Modular fixing gun

Abstract

A modular fixing gun for fasteners has a universal main body 10 and interchangeable secondary storage portions (e.g. magazine, hopper). Each secondary portion has a fastener advancement mechanism, a d

Description

The present invention relates to a modular fixing gun and particularly but not exclusively to a manually or automatically operated fixing gun with a universal main body and interchangeable secondary portions and attached fastener storage means containing various types of fasteners. For example, one secondary portion could be for staples and another secondary portion could be for nails. BACKGROUND TO THE INVENTION Fixing guns are ubiquitous in modem construction and manufacturing. They span a large variety of fastenings, including nails, staples, and bolts, with a specific gun often needed for a specific type of fastener. For example, staples can only be applied with a staple gun, nails with a nail gun and so on. Fixing guns typically work by using either compressed air, gas, or electricity to drive a piston that forcibly ejects a fastener from the gun when a trigger is pressed. The piston then returns to the starting position and a new fastener is positioned ready to be ejected. Pneumatic guns use an air compressor that pushes air into the gun from an air reservoir located either within the gun itself or outside the gun but connected via a pipe. When the trigger mechanism is triggered, the air pressure above the piston head increases, forcing the piston to move down and eject the fixing below. Gas and electrically powered guns work similarly to compressed air guns, with the only major difference lying in what produces the force to drive the piston. Instead of air pressure, gas powered guns contain a battery and a gas canister, with the battery igniting a small amount of gas creating a mini explosion to drive the piston. In the case of electric guns, this force may be created for example by a solenoid, or in other examples an electric motor stores energy in a spring which is then released to drive the piston. For all types of fixing guns, the amount of force needed to drive the piston depends on both the type of fastener used and the situation it will be used in. For example, a greater force would be needed to drive nails into metal compared to wood. Therefore, the type of fixing gun used needs to be carefully selected for both the type of fastener it is designed for and the type of construction it will be used in. Increasingly, many stages of building construction are happening off-site in assemblystyle manufacturing warehouses. Here, various types of fixing guns are attached to gantries and robotic arm systems to automatically assemble building components. Likewise, other types of manufacturing beyond construction utilise robotic fixing guns, for example furniture manufacturing. Gantries are a type of robotically automated system that operate along a three-axis Cartesian coordinate system. They have a high workload capacity and are particularly useful for large scale assembly line style construction over a large workspace. They are also often used in combination with a conveyer belt that moves components along to different stages of construction. Another common type of automation used in construction is robotic arms. These articulated robots allow movement about multiple axes. Therefore, they are commonly used in applications that require fastenings to be inserted from different angles. When multiple types of fasteners are required within one construction or manufacturing project these automated systems need separate functional components for each type of fastener used. For example, one robotic arm for a nail gun and another for a staple gun. This increases the cost of manufacturing as more equipment is needed as well as increasing the time and personnel needed for maintenance and oversight. It is an object of the present invention to reduce or substantially obviate the aforementioned problems. STATEMENT OF INVENTION According to the present invention there is provided a modular fixing gun for discharging fasteners, the modular fixing gun comprising: a main body and a secondary portion, the main body and secondary portion having corresponding attachment portions adapted for release and reconnection of the main body from I to the secondary portion; the secondary portion having a discharge position, a discharge aperture, and a fastener storage means, and the secondary portion further including a fastener advancement mechanism for transporting a fastener from the fastener storage means into the discharge position; and the main body comprising a linear actuator which, when actuated, moves into an extended position, entering into the secondary portion and providing a driving force for ejecting a fastener in the discharge position out of the secondary portion through the discharge aperture. The modular fixing gun is provided in two main parts: the main body and the secondary portion. The fixing gun is modular as the main body is universal, but multiple variations of the secondary portion are provided. These different secondary portions are interchangeable with one another, all working with the same main body. The secondary portion is specific to a type of fastener, for example nails or staples. Therefore, different secondary portions can be swapped out interchangeably depending on the type of fastener desired, while only needing one main body of the fixing gun. This helps reduce expense as fewer components are needed as well as reducing production time because the fixing gun can quickly and efficiently be configured for a different type of fastener by simply swapping out the secondary portion. The corresponding attachment portions disposed on the main body and secondary portion enable the secondary portion to be released and reconnected while the main body is in use, i.e. without disconnecting the main body from any apparatuses such as a gantry or robotic arm. This improves efficiency as the fixing gun does not need to be disassembled to switch out the secondary portion. As the main body and secondary portion are releasably connected, the linear actuator extends into the secondary portion when it is in the extended position to transfer the driving force to the secondary portion. This may be