecting means back into said locking position, and unlocking means allowing said connecting means to be placed in their unlocking position.

[0025] According to one possible feature, said unlocking means include an unlocking ring having a frustoconical bore widening towards the module placed at the workstation, said unlocking ring being rotationally linked with said external spindle, said locking ring being housed in said unlocking ring when said external spindle is in its retracted position, the walls of the frustoconical bore acting on said locking ring to place it in its unlocking position.

[0026] According to one possible feature, a device according to the invention comprises control means configured to successively: move said external pin and said internal pin into their retracted position; move said main pin into its deployed position to move said piston of a module placed at the workstation into its deployed position in order to partially insert a rivet attached to said module into the orifice of the structure to be worked; move said main pin into its retracted position to place the locking ring into its unlocked position; move said secondary pin into its deployed position in which its end is in contact with the head of the rivet partially inserted into said orifice; move said main pin towards its deployed position to trigger the passage of said locking means into their locked position and thus link said internal and external pins in translation;continue moving said external pin towards its deployed position to evacuate said rivet from said module and finalize its insertion into said orifice.

[0027] According to one possible feature, a device according to the invention includes means for driving the translation of said external spindle between its deployed and retracted positions and means for moving the translation of said internal spindle inside said external spindle between its retracted and deployed positions.

[0028] According to one possible feature, said means for driving the translation of said external spindle include a tapped ring cooperating with a threaded portion of said main spindle and a translation motor capable of rotating said tapped ring to induce a translation of said main spindle.

[0029] According to one possible characteristic, said means for driving said internal spindle in translation include a pneumatic cylinder.

[0030] The invention also relates to a device for performing at least one task on a structure to be worked on, said device comprising: means of securing said device to motorized handling equipment capable of moving said device at least partially in space relative to a structure to be worked on; means of securing said device to said structure to be worked on; said device comprising at least one rivet setting device according to any one of the above variants.

[0031] The invention also relates to a method for setting a rivet, said method comprising a partial pre-insertion step and then a final total insertion step of the rivet into said orifice during which the end of the rivet and then the body of the rivet are successively inserted into said orifice.

[0032] According to one possible characteristic, such a process comprises the following successive steps: step of moving said main spindle and said secondary spindle into their retracted position; step of moving said main spindle into its deployed position to move said piston of a module placed at the workstation in its deployed position in order to partially insert a rivet attached to said module into the orifice of the structure to be worked; step of moving said main spindle into its retracted position to place the locking ring in its unlocked position; step of moving said secondary spindle into its deployed position in which its end is in contact with the head of the rivet partially inserted into said orifice; step of moving said main spindle towards its deployed position to trigger the passage of said locking means into their locked position and thus link said internal and external spindles in translation;step of continuing the movement of said external pin towards its deployed position to evacuate said rivet of said module and finalize its insertion into said orifice. ; 5. Description des figures

[0033] Other features and advantages of the invention will become apparent from the following description of particular embodiments, given by way of simple illustration and not limitation, and the accompanying drawings, among which: [ Fig 1 ] there figure 1 illustrates a perspective view of a device according to the invention; [ Fig 2 ] there figure 2 illustrates a cross-sectional view of the device of the figure 1 along a plane passing through the spindle axis; [ Fig 3 ] there figure 3 illustrates a partial enlarged view of the figure 1 ; Fig 4 ] there figure 4 illustrates a view of the device of the figure 1 according to plan AA of the device figure 3 ; Fig 5 ] there figure 5 illustrates a first variant of a suction cup pad device for securing a device according to the invention to a structure to be worked on; [ Fig 6 ] there figure 6 illustrates a partial, cross-sectional view along a plane passing through the spindle and the rotating guide shaft of the carousel of a device according to the invention; Fig 7 ] there figure 7 illustrates a perspective view of a rotating guide shaft of the carousel of a device according to the invention; [ Fig 8 ] there figure 8 illustrates a cross-sectional view of a rivet support module; Fig 9 ] there figure 9 illustrates a cross-sectional view of another rivet support module; Fig 10 ] there figure 10 illustrates a cross-sectional view of a drilling module; Fig 11 ] there figure 11 illustrates a cross-sectional view of a temporary fixing support module; Fig 12 ] there figure 12 illustrates a cross-sectional view along plane DD of the device of the figure 2 ; Fig 13 ] there figure 13 illustrates a cross-sectional view along plane EE of the device of the figure 2 ; Fig 14 ] there figure 14 illustrates a cross-sectional view along plane BB of the device of the figure 2 ; Fig 15 ] there figure 15 illustrates a cross-sectional view along plane CC of the device of the figure 2 ; Fig 16 ] there figure 16 illustrates a partial perspective and cross-sectional view along a plane passing through the axis of rotation of the carousel of a device according to the invention; [ Fig 17 ] there figure 17 illustrates the device of the figure 1 from another point of view; [ Fig 18 ] there figure 18 illustrates the device of the figure 17 with a different suction cup design; Fig 19 ] there figure 19 illustrates an example of a C-clamp implemented for securing a device according to the invention to a structure to be worked on; [ Fig 20 ] there figure 20 illustrates the device of the figure 19 from another point of view; [ Fig 21 ] there figure 21 illustrates a cross-section along the HH axis of the figure 20 ; Fig 22 ] there figure 22 illustrates a detail of the figure 21 ; Fig 23 ] there figure 23 illustrates a partial view of a universal fastening device according to the invention; [ Fig 24 ] there figure 24 illustrates a detailed perspective view of the device of the figure 1 at the secondary carousel level; [ Fig 25 ] there figure 25 illustrates a cross-sectional view along axis II of the secondary carousel; [ Fig 26 ] there figure 26 illustrates a cross-sectional view along the JJ axis of the secondary carousel; [ Fig 27 ] there figure 27 illustrates a partial longitudinal cross-sectional view of the device at the level of the rapid coupling means; Fig 28 ] there figure 28 illustrates a cross-sectional view along the KK axis of the figure 27 ; Fig 29 ] there figure 29 illustrates a cross-sectional view along the HH axis of the figure 4 ; Fig 30 ] there figure 30 illustrates a cross-sectional view of a male component of the equipment means [ Fig 31 ] there figure 31 illustrates a cross-sectional view along a 90° cutting plane of the figure 30 ; Fig 32 ] there figure 32 illustrates a top view of a locking mechanism; Fig 33 ] there figure 32 illustrates a side view of a locking mechanism 28; [ Fig 34 ] there figure 34 illustrates a partial cross-sectional view of the coating station; Fig 35 ] there figure 35 illustrates a partial cross-sectional view along the MM axis of the figure 34 ; Fig 36 ] there figure 36 illustrates a partial cross-sectional view of a rivet support module at the coating station; [ Fig 37 ] there figure 37 illustrates the lead screw and the shoe of the coating station; [ Fig 38 ] there figure 38 illustrates a detailed view of the coating station; [ Fig 39 ] there figure 39 illustrates a variant of a coating station; [ Fig 40 ] there figure 40 illustrates a detail of the figure 39 ; Fig 41 ] there figure 41 illustrates another detail of the figure 39 ; Fig 42 ] there figure 42 illustrates a longitudinal cross-sectional view of a rivet support module of a given size during coating; [ Fig 43 ] there figure 43 illustrates a longitudinal cross-sectional view of a rivet support module of a given size different from that of the figure 42 during coating, the area where the head and body meet is in the same relative position to the nozzle as with module d. figure 42 ; Fig 44 ] there figure 44 illustrates a longitudinal cross-sectional view at the temporary fastening loading station; Fig 45 ] there figure 45 illustrates views of a locking element; [ Fig 46 ] there figure 46 illustrates a detail of the figure 44 ; Fig 47 ] there figure 47illustrates a partial longitudinal cross-sectional view of the perspective workstation; Fig 48 ] there figure 48 illustrates a partial longitudinal cross-sectional view of the workstation at the level of the quick-change equipment; [ Fig 49 ] there figure 49 illustrates a partial longitudinal cross-sectional view of the translational linkage means of the primary and secondary spindles; Fig 50 ] there figure 50 illustrates views depicting telescopy. 6. Description of specific embodiments

[0034] We describe, in relation to the Figures 1 to 50 , an example of a multi-tasking device according to the invention.

[0035] As shown in these figures, such a multi-tasking device 1 comprises a frame 2.

[0036] This frame 2 is equipped with means of attachment 3 to a motorized handling device (not shown) to which it is intended to be attached so as to be able to be moved in relation to a structure to be worked on (not shown).

[0037] These motorized handling equipment belong to the group comprising: robotic arms; walking robots; digital grids.

[0038] In the illustrated example, these are means of attaching 3 to a robotic arm. These means of attachment comprise a plate 31 through which a plurality of holes 32 pass, allowing the passage of attachment bolts to the end of the robotic arm. Other means of attachment may be used, such as quick-release fasteners like collars, clamp systems, or cam systems.

[0039] In the case of digital grids, the means of securing will include, for example, bolts, collars or other means of securing to a cradle equipped with rollers capable of being guided in the rails of the digital grid. Ways to show solidarity with a structure to be worked on

[0040] The system includes means of solidarity 4 to a structure to be worked on.

[0041] These means of solidarity can be of different types.

[0042] For example, they may include suction cups 41 attached to the frame 2, which can be connected to means of vacuuming, such as a vacuum pump, to improve the attachment to the surface of the structure to be worked on.

[0043] The suction cups can be attached in groups to supports, thus forming suction cup pads. Two suction cup pads are shown in the diagram. Figures 1 , 17 And 18 However, this number could be greater than two.

[0044] The suction cups can be offset to one side of pin 51 (which will be described in detail later) as illustrated in the figure 18 or distributed around pin 51 (cf. figure 17 ).

[0045] Alternatively, they may include a clamping C, which is otherwise known in the state of the art, such as the one illustrated in the figure 19 .

[0046] The means of securing a structure to be worked on can be permanently fixed to the building. Alternatively, they can be secured to the building using universal reversible fixing devices. Universal reversible fastening means for securing means to a structure to be worked on

[0047] The universal reversible fixing means 100 include a fixing plate 101.

[0048] In the case of suction cups 41, the fixing plate 101 will be integral with a supporting structure carrying the suction cups.

[0049] In the case of the clamping C 42, the fixing plate 101 will be integral with the distal end of a bar 420 of the clamping C.

[0050] This fixing plate 101 has an essentially rectangular section in one plane and a section with two lateral grooves 102 in another plane orthogonal to the first.

[0051] These lateral grooves 102 extend along the entire length of the fixing plate 101 and include an inclined face 103 so that the thickness of the grooved portions of the fixing plate 101 tends to thicken from the ends of the plate towards the inside of it.

[0052] The universal reversible fastening means include a pair of jaws 104 with a shape complementary to the grooved ends of the fastening plate 101.

[0053] These jaws 104 therefore each define a housing 105 suitable for receiving the corresponding grooved end of the fixing plate 101. These housings 105 thus each have two opposite surfaces, one of which is inclined relative to the other at an angle substantially identical to the angle of inclination of the corresponding groove of the fixing plate.

[0054] Each jaw is fixed to the cylinder 106 of a jack 109, the rod 107 of the piston 108 of which passes through the jaw 104 and is fixed to the frame.

[0055] The jaws 104 are mounted to move between at least: a disengagement position in which they are separated from each other to allow the introduction of the grooved ends of the fixing plate 101 in order to secure the means of fixing to a structure to be worked to the frame, and a securing position in which they are brought together to clamp (grip in a vise) the grooved ends of the fixing plate 101 in order to secure the means of fixing to a structure to be worked to the frame.

[0056] During their transition from their disengagement position to their engagement position, the inclined surfaces of the grooved ends of the fixing plate 101 gradually slide against the inclined surfaces of the corresponding jaws 104 to ensure a wedge effect engagement.

[0057] To fix the desired fastening means to the frame, the cylinders 109 are actuated to place the jaws 104 in their uncoupling position.

[0058] The fixing plate 101 of the fastening means is then inserted between the jaws 104.

[0059] The cylinders 109 are then actuated to place the jaws 105 in their locking position in which they grip the grooved ends of the fixing plate 101.

[0060] The disengagement of the means of solidarity is achieved by proceeding in reverse. Functional modules

[0061] The device is likely to incorporate a plurality of functional modules which will be described in more detail later.