achieved via a rod that extends down into the secondary portion, ejecting the fastener from the fastener discharge position. Preferably, the corresponding attachment portions are adapted for release and reconnection by translating the main body relative to the secondary portion. In this way the secondary portion is held stationary while the main body is moved to disconnect the two components. Optimally, this is done via a simple sliding movement. This simple translation of the main body can be done without the use of any tools or specialised equipment, enabling the release and reconnection to be done automatically via machine. The secondary portion may be releasably connected to the main body by a tongue and groove connection. Here, the attachment portion of the main body can be provided with two brackets or protrusions positioned at the base of the main body that slide and lock into two corresponding grooves disposed on the attachment portion of the secondary portion, disposed at the top of the secondary portion. This releasably joins the two components together. The simplicity of the connection ensures ease of use both manually and automatically, with the required sliding and docking motion easily achieved via robots in an automated system. The secondary portion can easily be removed, and switched out for a different component, for example when changing the type of fastener used or when the fastener storage means is empty. Preferably, a safety lock is provided on the main body that engages with the secondary portion when the main body is ready for use. For example, when a pressurised air supply is being delivered to chambers in the main body so that the gun is “primed”, the safety lock may be activated. This ensures that the secondary portion cannot be disconnected from the main body when the linear actuator in the main body could be activated, limiting the possibility for injury. The corresponding attachment portions between the main body and secondary portion may include an electrical connection adapted to make electrical contact between the main body and secondary portion when the main body and secondary portion are connected. Including an electrical connection in the corresponding attachment portions of the main body and secondary portion, as well as a physical connection, allows for the transfer of power and / or information between components. This allows the secondary portion to receive a power supply from the main body for any electronic components to work as well as providing a pathway for information gathered from any sensors in the secondary portion to be relayed back to the main body and beyond. The electrical connection may be in the form of corresponding metal contact points, disposed on the attachment portions of the main body and secondary portion, with the corresponding metal contact points being in contact when the main body and secondary portion are connected. Preferably, this is in the form of protruding metal contact points on the secondary portion and flat metal contact points on the main body. The protruding metal contact points on the secondary portion may be spring loaded so that they are proud from the surface of the attachment portion when disconnected from the main body but press inwards when connected. This ensures a secure connected between the metal contact points when connected, ensuring the circuit is complete and information and / or power can be transferred. Preferably, a further secondary portion is provided to switch out with the first secondary portion. The further secondary portion may be the same as the first secondary portion, so that it can be swapped when the fasteners have run out. However, it is advantageous in many applications to provide different secondary portions, for example a secondary portion for driving nails and a different secondary portion for driving staples. Multiple further secondary portions may be provided. Providing multiple types of secondary portions configured for different types of fasteners is advantageous as they can be swapped out when a different type of fastener is required. Likewise, providing multiple of the same type of secondary portion may increase the speed of production as the fixing gun can continue to be used while the empty secondary portion is refilled with new fasteners. The fastener advancement mechanism may be a translatable hook positioned on the secondary portion. This version of the fastener advancement mechanism is envisioned to be used for a secondary portion used for nails. The fastener advancement mechanism may comprise one or more translatable hooks. Each hook may consist of a first side with a surface for pushing a hook in the direction of translation of the hook, for example a flat side, and a second side which is curved or tapered. The first side faces towards the discharge position and the second side faces in the opposite direction. The one or more hook(s) may be disposed on a moveable (for example slidable) plate. Guiding pieces may be provided on either side of the plate. The hook(s), plate, and guiding pieces may form a hook arrangement. The hook arrangement may be disposed in between the discharge position and fastener storage means, and in the path of the fasteners. Preferably, the plate slidably translates back and forth between the guiding pieces. When moving away from the discharge position, the second (curved or tapered) side of the hook presses against a fastener. As the hook moves against the nail the curve of the hook acts as a ramp, guiding the nail over the hook to rest against the first side of the hook. The hook has now grasped a nail. As the hook slides towards the discharge position, the first side of the hook pushes the nail forwards into line with the discharge position. The nail is then discharged, and the motion is repeated. In this way, fasteners are advanced from the fastener storage means into the discharge position. Preferably, the slidable movement of the hook is powered pneumatically via a set of push-pull pistons. The air supply is provided by the main body. In another type of secondary portion, the fastener advancement mechanism may be a set of rollers positioned on the secondary portion. This version of the fastener advancement mechanism is envisioned to be used in a secondary portion used for