[0062] Each of these functional modules allows for a specific task to be performed, such as drilling and / or countersinking, riveting, installing temporary fasteners (e.g., staples), or applying (or coating) a bead of sealant to a fastener (a rivet or screw). Other functions could be considered, such as screwing. Drilling and / or countersinking module

[0063] Functional module 9 is shown in alignment with pin 51 at the figure 2 is a drilling module.

[0064] The drilling module includes a 90 mm sleeve.

[0065] This 90 sheath has a tubular shape and an overall annular cross-section.

[0066] The sheath 90 includes a lateral finger 900 forming a projection on its lateral wall.

[0067] The sheath 90 includes a lateral groove 901 which is formed in a diametrically opposite manner and offset along the longitudinal axis of the sheath relative to the finger 900.

[0068] This drilling module comprises an output shaft 91 (i.e., a moving part) to the end of which a cutting tool, such as a drill bit 92 (possibly stepped to allow for countersinking), can be attached by means of known fastening devices 93. The cutting tool could, for example, be a simple drill bit for making simple holes, a stepped drill bit, a countersink bit for making countersunk holes, or a milling tool for countersinking previously drilled holes.

[0069] The output shaft 91 is mounted to rotate freely in a bearing 94 which is itself mounted to slide along the sleeve 90 by means of a bushing 95.

[0070] The finger 900 of the sleeve 90 of the drilling module houses a chamber 902 in which a piston 903 of a cylinder 904 is slidably mounted. The end 905 of the piston 903 is capable of fitting into a complementary shaped housing 950 provided for this purpose in the bearing 95.

[0071] The finger 900 is extended by a supply line 906 of the cylinder 904 which can be connected to a pressurized air supply line 907 provided in the device, with which it is in communication when it is at the working position of the device.

[0072] Elastic return means (not shown) tend to bring the piston 903 back into a position in which its end 905 is housed in the corresponding housing 950 of the bearing 95 so as to block the latter in translation inside the sleeve 90 and to prevent consequently the bearing 95, the bearing 94, the output shaft 91 and the tool 92 which it carries from coming out of the sleeve 90 until the functional module is coupled to the spindle 51.

[0073] The end 905 and the corresponding cylinder 904 constitute means for locking a functional module assembly against translation within its sleeve. A functional assembly comprises all the components of a functional module mounted freely for translation within its sleeve.

[0074] Alternatively, elastic return means may be implemented so that the end 905 protrudes inside the sleeve 90 to form a stop for the bearing 95, preventing the functional assembly from sliding inside the sleeve beyond its position illustrated in the figure 5 Or 6 .

[0075] Furthermore (in both operating variants of the cylinder 904 and the end 905), the sleeve houses at each end a stop segment (not shown), each forming a stop for the functional assembly. Thus, a functional drilling module assembly can slide inside the sleeve between these stop segments as long as the end 905 does not protrude into the housing 950 or directly into the sleeve.

[0076] The drilling module includes a bell 160 fixed to the output shaft 91 and linked to it in motion. This bell includes radial holes 161.

[0077] A screw-driving module can be made with a structure substantially identical to that of the drilling module. In this case, the means for securing a cutting tool 93 would be replaced by means for attaching a socket or screw head to the output shaft. This might require that the feed of the spindle 51 be controlled so that the feed per revolution of the spindle is substantially equal to the screw pitch, thus ensuring that the socket or screw head advances synchronously with the screw. A telescopic guide might also be necessary to allow for the screw head to be inserted. Rivet support module

[0078] The 200 rivet support module allows rivets to be held and includes, like the drilling module, a 90 sleeve.

[0079] This 90 sheath has a tubular shape and an overall annular cross-section.

[0080] The sheath 90 includes a lateral finger 900 forming a projection on its lateral wall.

[0081] The sheath 90 includes a lateral groove 901 which is formed in a diametrically opposite manner and offset along the longitudinal axis of the sheath relative to the finger 900.

[0082] The sheath houses a tubular element 201 which has at one of its ends a shoulder 202 designed to bear against a shoulder 203 of complementary shape provided at one end of the sheath 90.

[0083] Its opposite end being close to a shoulder 204 made in the lower part of the sleeve 90, without however being in contact with this shoulder to allow pressurized air to pass between the external surface of the tubular element 201 and the internal surface of the sleeve 90, as will become clearer later.

[0084] The tubular element 201, which constitutes a chamber, houses a piston 205 which is mounted there to move in translation.

[0085] The piston 205 includes at one end a collar 206 provided with a circumferential groove 207 housing an O-ring 208. This O-ring 208 ensures the seal between the piston 205 and the tubular element 201.

[0086] The shoulder 204 of the sleeve 90 also includes an internal circumferential groove 209 housing an O-ring 210 ensuring the seal between the piston 205 and the sleeve 90.

[0087] The lateral finger 900 of the sleeve 90 houses an air duct which extends along the sleeve and which is capable of being put into communication with a pressurized air intake duct 907 provided in the device, with which it is in communication when it is at the working position of the device.

[0088] The end of the piston 205 located on the inner side of the shoulder 204 of the sleeve 90 includes a half-crab 211 whose function will be explained later.

[0089] The other end of the piston 205 carries a split ring 212 which constitutes a means of retaining the rivet at the end of the piston.

[0090] This split ring 212 has a conical inner bore 213 whose diameter narrows from the inside of the piston 205 towards its outside. This conical portion 213 opens into an internal groove 214 whose shape is complementary to that of the end of the head 219 of a rivet 216. This groove 214 also opens into a conical inner portion 215 whose diameter narrows towards the outside of the split ring 212.

[0091] This ring 212 has a plurality of longitudinal grooves (not shown) to allow it to deform during the insertion and extraction of a rivet, as will be described in more detail later.

[0092] The split ring 212 includes at least one external peripheral groove 217 housing an elastic return element such as an O-ring or a spring (not shown) ensuring a return means function tending, as will be explained in more detail later, to return the ring from a release state in which its inner diameter is enlarged, to a holding state in which its inner diameter is tightened.

[0093] The tubular element forms with the split ring a support element for the fixing element.

[0094] The piston has an internal bore through which a rivet can pass.

[0095] Several rivet support modules can be provided with pistons of different internal bore diameters and different sized split rings to allow the retention of rivets of different dimensions.

[0096] Piston 205 is designed to be driven in rotation and / or translation. It therefore constitutes a moving part.

[0097] The piston 205 is mobile in translation in the tubular element 201 between a first extreme position in which its shoulder 207 comes to rest against a circlip 218 provided for this purpose at the end of the tubular element 201 located opposite to that located near the shoulder 204 of the sleeve, and a second extreme position in which its shoulder 207 comes to rest against the shoulder 204 of the sleeve.

[0098] A module similar to the rivet support module could be used to support another type of fastener, such as a screw. In this case, the split ring would, of course, have a shape adapted to the head of a screw rather than that of a rivet. Temporary fixing support module

[0099] The temporary fixing support module 300 includes a sleeve 90.

[0100] This 90 sheath has a tubular shape and an overall annular cross-section.

[0101] The sheath 90 includes a lateral finger 900 forming a projection on its lateral wall.

[0102] The sheath 90 includes a lateral groove 901 which is formed in a diametrically opposite manner and offset along the longitudinal axis of the sheath relative to the finger 900.

[0103] This must 900 houses an air duct 906 which extends along the sleeve and which is capable of being connected to a pressurized air intake duct 907 provided in the device, with which it is in communication when it is at the device's workstation.

[0104] The sleeve 90 houses a tubular element 301. This tubular element 301 has a shoulder 302 at one of its ends which bears against a shoulder 303 provided inside the sleeve 90 at one of its ends.

[0105] The tubular element 301 has a second shoulder 304 located near the air channel formed in the finger. This shoulder delimits a portion of the tubular element with a smaller diameter.

[0106] The tubular element 301 has another end which extends near a second shoulder 305 formed inside the sleeve at its other end. A space is provided between the two to allow the passage of air.

[0107] The tubular element 301 defines a chamber housing a piston 306. This piston 306 includes at one of its ends a shoulder 307 having a circumferential groove 308 housing an O-ring 309 ensuring the seal between the piston 306 and the tubular element 301.

[0108] The shoulder 305 of the sleeve 90 includes an internal circumferential groove 310 housing an O-ring 311 ensuring the seal between the sleeve 90 and the piston 306.

[0109] The piston 306 is mounted to move in translation inside the tubular element 301 and the sleeve 90.

[0110] The piston 306 includes a first bore 312 housing a drive tube 313 (moving part) mounted movable in translation and rotation inside it.

[0111] This drive tube 313 includes at one of its ends a collar 314 defining a bell 160 through which radial holes 161 pass.

[0112] Elastic return means 315, such as elastic washers or a spring, are interposed between the flange 314 of the drive tube 313 and the shoulder 307 of the piston 306. These return means tend to move this flange and this shoulder away from each other.

[0113] The drive tube and the piston are movable and linked in translation within the module by at least: - - a retracted position in which they extend inside said module, and - - a deployed position in which at least one of these elements extends at least partly outside the module, i.e., the sheath.

[0114] The bell 160 of the drive tube 313 communicates with a first cylindrical bore 316, which communicates with a second bore 317.

[0115] This second bore houses a first 318 freewheel.

[0116] The second bore 317 communicates with a third bore 320. The third bore 320 houses a locking element 321 which is held in place by means of a circlip 322 housed on one side in a groove 323 provided for this purpose in the drive tube 313 and on the other side in a groove 324 provided for this purpose in the locking element 321.

[0117] The module includes means for retaining a temporary fixing within the module. These means retain the locking element.

[0118] The locking element 321 is in the form of a ring through which a bore 325 passes, having an eccentric portion 326 defining a projecting locking lug 327. The locking element 321 includes a peripheral housing 328 housing a return means (not shown), such as a compression spring, interposed between the locking element 321 and the drive tube 313. The locking element 321 is movable laterally within the third bore 320 in a direction perpendicular to the longitudinal axis of the drive tube 313 between at least: a rest position in which the end of the locking lug 327 is away from the longitudinal axis of the drive tube 313 (it is retracted), and a locking position in which the end of the locking lug 327 is brought closer to the longitudinal axis of the drive tube 313 (it is deployed inside the module).

[0119] The compression spring tends to return the locking element 321 to its locked position.

[0120] The first bore 312 of the piston 306 communicates with a second bore 329 comprising a conical portion 331 narrowing towards a cylindrical portion 332.

[0121] The second bore 329 of the piston 306 communicates with a third through bore 333.

[0122] This third bore 333 houses a second freewheel 334 held in place by means of a circlip 335. An O-ring 336 ensures the rotational drive between the third bore 333 and the second freewheel 334.

[0123] As will become clearer later, the first and second freewheels have antagonistic drive capabilities. A unique training and control system

[0124] The device comprises a single set of training and control 5 functional modules.

[0125] This drive and control assembly 5 comprises a single drive spindle 51, referred to as the main spindle. This spindle is mounted to move freely in rotation and translation along the same axis, i.e., along its longitudinal axis. The spindle is thus mounted to move freely in translation between a retracted position and a deployed position towards the workstation.

[0126] This assembly 5 also includes motor means 52 suitable for driving the drive spindle 51 into motion.

[0127] In this embodiment, these motor means include a feed motor 510 and a rotation motor 511. They also include a transmission T enabling the spindle 51 to be driven in motion via the feed and / or rotation motors according to translational and / or rotational movements about its axis.

[0128] This transmission is of the type comprising a translational drive nut 512 and a rotational drive ring 513.

[0129] The rotating drive ring 513 has an inner bore whose inner periphery comprises keys 5131 with a shape complementary to grooves 510 formed along the spindle 51 along its longitudinal axis. In this way, the spindle 51 and the rotating drive ring 513 are rotationally bound about the spindle axis but free to translate about that axis.

[0130] The translational drive nut 512 has a tapped internal bore 5121 of complementary shape to a threaded portion 511 provided along the spindle so that they are linked by a helical connection.

[0131] This type of transmission is known in itself and is not described in more detail here.

[0132] An example of this type of transmission is described in patent EP-B1-2 754 531, which has the advantage of making the spindle feed speed dependent only on the rotational frequency of the feed motor.

[0133] Other transmission architectures producing the same effect could be considered.

[0134] This type of transmission allows the motor(s) to be offset laterally from the spindle. The motor(s) are then positioned beside the spindle rather than in line with it. This improves the compactness of the device, reduces the distance to the center, thus enabling operations close to a wall, and also reduces overhang. In the example shown, the motor axes are essentially parallel to the spindle axis. In some variations, one or both of these motors may have an axis inclined relative to the spindle axis, specifically perpendicular to it.

[0135] As will be described in more detail later, the device includes means for equipping to make alternately fixed in motion the drive spindle and at least one moving part of a functional module equipped to the spindle.

[0136] The single drive and control unit 5 typically includes a controller 53 comprising all the components necessary for controlling the operation of the motors and all the actuators and other sensors of the device. Such a controller includes, in particular, all the memory, program(s), and processor(s) necessary for controlling the device and performing the various tasks. It also includes communication means (transmitter-receiver) enabling it to receive and transmit data wired or wirelessly. It may also integrate the components necessary for powering the motors (such as inverters). It may also include means for inputting instructions (keyboard, microphone, mouse, touchscreen, or other), a display screen, means for emitting audible signals, etc. Such a controller may be wholly or partially fixed to the frame or placed remotely.

[0137] The single drive and control unit 5 includes means for measuring at least one physical parameter representative of at least one operating characteristic of the functional modules. These parameters may, in particular, be representative of at least one of the following quantities: a torque on at least one moving part of the module coupled to the spindle; an axial force on at least one moving part of the module coupled to the spindle; an angular position of at least one moving part of the module coupled to the spindle; an axial position of at least one moving part of the module coupled to the spindle.

[0138] In some variants, the control means include means for measuring the electrical current consumed by the motor(s) (current sensor) and for determining, based on the measured electrical current, a torque and / or axial force on the spindle and therefore on one or more output elements of a functional module coupled to the spindle. This type of means for measuring and determining forces or torques based on the current consumed by a motor is known in itself and is not described in detail.

[0139] In some variants, the control means include one or more angle sensors 531 integrated into one or more of the motor(s). An angle sensor is a sensor for measuring the angular position of a motor's rotor. The control means then include means for determining, based on the measured angular position of said rotor, the angular and / or axial position of at least one moving part of a functional module coupled to the spindle. This type of means for measuring and determining position based on the angular position of a motor's rotor is known in itself and is not described in detail.

[0140] In variants, the measuring means include at least one torque and / or force and / or position sensor 532 integrated into the transmission T and capable of determining a torque and / or axial force on the spindle and / or an angular and / or axial position of the spindle, and therefore, by deduction, a torque and / or axial force and / or an angular position and / or an axial position of at least one moving part of a module coupled to the spindle. This type of means for measuring and determining forces or torques is known in itself and is not described in detail.

[0141] Several of the different measurement methods mentioned above can of course be used in combination. Module carrying methods : carousel

[0142] A device according to the invention comprises means for carrying a plurality of functional modules. These carrying means allow for the loading and transport of several functional modules. In the illustrated embodiment, the number of modules that can be loaded is 7, but this number could alternatively be different (lower or higher). This number may be even or odd.

[0143] In this embodiment, these carrying means include a main carousel 6. The main carousel 6 comprises, like a revolver cylinder, a plurality of compartments 61, each capable of housing a functional module.

[0144] Each cell 61 constitutes a bore opening on both sides and extending parallel to the axis of rotation of the carousel. The cells 61 are preferably distributed in an essentially uniform manner around the axis of the carousel. Functional positions

[0145] The system includes several functional positions.

[0146] The carousel not only allows for the carriage of several functional modules, but also enables their movement from one station to another. To achieve this, it is mounted to rotate freely around its axis, which extends essentially parallel to that of the main spindle, as will be described in more detail later.

[0147] In this embodiment, the functional positions are as follows: a station P1 for loading / unloading functional modules; a station P2 for loading temporary fixing (in this embodiment, stations P1 and P2 are combined to form a multi-function station but could constitute two separate stations); a station P3 for loading rivets; a station P4 for coating rivets; a work station P5 in the extension of the single spindle 51 and at which, depending on the module located at this station, the following operations can be carried out: drilling and / or countersinking; rivet setting; setting of temporary fixings. Functional module loading / unloading station

[0148] The P1 station for loading / unloading functional modules allows functional modules to be introduced one by one into the carousel slots and extracted from them.

[0149] At this station, the device includes a cylinder 13 whose piston 11, which carries a lug 10, is mobile in translation in a chamber 12 along an axis orthogonal to the axis of a cell of the carousel brought to the loading / unloading station.

[0150] The function of this cylinder will be described later. Temporary fastening loading station

[0151] The device includes a P2 temporary fixing loading station for inserting a temporary fixing into a temporary fixing support module brought to this station by the carousel.

[0152] In this embodiment, the temporary fastening loading station is located at the functional module loading / unloading station. These two stations thus constitute a single dual-function functional station.

[0153] The temporary fastening loading station could, however, be located in another location.

[0154] This station P2 includes a temporary fixing delivery device 1000. This device includes a cartridge-type actuator allowing temporary fixings 1001 to be moved in translation until they are placed in the axis of the temporary fixing support module brought to the temporary fixing loading station P2.

[0155] This P2 station also includes a loading cylinder 1002. This cylinder 1002 is placed in the axis of a temporary fixing support module 300 brought by the carousel 6 to the temporary fixing loading station.

[0156] This cylinder 1002 is positioned upstream of a temporary fixing 1001 placed by the cartridge holder 1000 in the axis of the temporary fixing loading station P2 to allow action on the latter to introduce it into the support module 300, as will be explained in more detail later.

[0157] The temporary fastening loading station P2 also includes a temporary fastening retaining device in the temporary fastening support module 300 when it is inserted into this module. This retaining device comprises a fork 1003 essentially L-shaped, the end of which has two spaced fingers to form a receiving space for a temporary fastening.

[0158] This fork 1003 is placed at the exit of a temporary fastening support module 300 located at the temporary fastening loading station P2 and is mounted to rotate freely around an axis 1004 between: a holding position in which its finger-equipped end extends essentially perpendicularly to the temporary fixing support module and forms a stop against which a temporary fixing can bear when being introduced into a temporary fixing support module, and a release position in which the fork is pivoted around its axis along arrow C so that its finger-equipped end is free from the module to allow it to be driven into rotation by the carousel.

[0159] The movement of the fork 1003 is ensured by means of a cylinder 1005. Rivet loading station

[0160] The device includes a P3 rivet loading station.

[0161] This P3 rivet loading station includes a 1006 loading cylinder. This 1006 cylinder is placed in the axis of a rivet support module brought by the carousel to the rivet loading station.

[0162] This P3 station includes a device for receiving and transferring rivets from a rivet supply (or delivery) area 1007 (or other fastener such as screws or other) to a rivet distribution or rivet receiving area such as here a rivet support module 200 located at the rivet loading station P3.

[0163] The receiving and transferring device includes a so-called secondary carousel 1008. The carousel constitutes a support element. This carousel 1008 comprises, like a revolver cylinder, a plurality of recesses 1009, each allowing a rivet to be housed.

[0164] Each cell 1009 constitutes a bore opening on both sides and extending parallel to the axis of rotation of the carousel 1008. The cells 1009 are preferentially distributed in an essentially uniform manner around the axis of the carousel 1008.

[0165] In this embodiment, the number of cells is six. It may, of course, be greater or less than 6.

[0166] Specifically, the carousel and its cells serve as receiving mechanisms for fasteners. The carousel and its drive system allow fasteners to be moved from a supply zone to a distribution zone.

[0167] Each 1009 cell has a different diameter so that each cell can receive 216 rivets of different sizes.

[0168] Each cavity 1009 includes a receiving port 1090 and a distribution port 1091 for a fastener. The receiving port 1090 allows a fastener to be inserted into a cavity. The distribution port allows a fastener to be ejected from the cavity.

[0169] The device includes means for retaining a fixation element inserted into a socket. These retention means prevent the extraction, through the receiving orifice, of a fixation element located in a socket.

[0170] In this embodiment, the retaining means comprise a deformable element 1092 equipped with a harpoon-shaped point 1093 located in each cavity. The point of each harpoon is shaped to allow the insertion of a fastener into the cavity through its receiving orifice and to prevent the removal of the fastener through the receiving orifice of the cavity. Thus, the point of each harpoon is oriented towards the receiving orifice of the corresponding cavity.

[0171] The carousel 1008 is mounted to rotate about an axis essentially parallel to the axis of the main spindle 51, between a support plate 1011 and a rivet retaining plate 1012. The retaining plate provides a means of holding fasteners in the recesses.

[0172] The support plate 1011 is integral with the frame and fixed relative to it. It has as many holes 1013 through it as there are cells 1009 in the carousel 1008. Each hole has a different diameter corresponding to that of a cell. The support plate 1011 carries a shaft 1014 around which the carousel 1008 is mounted to rotate freely.

[0173] One of the holes 1013 in the support plate 1011 is located in the axis of the loading cylinder 1006.

[0174] The retaining plate 1012 includes, in the axis of each hole 1013 of the support plate 1011, air exhaust holes 1015. However, it is crossed by a distribution opening 1080, and not by air exhaust holes 1015, in the axis of the cylinder 1006. The diameter of the distribution opening 1080 allows the passage of the largest rivet that can be carried in the secondary carousel.

[0175] The carousel 1008 includes along its outer peripheral contour longitudinal notches 1016 which extend essentially parallel to the axis of the carousel 1008. These notches form drive teeth as will become clearer later.

[0176] The device includes means for rotating the carousel around the shaft.

[0177] These methods of rotational training include: a first cylinder 1017 comprising a piston 1018 movable in translation in a chamber 1019; a second cylinder 1020 comprising a piston 1021 movable in translation inside a chamber 1022.

[0178] The piston 1018 of the first cylinder 1017 carries a pawl 1023 which is mounted to rotate freely relative to the piston around an axis 1024 essentially parallel to the axis of rotation of the carousel 1008.

[0179] The ratchet 1023 includes a bearing surface 1025 designed to bear against a stop 1026 of the piston 1018 defining the extreme driving position.

[0180] The 1023 ratchet is movable between two extreme positions, namely: a deployed position in which its bearing surface 1025 is in contact with the stop 1026 of the piston 1018 so that its end is away from the piston and at least partially housed in a notch 1016 of the carousel (cf. figure 14), and a retracted position in which its bearing surface 1025 is not in contact with the stop 1026 of the piston 1018 so that its end is brought closer to the piston 1018 and clear of any notch 1016 of the carousel.

[0181] Return means (not shown), such as a spring or other, may possibly be used to act on the ratchet 1023 to tend to return it to its deployed position.

[0182] Piston 1018 is movable between two extreme positions, namely: a starting position in which it is against the left side of the figure 14 (insofar as the device can assume any orientation in space, the indication of the left side is purely illustrative with reference to the figure 14 (for the sake of clarity), and an end position in which it is stopped on its right side against the figure 14and the ratchet 1023 is in the deployed position between two notches 1016.

[0183] In the configuration illustrated at the figure 14 , the piston 1018 is in its starting position and the ratchet 1023 is in its deployed position.

[0184] The device includes a locking pin 8 movably mounted between a locking position, in which it is brought against the carousel 1008 between two consecutive notches 1016 to prevent the carousel from rotating about its axis, and a release position, in which it is disengaged from the carousel to allow its rotation. This locking pin 8 is attached to the support plate 1011 by means of a leaf spring 1027 that tends to maintain it in its locking position. It constitutes a means of locking and indexing the carousel 1008 in positions where a slot 1009 of the carousel 1008 is aligned with the loading cylinder 1006, i.e., in the distribution zone. Preferably, at least one other slot is then located in a feeding zone.

[0185] To rotate the carousel 1008 clockwise, pressurized air is injected into chamber 1019, moving piston 1018 along arrow G to its end position. During this movement, the bearing surface 1025 of the pawl 1023 abuts against the stop 1026 of piston 1018, thus preventing the pawl 1023 from rotating clockwise. The carousel 1008 is thus rotated clockwise until piston 1018 reaches its end position. A new slot 1009 of the carousel 1008 is then aligned with the loading cylinder 1006.During the movement of the carousel 1008, the locking pin 8 slides against the peripheral surface of the carousel 1008 and is progressively moved from its locking position to its unlocking position against the effect of the spring blade 1027 and then back into its locking position under the effect of the spring blade 1027 so that the carousel 1008 is held immobile.

[0186] Cylinder 1017 is actuated according to arrow H to return to its starting position. During this movement, pawl 1023 slides against the peripheral surface of carousel 1008 and gradually moves from its extended position to its retracted position and then back to its extended position by rotating around its axis.

[0187] The 1008 carousel can again be set in clockwise rotation by repeating this process.