staples. The set of rollers may consist of at least two rollers, at least one of which is motorised. The rollers may be connected, such as with a belt, or they may act as individual components. The set can consist of any number of rollers, for example more rollers being provided for a larger gun. The rollers are disposed inside the secondary portion, positioned between the fastener storage means and the discharge position. The rollers may be oriented so that each roller contacts a stripe of staples across a flat surface of the stripe of staples. For example, a roller could contact the stripe of staples across the side of the stripe, or across the top of the stripe. At least one motorised roller is provided close to the fastener storage means, to initiate fastener advancement. Further rollers may act as support to guide the fasteners into the discharge position. In some embodiments there are multiple motorised (i.e. driven) rollers. In other embodiments some of the rollers may be non-motorised I non driven and may just rotate as the staple stripe moves past them. In this way staples continually advance from the fastener storage means to the discharge position. Both the fastener advancement mechanism and the discharge mechanism are monitored via sensors to ensure that fastener advancement and discharge are coordinated. The secondary portion may be provided with machine-readable identification means for identification of the type of fastener provided in the secondary portion by an identification means reader disposed on the main body. Providing an identification means on the secondary portion helps ensure that the main body operates correctly, depending on the type of secondary portion which is attached. The identification means may also be used in tracking inventory, identifying the usage of specific fasteners and in collecting data to optimise operations. In turn, this data can be used to inform decisions to improve the manufacturing process and increase overall efficiency. The identification means may be an optically readable identification label. Preferably this is in the form of a barcode or a QR code. Optical labels are commonly available, low-cost, and easy to scan. For optical labels the identification means reader may be for example a camera, positioned on the main body with a line of sight to the label disposed of on the secondary portion. Alternatively, the identification means may be a radio frequency identification (RFID) tag. These labels use radio waves to communicate information with a reader. A reader emits radio waves that activate the RFID label, allowing it to send information back to the reader. For this identification means, the reader does not need to be in a line of sight of the identification means to read them. Therefore, in this embodiment, the reader may be located anywhere on the main body of the fixing gun. RFID tags include a microchip and antenna and can store more information than optically read identifications means. This makes them particularly useful for inventory management. The linear actuator may be driven by a pneumatically operated piston. A piston is disposed inside the main body and consists of a cylinder, a piston head and a rod attached to the piston head. A butterfly valve may be provided at one end of the cylinder, and a bumper may be provided at the other end of the cylinder. An aperture at the bumper end of the cylinder allows the rod to extend out of the cylinder to enter the secondary portion and deliver the force to eject a fixing. At rest, when ready to be actuated to eject a fixing, the piston head and rod are fully inside in the cylinder. The linear actuator consists of the rod, which extends out of the aperture at the base of the cylinder when in an extended position, extending into the attached secondary portion and ejecting a fastener from the discharge position. The force required to move the rod from the rest position to the extended position is generated pneumatically due to a difference in air pressure on either side of the piston head. An electronic trigger may be provided on the main body to trigger the driving of the linear actuator. The electronic trigger may receive an electronic input from an external source. This input may be manually or automatically initiated. The trigger preferably actuates a pneumatic valve, controlling the air flow to the piston and therefore initiating piston movement and the generation of the driving force. A second electronic trigger is preferably provided on the main body, to control the fastener advancement means in the secondary portion. The first and second electronic triggers may be individually controlled to isolate the driving of the linear actuator and fastener advancement initiation from each other. The first electronic trigger controls the driving of the linear actuator and the second electronic trigger controls the fastener advancement mechanism in the secondary portion. Isolating the controls for these two independent mechanisms allows a single linear actuator to be used for a variety of secondary portions. This enables the modularity of the fixing gun. Providing two electronic triggers and therefore independently controlled fastener advancement and discharge also allows a higher rate of fixing discharge as compared to state of the art designs, which often use a single electronic trigger, with fastener discharge and advancement then being coordinated by a pneumatic mechanism. Independent triggers allow for electronic coordination of discharge and advancement at a higher speed. The gun may be automatically operated by a robotic gantry or arm system. For example, the fixing gun may be used in a gantry system for large scale manufacturing and in a robotic arm system for more precise construction. The main body may be releasably connected to a robotic gantry or arm system. Preferably, the main body is connected to the robotic system via a tool changer attachment, although any other suitable attachment can be used. The tool changer attachment is disposed at the interface between the main body and robot. Preferably, a docking station is provided, the docking station having at least one resisting wall and being configured to receive the secondary portion. The docking station is situated within the field of motion for whichever robotic system