[0188] The piston 1021 of the second cylinder 1020 carries a pawl 1028 which is mounted to rotate freely relative to the piston 1021 around an axis 1029 essentially parallel to the axis of rotation of the carousel 1008.

[0189] The ratchet 1028 includes a bearing surface 1030 designed to bear against a stop 1031 of the piston 1021 defining the extreme driving position.

[0190] The 1028 ratchet is movable between two extreme positions, namely: a deployed position in which its bearing surface 1030 is in contact with the stop 1031 of the piston 1021 so that its end is away from the piston 1021 and at least partially housed in a notch 1016 of the carousel 1008 (cf. figure 15), and a retracted position in which its bearing surface 1030 is not in contact with the stop 1031 of the piston 1021, so that its end is brought closer to the piston 1021 and clear of any notch 1016 of the carousel. 1008

[0191] Return means (not shown), such as a spring or other, may possibly be used to act on the ratchet 1028 to tend to return it to its deployed position.

[0192] Piston 1021 is movable between two extreme positions, namely: a starting position in which it is against the right side of the figure 15 (insofar as the device can assume any orientation in space, the indication of the right side is purely illustrative with reference to the figure 15 (for the sake of clarity), and an end position in which it is stopped on the left side against the figure 15and the ratchet 1028 is in the deployed position between two notches 1016.

[0193] In the configuration illustrated at the figure 15 , the piston 1021 is in its end position and the ratchet 1028 is in its deployed position.

[0194] To rotate the carousel 1008 counterclockwise, pressurized air is injected into chamber 1022, moving piston 1021 along arrow I to its end position. During this movement, the bearing surface 1030 of the pawl 1028 abuts against the stop 1031 of piston 1021, thus preventing the pawl 1028 from rotating counterclockwise. The carousel 1008 is thus rotated counterclockwise until piston 1021 reaches its end position. A new slot 1009 of the carousel 1008 is then aligned with the loading cylinder 1006.During the movement of the carousel 1008, the locking pin 8 slides against the peripheral surface of the carousel 1008 and is progressively moved from its locking position to its unlocking position against the effect of the spring blade 1027 and then back into its locking position under the effect of the spring blade 1027 so that the carousel 1008 is held immobile.

[0195] Cylinder 1020 is actuated according to arrow J to return to its starting position. During this movement, pawl 2018 slides against the peripheral surface of carousel 1008 and gradually moves from its extended position to its retracted position and then back to its extended position by rotating around its axis.

[0196] The 1008 carousel can again be set in rotation in the counterclockwise direction by repeating this process.

[0197] The 1008 carousel and the 1023, 1028 ratchets form ratchet wheel systems.

[0198] The first 1017 and second 1020 cylinders and the corresponding pawls 1023, 1028 have antagonistic movements in that they allow the carousel 1008 to be rotated in opposite directions.

[0199] The use of the first 1017 and second 1020 cylinders allows the desired cell 1009 to be aligned with the main spindle 51 more quickly by selecting the direction of rotation of the carousel 1008 that will allow for the fastest alignment. However, only one cylinder can be used at a time. This will simplify the device but will result in longer alignment times.

[0200] The means for rotating the secondary carousel 1008 may be of the same type as those of the main carousel 6, which are described later. In this case, rather than using single cylinders to drive the pawls, double cylinders may be used, i.e., external cylinders containing an internal ratchet locking cylinder.

[0201] The indexing of the secondary carousel can also be achieved by means of a locking pin controlled by a cylinder, as with the main carousel.

[0202] This device includes means for supplying the carousel with rivets. The rivets are brought through a flexible tube, pushed inside this tube by a pressurized gas. Rivet coating station

[0203] The device includes a coating unit located at a rivet coating station P4. This station allows a sealant to be applied to a rivet.

[0204] This P4 coating station is located near the P5 workstation.

[0205] It includes a first pulley 1032 movable in rotation about an axis essentially parallel to that of the main spindle 51 and linked in rotation by means of a belt 1033 with a drive pulley 1034 fixed to the main spindle 51 in such a way that it is linked to it in rotation around its axis of rotation but not in translation, for example by means of grooves.

[0206] This first pulley 1032 is rotationally linked to the housing of a cylinder 1036 along an axis essentially parallel to that of the main spindle 51. This housing is mounted to rotate freely relative to the frame along the same axis. The piston rod 1035 of the cylinder 1036 is rotationally linked to the housing.

[0207] This piston 1035 is mounted to move in translation and rotation about an axis parallel to the axis of the main spindle 51 inside a chamber 1037. It carries at its end a half-dog 1038 of complementary shape to the half-dog 211 of the rivet support module 200.

[0208] A second pulley 1039 is rotationally linked to the housing of the cylinder 1036 along an axis essentially parallel to that of the main spindle 51. This second pulley 1039 is rotationally linked by means of a belt 1040 to a third pulley 1041.

[0209] The third pulley 1041 is mounted on a shaft 1042 to which it is rotationally linked.

[0210] The shaft 1042 carries at its end opposite to that to which the pulley 1041 is fixed a lead screw 1043.

[0211] This lead screw 1043 includes a thread whose profile includes a first flank 1044 intended to mesh with a shoe 1046 and a second flank 1045 inclined with respect to the axis of the lead screw.

[0212] The first flank is inclined a few degrees from the perpendicular to the axis of the lead screw in such a way that, the shoe, being applied to this flank, has a tendency to slide towards the bottom of the thread.

[0213] This shoe 1046 is mounted on the end of the piston 1047 which is mounted to move in translation along an axis essentially orthogonal to the axis of the main spindle 51 in the chamber 1048 of a cylinder 1049.

[0214] The shoe 1046 is thus mobile between at least: an engagement position in which it engages with the lead screw 1043, and a disengagement position in which it does not engage with the lead screw 1043.

[0215] This station includes means for distributing sealant comprising a 1050 nozzle connected to means for supplying sealant (not shown) comprising a pump connected on one side to a sealant reservoir and on the other side to the 1050 nozzle via pipes provided for this purpose.

[0216] The nozzle 1050 includes a dispensing end 1051 designed to come close to a rivet 216 mounted on a rivet support module 200 brought to the coating station P4. This end can be straight (extending in a plane perpendicular to an axis perpendicular to the axis of the rivet support module 200). However, this end is preferably beveled or curved so that the nozzle 1050 can come abut against the rivet 216 while providing an orifice for dispensing sealant onto the rivet 216. This solution is preferred because it allows for simple and effective calibration of the sealant bead(s) applied to the rivet.

[0217] The nozzle 1050 is integral with the end of a piston 1051 mounted to move in translation along an axis perpendicular to the axis of the rivet support module in the chamber 1052 of a cylinder 1053.

[0218] The shoe 1046, the nozzle 1050 and their respective cylinders 1049, 1053 are mounted in a block 1054 integral with the piston 1055 mounted movable in translation along an axis parallel to the axis of the lead screw 1043 in the chamber 1056 of a cylinder 1057.

[0219] This station includes means for determining (evaluating) the length of the rivet 216 brought to the coating station. These means include a probe 1058. One end of the probe is fixed to the piston 1059, which is mounted to move along a translational axis parallel to the axis of the leadscrew 1043 in the chamber (not shown) of a cylinder 1060. The other end of the probe 1058 includes a conical centering tip 1061 oriented towards a rivet 216 brought to the coating station. The cylinder 1060 allows the conical tip 1061 to be moved closer to and further from the rivet 216 in order to probe its end and thus determine its length. The probe 1058 then defines a stop against which the support 1062 of the nozzle 1050 can bear to determine a coating limit at the end of the rivet. The end of the rivet is understood to be an area located at the end of the rivet body opposite the rivet head.

[0220] THE figures 39 to 41illustrate a variant of the coating station.

[0221] According to this variant, the 3000 nozzle is fixed to the frame and includes: a block 3001 having a bore 3002 defining a chamber and a plurality of distribution channels 3003 for coating material, these channels 3003 being in fluidic communication with the chamber 3002 and opening through distribution ports 3004 provided along an axis essentially parallel to the axis of the body of the fixing element to be coated; a drawer 3005 mounted movable in translation inside the chamber 3002, this drawer 3005 having a blind longitudinal groove 3006 on either side formed along said axis over a length allowing fluid communication of the groove 3006 with all the channels 3003, the groove 3006 being connected to means for supplying coating material including for example a putty pump whose outlet is connected by a pipe to the groove 3006.

[0222] A fitting 3011 allows sealant to be injected into one of the channels 3003, which is itself in communication with the groove 3006.

[0223] According to this variant, the probe 3007, which includes an end 3008 intended to come into contact with the end (foot) of a fixing element, is at its opposite end linked in translation with the drawer 3005.

[0224] The probe 3007 is also linked in translation with the piston 3009 of a cylinder 3010 whose axis extends essentially parallel to the axis of the main spindle 51.

[0225] In this way, when the probe is in contact with the end of a fastener, the channel(s) 3003 opening beyond this opposite end do not communicate with the groove 3006.

[0226] The channel 3003 located opposite the one located on the end side of a fixing element to be coated extends at the level of the connection area between the body and the head of this fixing element.

[0227] The nozzle thus allows the sealant to be distributed in the form of parallel beads on the body of a fastener between its end and the connection area between its body and its head. Workstation

[0228] Workstation P5 is located in line with the main spindle 51.

[0229] This position allows for the performance of different operations depending on the functional module assigned to it, in this case: drilling and / or countersinking; riveting; installation of temporary fixings.

[0230] This station includes, in addition to the main spindle 51, a secondary spindle 170 mounted movable in translation inside the main spindle 51 which is hollow.

[0231] This secondary spindle 170 is integral with the piston 172 mounted to move in translation along the axis of the main spindle 51 in the chamber 171 of a cylinder 17. The secondary spindle constitutes the rod of this cylinder.

[0232] The workstation includes 16 functional module switchgear. The switchgear includes quick-connect type means. In this embodiment, they include: the bell 160 of certain functional modules comprising radial holes 161; a male element 162 integral with the main drive spindle 51 and linked in movement to it and capable of fitting into the bell 160; locking elements (balls or rollers) 163 integral with the male element 162 and located in the extension of the radial holes 161 when the male element 162 is fitted into the bell 160: preferably, these locking elements comprise a cylindrical body intended to slide in radial holes 1620 of the male element 162 so that their end can fit into the radial holes 161 of the bell 160, and a head in the form of a portion of a sphere with a diameter larger than the cylindrical body to prevent them from being evacuated from the male element by the locking key;a locking key 164 mounted movable in translation inside the male element 162 and comprising a circumferential ramp 165 capable of acting against the locking elements 163 (in particular their cylindrical head) to move them inside the male element 162 until they cooperate with the radial holes 162 of the bell 160 and thus make the bell and the male element fixed together in rotation and translation. ;

[0233] The locking key 164 is fixed to the end of the secondary spindle 170.

[0234] The locking key 164 is movable between at least two positions between which it can be moved by means of the cylinder 17, namely: an equipping position in which it is brought close to the locking elements 163 so that its circumferential ramp 165 acts on the locking elements 163 to slide them inside the radial holes so that their ends protrude outside the male element to fit, if necessary, into the radial holes 161 of a bell 160, and a disengaging position in which the locking key 164 is moved away from the locking elements 163 so that it does not act on them so that their ends do not protrude outside the male element to be dislodged, if necessary, from the radial holes 161 of a bell 160.

[0235] Elastic return means may possibly be implemented to tend to return the locking elements 163 to their unpaired position when the locking key does not act on them.

[0236] The device includes a pressurized air intake line 907 which opens at the workstation in such a way that it communicates with the air line 906 of the sleeve of a functional module located at the workstation. Telescopy

[0237] The secondary spindle 170 can enable the telescoping function of different functional modules, such as rivet support modules.

[0238] This telescoping allows, as will be described in more detail later, the secondary pin 170, initially housed in the main pin in a retracted position, to come out of the main pin 51 to reach a deployed position in which it extends at least partly outside the main pin, and then to link them in translation so that the movement of the main pin 51 is accompanied by a movement of the secondary pin 170: the main pin and the secondary pin then form a single long pin.

[0239] For this purpose, the secondary spindle 170 includes at its end opposite that of the locking key 164, the piston 172 which moves in translation inside the main spindle 51 which constitutes its chamber 171 of the cylinder 17.

[0240] The secondary spindle 170 includes downstream of the piston 172 a circumferential groove 1063.

[0241] The device includes means for translational linkage of said internal pin with said external pin.

[0242] More specifically, the main pin 51 carries a release ring 1064.

[0243] This unlocking ring 1064 is fixed in translation with the frame. It is rotationally linked to the main spindle by means of grooves (not shown) which also allow the main spindle to translate within the locking ring 1064. The locking ring 1064 is rotationally linked to the drive pulley 1034.

[0244] This unlocking ring 1064 includes a bore with a cylindrical portion 1065 followed by a frustoconical portion 1066 widening towards an opening leading out on the side of the spindle 51 oriented towards a functional module brought to the workstation.

[0245] The main pin 51 carries a locking member. This locking member comprises a locking ring 1067 mounted on the male element 162.

[0246] This locking ring 1067 is crossed by a hole 1068 whose diameter allows the passage of the locking key 164 and the secondary pin 170.

[0247] This locking ring 1067 includes a lateral actuation portion 1069 comprising: a first portion of external peripheral groove 1070, and an external surface 1072 against which the unlocking ring 1064 is likely to act.

[0248] The locking ring 1067 has two opposing cut faces 1073 and is mounted in a complementary shaped groove 1074 formed in the male element 162.

[0249] The first portion of the groove 1070 forms, with a second portion of the peripheral groove 1070' provided on the male element, a peripheral groove housing an elastic return element such as an O-ring or a spring.

[0250] The locking ring 1067 is movable in translation within the groove 1074 of the male element 162 along an axis orthogonal to the axis of the main spindle 51 between: a locking position in which the actuating portion 1069 is brought closer to the axis of the male element 162 by the action of the elastic return element, the peripheral end 1075 being engaged in the groove 1063 (or housing) made in the secondary spindle, and an unlocking position in which the actuating portion 1069 is moved away from the axis of the male element 162, the peripheral end 1075 then being disengaged from the groove 1063 made in the secondary spindle.

[0251] The transition to the unlocked position is achieved by introducing the portion of the male element 162 carrying the locking ring 1067 into the conical portion 1066 and then into the cylindrical portion 1065 of the unlocking ring 1064 which thereby acts on the locking ring 1067 to move it relative to the male element 162 against the effect of the compression spring.

[0252] It is then possible to translate the secondary pin 170 inside the main pin 51 by at least: a retracted position in which it is housed inside said external pin, and a deployed position in which it extends at least partly outside said external pin.

[0253] The transition to the locked position is achieved: after extraction of the male element 162 and the locking ring 1067 from the unlocking ring 1064, then when the circumferential groove 1063 of the secondary spindle 170 reaches the level of the locking ring 1067, the latter passes into its locking position under the effect of the compression spring so that the locking end 1075 of the locking ring 1067 comes to rest in the groove 1063 of the secondary spindle 170 by approaching the axis of the male element 162.

[0254] The secondary spindle 170 is then linked in translation with the main spindle 51 so that the translational movement of the main spindle 51 is accompanied by a translational movement of the secondary spindle 170 which together form a single spindle of great length. Rotating training of the main carousel

[0255] As mentioned above, the carousel is mounted to rotate freely around its axis, which extends essentially parallel to that of the spindle.

[0256] The carousel includes along its outer peripheral contour longitudinal notches 62 which extend essentially parallel to the axis of the carousel. These notches form drive teeth, as will become clearer later.

[0257] The device includes means for rotating the carousel around its axis.

[0258] These methods of rotational training include: a first cylinder 70 comprising a piston 700 movable in translation in a chamber 701; a second cylinder 71 comprising a piston 710 movable in translation inside a chamber 711.

[0259] The piston 700 of the first cylinder 70 carries a pawl 702 which is mounted to rotate freely relative to the piston 700 around an axis 703 essentially parallel to the axis of rotation of the carousel.

[0260] The ratchet 702 includes a bearing surface 704 designed to bear against a stop 705 of the piston 700 defining the extreme driving position.

[0261] The 702 ratchet is movable between two extreme positions, namely: a deployed position in which its bearing surface 704 is in contact with the stop 705 of the piston 700 so that its end is away from the piston 700 and at least partially housed in a notch 62 of the carousel (cf. figure 12 ), and a retracted position in which its bearing surface 704 is not in contact with the stop 705 of the piston 700 so that its end is close to the piston 700 and clear of any notch 62 of the carousel.

[0262] Return means (not shown), such as a spring or other, may possibly be implemented to act on the ratchet to tend to return it to its deployed position.

[0263] The piston 700 includes an inner chamber 706 in which is housed an inner piston 707 whose end 708 is beveled.

[0264] This internal piston 707 is mounted to move in translation within chamber 706 between: an unlocking position in which its beveled end 708 is away from the ratchet 702 so as to leave the latter free to rotate around the axis 703, and a locking position, which can be taken when the ratchet 702 is in its deployed position, in which its beveled end 708 is in contact with the ratchet 702 in order to immobilize it from rotation around the axis 703.

[0265] The 700 piston is movable between two extreme positions, namely: a starting position in which it is against the right side of the figure 12 (insofar as the device can assume any orientation in space, the indication of the right side is purely illustrative with reference to the figure 12 (for the sake of clarity), and an end position in which it is stopped on the left side against the figure 12 and the ratchet 702 is in the deployed position between two notches 62.

[0266] In the configuration illustrated at the figure 12 , the 700 piston is in its end position and the ratchet is in its deployed position.

[0267] The device includes a locking pin 8 mounted movably between: an indexing position in which it is brought against the carousel between two consecutive notches 62 to prevent the carousel from rotating around its axis, and a release position in which it is freed from the carousel to allow its rotation.

[0268] An elastic return mechanism, such as a spring (not shown), acts on the pin 8 to tend to return it to its locked position. A cylinder 800 locks the locking pin 8 in its locked position.

[0269] The locking pin 8 provides a means for locking and indexing the carousel in positions where at least one slot 61 of the carousel is in a functional position. In this embodiment, when the locking pin 8 is in a locked position in a notch between two consecutive slots, several slots are aligned with different functional positions, namely: a cell is located at the module loading / unloading station; a cell is located at the temporary fixing loading station; a cell is located at the rivet loading station; a cell is located at the rivet coating station; a cell is located at the work station in the extension of the single spindle 51.

[0270] To rotate the carousel counterclockwise, cylinder 800 is put in the exhaust position so that the locking pin 8 is held in its locking position by the sole effect of the spring.

[0271] Piston 700 is in its starting position (fully to the right on the figure 12 ).

[0272] The 702 ratchet is in its deployed position.

[0273] The internal piston 707 is in its locking position so that the pawl 702 is held in its deployed position without being able to rotate around its axis 703.

[0274] Pressurized air is then injected into chamber 701 so as to move piston 700 along arrow B from its starting position to its end position.

[0275] During this movement, the pawl engages with the notch in which it is located, causing the carousel to rotate counterclockwise. The locking pin 8 slides against the peripheral surface of the carousel, gradually moving from its indexed position to its released position and then back again when the piston 700 reaches its end position. The cylinder 800 is then powered to lock the locking pin in its indexed position, thus holding the carousel stationary. At least one new slot 61 of the carousel is then in a functional position.

[0276] The internal piston 707 is moved into its unlocking position so that the pawl is free to rotate around the axis 703 (within the limit of the travel allowed by its shape and the surfaces surrounding it).

[0277] Cylinder 70 is actuated so that piston 700 moves along arrow A to be returned to its starting position.

[0278] During this movement, the pawl 702 gradually moves from its extended position to its retracted position and then from its retracted position back to its extended position by sliding against the peripheral surface of the carousel and pivoting clockwise around the axis 703 until the piston is in its starting position. The pawl is then housed in another notch 62 of the carousel.

[0279] The carousel can again be set in rotation in a counterclockwise direction by repeating this process.

[0280] The piston 710 of the second cylinder 71 carries a pawl 712 which is mounted to rotate freely relative to the piston 710 around an axis 713 essentially parallel to the axis of rotation of the carousel.

[0281] The ratchet 712 thus includes a bearing surface 714 designed to bear against a stop 715 of the piston 710 defining the extreme driving position.

[0282] The 712 ratchet is movable between two extreme positions, namely: a deployed position in which its bearing surface 714 is in contact with the stop 715 of the piston 710 so that its end is housed in a notch 62 of the carousel (cf. figure 13 ), and a retracted position in which its end is close to the piston 710 and clear of any notch 62 of the carousel (not shown).

[0283] Return means (not shown), such as a spring or other, may possibly be implemented to act on the ratchet to tend to return it to its deployed position.

[0284] The piston 710 includes an inner chamber 716 in which is housed an internal piston (not shown) whose end is beveled like the internal piston 707.

[0285] This internal piston is mounted to move in translation within the chamber between: an unlocking position in which its end is away from the ratchet so as to leave the latter free to rotate around the axis 713, and a locking position, which can be taken when the ratchet is in its deployed position, in which its beveled end is in contact with the ratchet in order to immobilize it from rotating around the axis 713.

[0286] Piston 710 is movable between two extreme positions, namely: a starting position in which it is stopped on the left side against the figure 13 (insofar as the device can assume any orientation in space, the indication of the right side is purely illustrative with reference to the figure 12 (for the sake of clarity), and an end position in which it is stopped on its right side against the figure 13 and the ratchet is in the deployed position between two notches 62.

[0287] In the configuration illustrated at the figure 13 , the piston 710 is in its starting position and the ratchet 712 is in its deployed position.

[0288] To rotate the carousel clockwise, the cylinder 800 is put in the exhaust position so that the locking pin 8 is held in its locking position by the sole effect of the spring.

[0289] Piston 710 is in its starting position (fully to the left on the figure 13).

[0290] The 712 ratchet is in its deployed position.

[0291] The internal piston is in its locking position so that the pawl is held in its deployed position without being able to rotate around its axis 713.

[0292] Pressurized air is then injected into chamber 711 so as to move piston 710 along arrow A and then from its starting position to its end position.

[0293] During this movement, the pawl engages with the notch in which it is located, causing the carousel to rotate clockwise. The locking pin 8 slides against the peripheral surface of the carousel, gradually moving from its indexed position to its released position and then back again when the piston 710 reaches its end position. The cylinder 800 is then powered to lock the locking pin in its indexed position, thus holding the carousel stationary. At least one new slot 61 of the carousel is then in a functional position.

[0294] The internal piston is moved into its unlocking position so that the pawl is free to rotate around the axis 713 (within the limit of the travel allowed by its shape and the surfaces surrounding it).

[0295] The cylinder 71 is actuated so that the piston 710 moves along arrow B to be returned to its starting position.

[0296] During this movement, the pawl 712 gradually moves from its extended position to its retracted position and then from its retracted position back to its extended position by sliding against the peripheral surface of the carousel and pivoting around the axis 713 counterclockwise until the piston is in its starting position. The pawl is then housed in another notch 62 of the carousel.

[0297] The carousel can again be set in clockwise rotation by repeating this process.

[0298] The carousel and the ratchets form ratchet wheel systems.

[0299] The first 70 and second 71 cylinders and the corresponding pawls have antagonistic movements in that they allow the carousel to rotate in opposite directions.

[0300] The use of the first 70 and second 71 cylinders allows a module to be placed in the desired functional position as quickly as possible by selecting the carousel's rotation direction to ensure the shortest possible path. However, only one cylinder can be used at a time. This simplifies the system but results in longer alignment times.

[0301] The means for rotating the main carousel may be of the same type as those of the secondary carousel. In this case, rather than using double cylinders to drive the pawls, i.e., external cylinders containing an internal ratchet locking cylinder, single cylinders may be used.

[0302] Indexing of the secondary carousel can also be achieved by means of a locking pin not controlled by a cylinder as for the secondary carousel.

[0303] The carousel 6 is mounted to rotate mobilely around a fixed shaft 8 on which it is guided in rotation by means of a needle bearing 87, ball bearing or other.

[0304] The shaft 8 is hollow and includes at one of its ends an enlarged portion defining a chamber 81 in which a piston 82 of a cylinder 80 slides.

[0305] The shaft 8 includes at one of its other ends a circumferential groove 83 and is traversed by a lateral opening 84 communicating with the hollow interior of the shaft. The shaft further includes at this end a flat 85 which opens into the groove 83.

[0306] A guide element 14 is attached to the end of the rod 820 of the piston 82.

[0307] This guide element 14 includes a projecting portion 140 which extends inside the opening 84 of the shaft 8. A groove 141 is provided at the end of the projecting portion 140. This groove 141 extends in line with the groove 83 of the shaft with which it forms a circular groove.

[0308] The sleeve 90 of each functional module is designed to be mounted sliding inside the cells 61 of the carousel 6.

[0309] The end of the lateral finger 900 of each sleeve 90 of each functional module is provided to fit according to the angular position of the carousel 6 alternately in the groove 83 of the shaft 8 and in the groove 141 of the guide element 14 so that the sleeve is held together with the shaft 8 or the piston 82 along the axis of rotation of the carousel 6, and is thus immobilized in translation along the axis of the cavity in which it is located.

[0310] The projecting portion 140 and the grooves 141 and 84 extend to an angular position corresponding to the finger 900 of a sleeve 90 of a functional module 9 located at the workstation in the extension of the spindle 51.

[0311] The groove 901 of each sleeve 90 is suitable for housing the lug 10 placed at the end of the piston 11 which moves in translation in the chamber 12 of the cylinder 13.

[0312] The cylinder 13 is located at a loading / unloading station of the carousel 6. This station is located such that when a cell 61 of the carousel is at the work station in the extension of the spindle 51, another cell is at the loading / unloading station (i.e. at the staple loading station in this embodiment), another cell is at the rivet loading station and another cell is at the coating station.

[0313] The flat 85 and the lug 10 extend along axes parallel and perpendicular to the axis of rotation of the carousel 6. Loading and unloading functional modules

[0314] The loading of the carousel 6 into functional modules 9 is achieved in the following manner.

[0315] Pressurized air is injected into chamber 12 of cylinder 13 so as to move piston 11 according to arrow C in order to release lug 10 from inside cavity 61 located at loading / unloading station.

[0316] Cylinder 1005 is actuated to place fork 1003 into its release position.

[0317] A module is introduced into the cavity 61 located at the loading / unloading station through the side of the carousel 6 located on the end side of the shaft 8 where the groove 84 is located.

[0318] The finger 900 of the sheath 90 is inserted into the groove 83 through the flat 85 which forms an insertion passage.

[0319] Air is then introduced into chamber 12 of cylinder 13 so as to move piston 11 according to arrow D to introduce lug 10 into groove 901 of sleeve 90. Sleeve 90, and therefore the corresponding functional module 9, is thus held in the recess 61 along the axis of which it is blocked in translation.

[0320] The shape of this groove 901 allows the sleeve to arrive at the loading / unloading station and to leave from this station while the lug 10 forms a projection in the groove 901.

[0321] The carousel 6 can then be rotated to place the next cell at the loading / unloading station and the process is repeated to load a new functional module 9.

[0322] It is therefore possible to load all seven, or more generally all, of the slots in the main carousel. However, only certain slots can be loaded as needed. In other embodiments, the main carousel may also have more or fewer than seven slots.

[0323] The unloading of a functional module 9 is achieved, after placing the corresponding cell at the loading / unloading station, by actuating the cylinder 13 to release the lug 10 from the groove 901 and thus allow the functional module 9 to slide out of the corresponding cell 61. Pressure element

[0324] The device includes a tubular pressure element 15 mounted to move in translation relative to the frame 2 along the axis of movement of the spindle 51 and in line with it. Such a pressure element 15 can, for example, be used during a drilling operation to exert a compressive force on the structure to be drilled, in particular to ensure contact between the plates of a stack and prevent the formation of burrs between these plates during drilling. Implementation of the multitasking system

[0325] The robotic arm to which the device is attached is activated to place the multi-tasking device so that the workstation is positioned at the location of the structure to be worked on where an operation is to be carried out.

[0326] The robot applies the device to the structure being worked on until the suction cups 41 make contact with its surface. A vacuum is then created in the suction cups to ensure an effective connection between the multi-tasking device and the structure being worked on.

[0327] A 42 clamping C can be used as an alternative to suction cups. Drilling and / or countersinking operation

[0328] In order to perform a drilling and / or countersinking operation, the main carousel is driven in rotation until the desired drilling module is at the workstation.

[0329] For the record, the elastic return means tend to bring the piston 903 of the cylinder back into a position in which its end 905 is housed in the housing 950 or protrudes into the sleeve to prevent the functional assembly of the drilling module from sliding in the sleeve, the end 905 of the piston 903 coming into contact with the end 951 of the bearing 95.

[0330] The drilling and / or milling module 9 must then be matched to the drive spindle 51 so that the latter can drive in motion the output shaft 91 which constitutes a moving part of the module.

[0331] For this, the spindle 51 is driven in translation along its axis towards the functional module placed at the workstation until the male element 162 is housed in the bell 160.

[0332] Pressurized air is injected into chamber 171 of cylinder 17 in order to move internal spindle 170 according to arrow E. The ramp 165 of the locking key 164 then acts on the locking elements 163 to place them in their equipment position in which they cooperate with the radial holes 161 of the bell 160. The spindle 51 and the output shaft 9 are then linked in rotation and translation.

[0333] The angular position of the male element 162 relative to the bell 160 is random, and consequently the locking elements may not be perfectly aligned with the radial holes in the bell. The spherical heads of the locking elements allow for a slight relative rotation of the bell with respect to the male element, causing the holes in the bell and the male element to become coaxial and thus allowing the locking elements to penetrate the holes in the bell.

[0334] An excess of holes in the bell compared to those in the male element facilitates this re-indexing.

[0335] If, however, the locking elements remained in equilibrium between 2 holes without penetrating them, the resisting torque resulting from the first drilling operation would then induce a relative rotational displacement of the male element and the bell to align the locking elements with the radial holes and finalize the assembly.

[0336] The cylinder 904 is actuated to extract the end 905 of its piston 903 from the housing 950 of the bearing 95 or so that the end 905 no longer protrudes inside the sleeve.

[0337] Pressurized air is then injected into chamber 81 of cylinder 80 to move piston 82 along arrow E. Since the moving assembly is stopped inside the sleeve against the retaining ring on the bell side, actuation of cylinder 80 has no effect. The main spindle 51 is then driven in translation along arrow E. This has the following effects: to translate the moving assembly and the sleeve along arrow E, to make the drive element 14 follow the same movement so that the functional drilling module 9, whose finger 900 cooperates with the groove 141 of the drive element 14, is driven in translation along arrow E along the axis of the spindle 51, until the sheath 90 comes to rest against the pressing element 15.

[0338] The pressing element then follows the same movement, causing it to come to rest against the structure being worked on and exert a pressing force on the structure being worked on.

[0339] The clamping force of the pressure element 15 against the surface to be worked is maintained by the cylinder 80 while the translational movement of the spindle 51 along the arrow E is accompanied by a movement of the moving assembly inside the sleeve which is then immobile in translation along the arrow E.

[0340] The spindle 51 can then be driven in rotation and translation and transmit its movements to the output shaft 91 of the functional module 9 equipped to carry out the desired drilling operation.

[0341] The main spindle and output shaft equipment here constitutes a rotational and translational linkage.

[0342] By attaching a screw socket to the module rather than a cutting tool, it is possible to perform a screwing / unscrewing operation. Rivet loading

[0343] Prior to carrying out a rivet setting operation, whether or not preceded by a sealant coating operation, a rivet support module 200 must be loaded with a rivet 216.

[0344] For this purpose, the main carousel 6 is driven in rotation so as to bring to the rivet loading station P3 the rivet support module 200 corresponding to the size of the rivet 216 that we wish to install and, if necessary, coat.

[0345] Once the rivet support module 200 has been brought to the rivet loading station P3, a rivet loading operation is implemented.

[0346] Previously, the cell 1009 of the secondary carousel 1008, corresponding to the size of this rivet 216, is supplied with a rivet by the rivet feeding means of the carousel 1008. The rivets are brought through a flexible tube, pushed inside this tube by a pressurized gas.

[0347] The secondary carousel 1008 is then driven in rotation so as to place the cell 1009 containing the rivet at the rivet loading station P3.

[0348] Pressurized air is injected into the air line 906 of the rivet support module 200 so as to maintain its piston 205 in its first extreme position against the circlip 218 on the side opposite the split ring.

[0349] The cylinder 1006 is then used to push the rivet 216 contained in the recess 1009 into the rivet support module 200 until the head 219 of the rivet 216 is housed in the slotted ring 213. During this movement, the head 219 of the rivet 216 acts on the slotted ring 213 to widen it so that it fits into the groove 214 and the conical bore 215 of the slotted ring 213. The ring 213 then tightens around the head 219 of the rivet 216 under the effect of the O-rings used for this purpose so that the rivet 216 can no longer come out of the ring 213 by following the reverse path. The rivet 216 is then held in the rivet support module 100 and its body 220 protrudes out of the module 200 beyond the split ring 213. Rivet coating operation

[0350] To carry out a rivet coating operation, the rivet support module 200, previously loaded with the rivet 216 which it is desired to coat with sealant, is brought to the coating station P4 by rotating the main carousel 6.

[0351] During this movement, the piston 205 of the rivet support module remains against the circlip 218 due to the friction of the O-rings ensuring the sealing of the chamber.

[0352] It is possible to perform a helical type coating, or an annular type coating, or even a coating of parallel annular cords. Helical coating

[0353] A helical coating consists of depositing at least one annular bead of sealant at the end 221 of the rivet, at least one annular bead of sealant under the head 219 of the rivet and a helical bead along the body 220 of the rivet between the end and the head of the rivet.

[0354] To do this, the following procedure is followed.

[0355] Prior to the arrival of a rivet support module at the coating station: Cylinder 1053 is actuated to maintain the end of the nozzle 1050 in its extreme position in which it is furthest from the body 220 of the rivet 216; cylinder 1047 is actuated so as to maintain the shoe 1046 in its disengaged position; cylinder 1060 is actuated so that the feeler 1058 is in its extreme position on the side of the end 221 of the rivet 216; cylinder 1057 is actuated so that the block 1054 carrying the shoe 1046 and the nozzle 1050 is in its extreme position on the side of the end 221 of the rivet 216.

[0356] The support 1062 of the nozzle 1050 is then in contact with the probe 1058.

[0357] The chamber of cylinder 1057 carrying block 1054 is put to the exhaust.

[0358] The cylinder 1036 is actuated to engage the half-dog 1038 it carries with the half-dog 211 of the piston of the rivet support module 100 located at the coating station. The piston is a moving part, and the interaction of the two half-dogs constitutes an indirect linkage between the main spindle and this moving part. This linkage is a rotational connection.

[0359] The half-hook 1038, carried by the cylinder 1036, then moves the piston 205 of the rivet support module 100 towards the probe 1058. When the cylinder 1036 reaches the end of its stroke, the piston 205 of the module is positioned so that the contact area between the head 219 and the body 220 of the rivet carried by the module is in a specific position. It should be noted that each rivet support module is designed to support a rivet of a specific size. The length along the axis of the spindle 51 of the piston 205 of each rivet support module is determined according to the size of the rivet it is intended to support so that, when the cylinder 1036 carrying the half dog 1038 reaches the end of its stroke, the connection area between the head 219 and the body 220 of the rivet carried by a module is always in the same given position along the axis of the spindle 51.

[0360] The cylinder 1060 is actuated to move the probe 1058 towards the head 219 of the rivet until the conical point 1061 comes to rest against the end 221 of the rivet, thus stopping the stroke of the cylinder 1060.

[0361] The probe 1058, against which the nozzle 1050 is against, thus moves the nozzle to the level of the end 221 of the rivet (at a predetermined distance from the end of the rivet).

[0362] The cylinder 1053 moves the nozzle 1050 towards the rivet body 220 until its end makes contact with the rivet body.

[0363] The main spindle 51 is driven in rotation so as to drive in rotation via the pulleys and belts on the one hand the piston 205 of the module and therefore the rivet which it carries but also the lead screw 1043 at time t0.

[0364] At the same time, the sealant pump is implemented so that the nozzle 1050 delivers sealant at the end 221 of the rivet.

[0365] After a period corresponding to one turn of lead screw 1043, the shoe 1046 is moved to its position of engagement with the lead screw 1043 by means of the cylinder 1049.

[0366] Contact between the shoe 1046 and the surface 1045 of the thread 1044 of the leadscrew 1043 is finalized after a fraction X of a turn of the leadscrew 1043. This fraction of a turn is necessary because when the shoe makes contact with the screw, it is in a random relative position such that a gap remains between the shoe and the flank of the thread. Thus, the translational drive of the shoe by the leadscrew is only effective after this gap has been closed by the action of a random fraction X of a turn.

[0367] At this stage, a bead of sealant of 1 + X turns was deposited at the end 221 of the rivet.

[0368] When the shoe 1046 is in its meshing position, i.e. after final contact between the shoe and the lead screw, the nozzle 1050 then begins to move towards the head 219 of the rivet and the nozzle 1050 begins to deposit a spiral bead of sealant along the body 220 of the rivet.

[0369] When the piston 1055 of the cylinder 1057 carrying the block 1054 reaches its stop by being moved from the end 221 towards the head 219 of the rivet, the nozzle 1050 reaches the height of the connection between the body 220 and the head 219 of the rivet.

[0370] The rotation of the single spindle 51 is stopped after a time elapsed since t0, allowing a leadscrew of 3 + Y turns, where Y is the number of turns of the spiral between the weld bead on the end and the weld bead under the rivet head. Knowing the rivet length allows us to determine the distance Z between the weld beads on the end and the head, Y = Z / leadscrew pitch (assuming here that the rivet to be coated and the leadscrew rotate at the same frequency).

[0371] The length of cord deposited on the end can be at most 2 turns justifies the total number of turns of 3 + Y to have at least a deposit of 1 turn under the head.

[0372] At the same time as the main spindle 51 is stopped rotating, the application of sealant is deactivated by depressurizing the sealant pump.

[0373] At the time of stopping the single spindle 51, a bead of sealant of 2 - X turns was deposited under the rivet head (3 turns minus (1 + X)).

[0374] The shoe 1046 is moved into its disengaged position by means of the cylinder 1049.

[0375] The nozzle 1050 is moved away from the rivet body 220 by means of the cylinder 1053.

[0376] The nozzle 1050 and the probe 1058 are brought to the extreme position on the end side 221 of the rivet respectively by means of the extension of the cylinders 1057 and 1060.

[0377] The main carousel 6 is driven in rotation to bring the sealant-coated rivet to the rivet-setting station which has a rivet-setting device. Ring coating

[0378] An annular coating consists of depositing at least one annular bead of sealant under the head 219 of the rivet.

[0379] To do this, the following procedure is followed.

[0380] Prior to the arrival at the coating station of a 100 rivet support module: Cylinder 1053 is actuated to maintain the end of the nozzle 1050 in its extreme position in which it is furthest from the body 220 of the rivet; cylinder 1049 is actuated so as to maintain the shoe 1046 in its disengaging position; cylinder 1060 is actuated so that the feeler 1058 is in its extreme position on the side of the end 221 of the rivet.

[0381] The cylinder 1036 is actuated so as to engage the half-dog 1038 which it carries with the half-dog 211 of the rivet support module 100 located at the coating station.

[0382] The half-dog 1038 then moves the piston 205 of the rivet support module 100 towards the probe 1058. When the cylinder 1036 reaches the end of its stroke, the piston 205 of the module is positioned so that the contact area between the head 219 and the body 220 of the rivet carried by the module 200 is in a specific position. It should be noted that each rivet support module is designed to support a rivet of a specific size. The length along the axis of the piston spindle of each rivet support module is determined according to the size of the rivet it is intended to support, so that when the cylinder carrying the half-dog reaches the end of its stroke, the contact area between the head and the body of the rivet carried by a module is always in the same specific position.

[0383] The cylinder 1060 is actuated to move the probe 1058 towards the head 219 of the rivet until the conical point 1061 comes to rest against the end 221 of the rivet, thus stopping the stroke of the cylinder 1060.

[0384] The cylinder 1057 is actuated to come to a stop at its end on the side of the rivet head 219, thus stopping the nozzle 1050 at the height of the connection between the body 220 and the rivet head 219.

[0385] The cylinder 1053 moves the nozzle 1050 towards the rivet body 220 until its end makes contact with the rivet body 220.

[0386] The main spindle 51 is driven in rotation so as to drive in rotation via the pulleys and belts on the one hand the piston 205 of the module and therefore the rivet which it carries.

[0387] At the same time, the sealant pump is implemented so that the nozzle 1050 delivers sealant to the connection area between the head 219 and the body 220 of the rivet.

[0388] The rotation of the main spindle 51 is stopped after imparting a rotation of at least one turn to the rivet, at this stage a bead of at least one turn is deposited under the rivet head 219.

[0389] At the same time, the application of sealant is deactivated by depressurizing the sealant pump.

[0390] The nozzle 1050 is moved away from the rivet body 220 by means of the retraction of the cylinder 1053.

[0391] The nozzle 1050 and the probe 1058 are brought to the extreme position on the end side 221 of the rivet respectively by means of the extension of the cylinders 1057 and 1060.

[0392] The main carousel 6 is rotated to bring the sealant-coated rivet to the work station for rivet setting. Coating with parallel annular cords

[0393] A rivet is coated with parallel annular beads of sealant between its end and the area where its body connects to its head, as follows.

[0394] Cylinder 3010 is actuated to move probe 3008 along arrow E to its extreme position.

[0395] A rivet support module carrying a rivet to be coated is then brought to the coating station.

[0396] The half-cradle 1038 is moved to a stop by the corresponding cylinder so as to engage with the half-cradle 211 of the module and to move the piston of the module into a position in which the connection area of ​​the rivet it carries is in alignment with the channel 3003 of the nozzle located opposite to that located on the end side of the rivet.

[0397] Cylinder 3010 is actuated according to arrow F so that the end 3008 of the probe comes into contact with the end of the rivet.

[0398] The drawer 3005 then slides inside the chamber 3002 so as to close the channels which extend beyond the end of the rivet.

[0399] The rivet is then rotated once while the sealant pump is activated to dispense sealant. This allows for the simultaneous application of multiple parallel annular beads of sealant to the rivet body, from the rivet tip to the joint area.

[0400] Once the cords are laid, the rivet rotation is stopped, the pump is stopped, the cylinder is operated according to arrow E to move the probe away from the rivet, then the main carousel is operated to move the module carrying the coated rivet to the workstation to set the rivet. Riveting operation

[0401] The device can be used to install rivets, which may or may not be pre-coated with sealant, depending on the circumstances. It therefore includes a rivet-setting device.

[0402] After the arrival at workstation P5 of a rivet support module 200 carrying a rivet, the placement of the latter, in a hole previously made in the structure to be worked on, is obtained in the following way.

[0403] The main spindle 51 is driven in translation along its axis via the feed motor.

[0404] The main pin 51 then comes to rest against the piston 205 of the rivet support module 200 so that the latter moves in translation inside the chamber from a retracted position in which it extends inside the sleeve to a deployed position in which it extends at least partly outside the sleeve until it comes to rest at the bottom of the chamber and the sleeve translates in the carousel cavity over a sufficient distance to engage the end 221 of the rivet in the corresponding hole (in the case of a rivet with a threaded end, the insertion of the threaded portion may be sufficient).

[0405] The module's piston is a moving part, and the apparatus here simply brings the main spindle into contact with the moving part in order to drive it in translation in one direction.

[0406] The feed motor is then driven to move the main spindle 51 in the opposite direction.

[0407] During this movement of the main spindle, the piston 205 of the rivet support module remains stationary inside its chamber under the effect of friction.

[0408] The main pin 51 is translated until it reaches its extreme position in which the portion of the male element 162 carrying the locking ring 1067 is housed in the cylindrical portion 1065 of the unlocking ring 1064 which acts on the unlocking ring 1067 to move it into its unlocking position.

[0409] The secondary spindle 170 is then translated inside the main spindle 51 by supplying the chamber of its cylinder 17 (until it comes into contact with the head of the rivet).

[0410] During this exit of the secondary spindle, the circumferential groove 1063 passes through the unlocking ring 1064.

[0411] Then the main spindle 51 is advanced, the portion of the male element 162 comes out of the cylindrical portion 1065, so the unlocking ring is again pressed against the secondary spindle and when this ring again reaches the circumferential groove 1063, it comes to rest in the groove 1063 under the action of the elastic return element.

[0412] The secondary spindle 170 is then linked in translation with the main spindle 51 so that the translational movement of the main spindle 51 is accompanied by a translational movement of the secondary spindle 170 which together form a long spindle.

[0413] The locking key 164 then pushes on the head 219 of the rivet to extract it from the clamp and insert it completely into the hole.

[0414] The rivet is thus evacuated from the module by means of evacuation which allow it to be inserted into a hole and which in this embodiment include in particular the main and secondary pins.

[0415] Reading the currents of the motors driving the main spindle, in this case the feed motor, makes it possible to know the effect of thrust on the rivet and to stop the progression of the main spindle when the effect of thrust becomes greater than a predetermined threshold corresponding to a total insertion of the rivet into its hole.

[0416] This approach ensures efficient rivet placement with greater forces than if the placement were carried out with the central cylinder used to control the pressure element 15 and with better accuracy taking into account the thrust forces recorded at the main spindle.

[0417] Once the rivet is correctly inserted into the hole, the main pin 51 is moved to its extreme position in which the portion of the male element 162 carrying the locking ring 1067 is housed in the cylindrical portion 1065 of the unlocking ring 1064 which thereby acts on the external surface of the lateral actuating portion 1069 to move the locking ring 1067 relative to the male element 162 against the effect of the compression spring into its unlocking position.

[0418] The secondary spindle 170 was then moved into the main spindle 51 by actuating its cylinder 17.

[0419] Finally, the piston 205 of the rivet support module entered the sleeve, supplying its chamber with compressed air until it came to a stop against the circlip 218, and the sleeve 90 entered its recess thanks to the action of the cylinder 80. Temporary fixing load

[0420] A device according to the invention can be implemented to carry out the installation of temporary fixings.

[0421] A temporary fastener 2000 typically comprises a body 2001, a deformable (expandable and retractable) harpoon-shaped end 2002 with a longitudinal slot containing a spreader element fixed relative to the body, and a rotating element 2003 which, when rotated relative to the body, causes the harpoon to expand and then retract into the body. Thus, when the rotating element is inserted into a hole through two sheets of metal and then rotated and tightened relative to the body, the harpoon expands on the other side of the sheets relative to the body and then retracts into the body, causing the sheets to be pressed together. An illustrative, but not limiting, example of a temporary fastener is described in US patent 4,548,533.

[0422] The temporary fixings according to the invention comprise a body and a rotating element with a cylindrical cross-section and the same diameter, and having smooth and uniform external surfaces. The body and the rotating element are separated by a space (housing) to allow them to be locked in position, as will be described in more detail elsewhere.

[0423] Prior to carrying out a temporary fixing installation operation, a 300 temporary fixing support module must be loaded with a temporary fixing.

[0424] For this purpose, the main carousel 6 is driven in rotation so as to bring the temporary fixing support module to the loading station P2.

[0425] Once the temporary fixing support module is brought to the temporary fixing loading station, a temporary fixing loading operation is implemented.

[0426] Cylinder 1005 is actuated to place fork 1003 into its holding position.

[0427] The cartridge holder 1000 is used to place a temporary fixing 2000 in the axis of the temporary fixing support module.

[0428] The chamber of the temporary fixing support module is supplied with compressed air so as to maintain the piston 306 in a release position in which its shoulder 307 is close to the flange 314 of the drive tube 313. In this position, the surface of the conical bore 331 of the piston 306 acts on the locking element 321 to maintain it in its rest position in which the end of the locking lug 327 is away from the longitudinal axis of the drive tube.

[0429] The loading cylinder 1002 is activated in such a way that the end of its rod comes out of its chamber to push the head of the rotating element 2003 of the temporary fixing so as to introduce the temporary fixing into the temporary fixing support module until the female part 2001 comes to rest against the fork 1003.

[0430] The rotating element 2003 of the temporary fixing is then in contact with the first freewheel 318 while the body 2001 is in contact with the second freewheel 33'.

[0431] The chamber of the temporary fixing support module is opened to the atmosphere, causing the piston 306 to move away from the collar 314 under the action of the spring 315 until it reaches a locking position. During this movement, the locking element 321 returns to its locking position under the action of the spring housed in the housing 328: the end of the locking lug 327 is then housed in the space E between the head of the rotating element 2003 and the body of the temporary fixing, thus blocking the latter from translation within the module along its longitudinal axis.

[0432] The loading cylinder 1002 is then retracted into its starting position and then the cylinder 1005 is actuated so as to bring the fork 1003 back into its release position. Temporary fixing installation operation

[0433] The device allows for the installation of temporary fixings and therefore includes a device for installing temporary fixings.

[0434] In order to install a temporary fixing, a temporary fixing support module into which a temporary fixing has been inserted is brought with the main carousel to the workstation.

[0435] The temporary fixing support module must then be paired with the main spindle.

[0436] For this, the spindle 51 is driven in translation along its axis towards the functional module placed at the workstation until the male element 162 is housed in the bell 160.

[0437] A slight air pressure can be introduced into the module chamber so that the piston 306 exerts a counter-force along the longitudinal axis of the module against the equipment force.

[0438] Pressurized air is injected into chamber 171 of cylinder 17 to move the internal spindle 170 along arrow E. The ramp 165 of the locking key 164 then acts on the locking elements 163 to position them in their engagement position, where they cooperate with the radial holes 161 of the bell 160. The spindle 51 and the drive tube are then linked in rotation and translation. The drive tube is a moving part, and its connection to the main spindle is a rotational and translational linkage.

[0439] To insert the temporary fixing into the hole in the structure being worked on: The feed motor is used to translate the main spindle 51 so as to slide the drive tube 313 and thereby the piston 306 inside the module; the cylinder 80 and the compressed gas supply to the temporary fixing support module via the line 906 are exhausted until the descent of the spindle 51 has allowed the insertion of the temporary fixing into its housing in the workpiece; the feed motor continues to be used to translate the main spindle 51 so as to continue to slide the drive tube 313 and thereby the piston 306 inside the module until the thrust recorded at the main spindle 51 by the current sensor consumed by the feed motor reaches a predetermined threshold value corresponding to the butting of the temporary fixing against the structure to be worked.The main spindle 51 is driven in rotation by the rotation motor, so that the drive tube rotates the head of the male part of the temporary fastener. Due to the opposing operation of the freewheels, the male part of the temporary fastener rotates while the female part is held stationary. As a result, the male part screws in, causing the deformable end to expand within the hole and thus securing the temporary fastener in the hole of the structure being worked on. When the tightening torque determined by the rotation motor's current sensor reaches a predetermined threshold value corresponding to the completion of the temporary fastener tightening, the rotation motor is stopped. The rotation motor is then driven in the opposite direction to rotate the main spindle 51 by a certain degree in order to disengage the freewheels from the module.Air is introduced into the line 906 to move the piston to its release position and place the locking lug in its rest position. The feed motor is activated to move the spindle 51 to its original position. The main spindle is stopped when the drive tube is in its initial position. The cylinder 820 is activated to return the sleeve to its original position. The cylinder 17 is actuated to release the locking elements 163 from the radial holes 161 in the bell 160, thus disengaging the main spindle 51 from the drive tube 313 of the module. The feed motor is activated again to return the main spindle to its initial starting position. The temporary fixing support module can then be moved back to the temporary fixing loading station to receive a new temporary fixing. Variants

[0440] In the case of drilling modules, the connection between the spindle and the moving part, i.e., the output shaft or drive tube, is direct. Indeed, the spindle and the output shaft or drive tube are directly interconnected via the switchgear 16 without any intermediate transmission. An intermediate transmission could, however, be interposed between the moving part and the bell 160. Such an intermediate transmission might or might not act as a reduction gear. It might not induce any motion transformation, or it might induce a motion transformation (for example, transforming a translational movement of the spindle into a rotational movement of at least one moving part of a functional module).

[0441] In the case of the rivet support module, the connection between the moving part (the module's piston) and the spindle is indirect at the coating station via pulleys, belts, and half-hooks. It is direct, by simple contact, at the workstation.

[0442] The examples of functional modules described here include only one moving part, i.e., the output shaft, piston, or drive tube. However, it could include several output parts.

[0443] During the execution of an operation, the sensors of the control and measurement system can be used to record parameters specific to the operation of the connected module.

[0444] During a drilling operation, the following parameters can be measured, for example: Axial thrust on the drill: deduced for example from a force sensor on the spindle or in the transmission or from the intensity of the supply current of the feed motor; torque on the drill: deduced for example from a torque sensor on the spindle or in the transmission or from the intensity of the supply current of the rotation motor; drill stroke: deduced for example from the angle sensor of the feed motor.

[0445] During a screwing operation, the following parameters can be measured, for example: Screw stroke: deduced for example from the angle sensor of the rotation motor; tightening torque: deduced for example from the torque sensor in the transmission or from the intensity of the rotation motor.

[0446] During a rivet-setting operation, one can, for example, measure: The axial thrust on the rivet: deduced, for example, from a force sensor on the spindle or in the transmission, or from the current intensity of the feed motor. The axial stroke of the rivet: deduced, for example, from the angle sensor of the feed motor.

[0447] During a temporary fixing installation operation, the following parameters can be measured, for example: axial thrust on the temporary clamping: deduced for example from a force sensor on the spindle or in the transmission or from the intensity of the feed motor supply current; clamping torque: deduced for example from the torque sensor in the transmission or from the intensity of the rotation motor.

[0448] Axial thrust measurement can also be used to detect the cooperation of the male element 162 and the bell 160 during the assembly of a functional module.

[0449] This is by no means an exhaustive list of possible parameter measurements.

[0450] All sensors and other means of measurement are integrated into the control and measurement unit 5. The functional modules therefore preferentially do not include any sensors, or at least a very limited number of sensors, which makes their structure particularly simple, robust and economical.

[0451] The device also includes a bank of 18 pneumatic connectors allowing all pneumatic actuators to be connected to means of supplying pressurized fluid and / or to means of creating a vacuum.

[0452] Several operations can be carried out simultaneously at different workstations, for example: a drilling or riveting operation or the installation of temporary fixings can be carried out at the workstation; a rivet loading operation at the rivet loading station; a temporary fixing loading operation at the temporary fixing loading station.

[0453] The device according to the invention allows for the performance of a plurality of functions, for example, the installation of a fastener, the coating of a fastener, drilling, etc. In this sense, it constitutes a multi-tasking device. It comprises devices for performing each of these functionalities, including a coating device, a device for installing temporary fasteners, a device for installing fasteners, a drilling device, and a device for transferring fasteners. Each of these devices can be separated to form an independent device performing its own function. Any combination of several (in particular, at least two) of these devices is possible.

Claims

1. Device (1) for fitting a rivet in an orifice provided in a structure to be worked, said device comprising at least: - a rivet support module (200) that is able to contain a rivet (216); - means (6) for moving said module (200) between at least a rivet loading station (P3) and a workstation (P5) for fitting the rivet; - means (1006, 1007, 1008) for introducing a rivet (216) into said module (200) at said loading station (P3); - means (51, 170) for discharging a rivet (216) contained in said module (200) out of the latter at said workstation (P5), said means for discharging (51, 170) being configured to fit said rivet (216) in said orifice, characterized in that said module (200) comprises a sheath (90) housing a piston (205) mounted so as to be able to move in translation inside said sheath (90) between at least: - a retracted position in which it extends inside said sheath (90), and - a deployed position in which it extends at least partly outside said sheath (90), said module (200) comprising means (212) for holding said rivet (216) at the end of said piston (205), said means for discharging comprise a telescopic spindle (51, 170), mounted so as to be able to move in translation along the axis of said module (200), comprising an end intended to come into contact with a rivet (216) placed in said module (200), said device comprising means (510, T) for driving said spindle (51, 170) in translation.

2. Device according to Claim 1, wherein said means for discharging (51, 170) are able to move over two successive travels of partial pre-insertion and then of total final insertion of the rivet (216) into said orifice during which the end of the rivet (216) and then the body of the rivet (216) are successively inserted into said orifice.

3. Device according to Claim 1 or 2, wherein said telescopic spindle comprises: - an external main spindle (51) mounted so as to be able to move in translation between at least: - a retracted position, and - a deployed position in the direction of the module (200) placed at the workstation (P5), and - an internal secondary spindle (170) mounted so as to be able to move in translation inside said external spindle (51) between at least: - a retracted position in which it is housed inside said external spindle (51), and - a deployed position in which it extends at least partly outside said external spindle (51).

4. Device according to Claim 3, wherein said external spindle (51) comprises an end that is capable of acting on said piston (205) when said external spindle (51) is moved in translation towards a deployed position, and said internal spindle (170) occupies its retracted position in said external spindle (51), so as to move said piston (205) into its deployed position so as to partially insert said rivet (216) solidarized to the module (200) situated at the workstation (P5) into said orifice.

5. Device according to Claim 3 or 4, comprising means for connecting said internal spindle (170) in translation with said external spindle (51), said means for connectign in translation being able to adopt at least: - an unlocking position in which said internal spindle (170) is free to slide inside said external spindle (51), and - a locking position in which said internal spindle (170) and external spindle (51) are connected in translation.

6. Device according to Claim 5, wherein said means for connecting in translation comprise a locking ring (1067) that is able to move between: - said locking position in which it cooperates with a housing of complementary shape (1063) provided in said internal spindle (170), and - said unlocking position in which it does not cooperate with said housing (1063).

7. Device according to Claim 6, wherein said housing provided in said internal spindle (170) is a circumferential groove (1063), and said locking ring (1067) is able to move in translation along an axis essentially orthogonal to that of said internal spindle (170).

8. Device according to Claim 6 or 7, comprising elastic return means that tend to bring said means for connecting (1067) into said locking position, and unlocking means (1064) that make it possible to place said means for connecting (1067) in their unlocking position.

9. Device according to Claim 8, wherein said unlocking means comprise an unlocking ring (1064) provided with a truncated cone bore (1066) widening in the direction of the module (200) placed at the workstation (P5), said unlocking ring (1064) being connected in rotation with said external spindle (51), said locking ring (1067) being housed in said unlocking ring (1064) when said external spindle (51) is in its retracted position, the walls of the truncated cone bore (1066) acting on said locking ring (1067) so as to place it in its unlocking position.

10. Device according to Claim 9, comprising control means configured to successively: - move said external spindle (51) and said internal spindle (170) into their retracted position; - move said main spindle (51) into its deployed position so as to move said piston (205) of a module (200) placed at the workstation (P5) into its deployed position in order to partially insert a rivet (216) solidarized to with said module (205) into the orifice of the structure to be worked; - move said main spindle (51) into its retracted position so as to place the locking ring (1067) in its unlocking position; - move said secondary spindle (170) into its deployed position in which its end bears against the head of the rivet (216) partially inserted into said orifice; - move said main spindle (51) towards its deployed position so as to trigger the passage of said locking ring (1067) into its locking position and thus connect said internal spindle (170) and external spindle (51) in translation; - continue the movement of said external spindle (51) towards its deployed position so as to discharge said rivet (216) from said module (200) and finalize its insertion into said orifice.

11. Device according to any one of Claims 3 to 10, comprising means for driving said external spindle (51) in translation between its deployed and retracted positions and means for moving said internal spindle (170) in translation inside said external spindle (51) between its retracted and deployed positions.

12. Device according to Claim 11, wherein said means for driving said external spindle (51) in translation comprise a tapped ring (512) cooperating with a threaded portion (511) of said main spindle (51) and a feed motor (510) that is capable of driving said tapped ring (512) in rotation so as to induce a translation of said main spindle (51).

13. Device according to Claim 11 or 12, wherein said means for moving said internal spindle (170) in translation comprise a pneumatic cylinder (17).

14. Device for performing at least one task on a structure to be worked, said device comprising: - means (3) for securing said device to motorized handling means that are able to at least partly move said device in space with respect to a structure to be worked; - means (4) for securing said device to said structure to be worked; said device comprising at least one device for fitting a rivet according to any one of Claims 1 to 13.

15. Method for fitting a rivet by means of a device according to any one of Claims 2 to 14, said method comprising a step of partial pre-insertion and then a step of total final insertion of the rivet (216) into said orifice during which the end of the rivet (216) and then the body of the rivet (216) are successively inserted into said orifice.

16. Method for fitting a rivet according to Claim 15 by means of a device according to Claim 10, comprising the following successive steps: - step of moving said main spindle (51) and said secondary spindle (170) into their retracted position; - step of moving said main spindle (51) into its deployed position so as to move said piston (205) of a module (200) placed at the workstation (P5) into its deployed position in order to partially insert a rivet (216) solidarized tosaid module (200) into the orifice of the structure to be worked; - step of moving said main spindle (51) into its retracted position so as to place the locking ring (1067) in its unlocking position; - step of moving said secondary spindle (170) into its deployed position in which its end bears against the head of the rivet (216) partially inserted into said orifice; - step of moving said main spindle (51) towards its deployed position so as to trigger the passage of said locking ring into its locking position and thus connect said internal spindle (170) and external spindle (51) in translation; - step of continuing the movement of said external spindle (51) towards its deployed position so as to discharge said rivet (216) from said module (200) and finalize its insertion into said orifice.