is used and comprises a flat surface for the secondary portion to rest on and at least one resisting wall. The resisting wall may be substantially perpendicular to the flat surface. In use, the resisting wall of the docking station keeps the secondary portion stationary as the main body is being translated to either attach or remove the secondary portion to or from the main body. This enables the docking and undocking of the secondary portion to be done robotically. Preferably, at least two resisting walls are provided so that the docking station can hold the secondary portion in one position while the main body is translated in either of two opposing directions to attach or detach the secondary portion. An electronic processing means may be provided for collecting data from the gun and transmitting the data to a remote device. Data from sensors disposed on both the main body and secondary portion are correlated and transmitted to a remote device. Data may be transmitted either via a physical connection or wirelessly, such as by using Bluetooth or WiFi. A remote device may consist of a phone, computer or designated viewing device with data storage capacity and display capacity. The data may relate to the status of the gun, type of fastener provided in the secondary portion, or the number of fasteners remaining in the fastener storage means. Data collected may also include air pressure, temperature, production rate, what additional equipment is connected to the fixing gun. Various duration timers may be maintained including lifetime use, use since last reset, and use in current session. This is not an exhaustive list and other types of data relating to the status of the fixing gun may be collected. It is envisioned that much of this data is used as self-regulatory feedback for an automated system. For example, data for the number of fasteners remaining in the fastener storage means can be used to indicate when the empty secondary portion should be docked and a new, full secondary portion attached to the main body. Additionally, this data assists operation supervisors in overseeing the manufacturing process and making adjustments as needed. For example, if the number of misfires the fixing gun makes surpasses a set number, the supervisor recalibrates the fixing gun. Preferably, the fastener storage means connected to the secondary portion is in the form of a reel of nails or a hopper of staples. For a secondary portion used for nails, the fastener storage means may comprise of a metal plate or bar, with a first end connected to the secondary portion and a second end extending away from the secondary portion. Disposed on the second end there may be a protrusion provided to hold the reel of nails. A coil of collated nails loosely glued together and wrapped around a reel is provided on the protrusion. Nails may be collated with paper, plastic, or wire. This protrusion may be rotationally moveable to enable the smooth uncoiling of the nails or be fixed in position. A further guiding plate may be provided on the first end of the fastener storage means. The coil of nails is guided into the secondary portion by the guiding plate and each nail in turn is positioned in the discharge position. The coil of nails unwinds from the protrusion as nails advance into the secondary portion and are discharged. In a secondary portion used for staples, the fastener storage means may be in the form of a hopper. The hopper may comprise at least one container for holding the staples, a lid for each container, at least an aperture for the staples to leave the container, a guiding rail connecting the hopper to the secondary portion, and a feed mechanism to transfer the staples from the container to the guiding rail. The hopper is disposed at the end of the secondary portion furthest away from the discharge position. The hopper and secondary portion are joined by the guiding rail. Preferably, the hopper has two identical containers configured for holding stripes of staples. Each container is provided with a lid to close the top open portion of the container, preventing staples from falling out of the container when moved. The two containers merge into a single loading zone at the base of the containers, creating a funnel for the staples, at the end of which there is an aperture provided for staples to leave the containers via gravity. The guiding rail is connected to the loading zone at the base of the hopper and is configured to receive staples from the container(s) through the aperture. The loading of staples from the containers into the loading zone is controlled by a feed mechanism. Here, the ends of the containers are alternately blocked by rotating blockages to alternate from which container the staples fall into the loading zone. This prevents the staples blocking the loading zone and ensures that both containers are emptied evenly. Providing a hopper instead of a magazine for the staple fastener storage means increases the fastener capacity of the fastener storage means for staples. Both containers can hold multiple layers of staple stripes, extending the operation time of the fixing gun before the empty secondary portion needs to be replaced. Alternative secondary portions and fastener storage means may be provided to accommodate other types of fastenings, such as bolts or pegs. The main body of the fixing gun can still be universally used. The fastener storage means may be refillable once empty. In the secondary portion used for nails, the empty reel of nails may be removed and replaced with a new one. In the secondary portion used for staples, the lid(s) to the container(s) of the hopper may be opened, and new stripes of staples inserted into the hopper. This process may be done manually or robotically. In both embodiments, waste is minimised with the fastener storage means being reuseable. According to a second aspect of the invention, there is provided a method of using a fixing gun to manufacture an item; the method comprising: providing a fixing gun in the form of a main body and first and further secondary portions, the main body and each secondary portion having corresponding attachment portions adapted for release and reconnection of the main body and secondary portion, the secondary portions each comprising a discharge position, a discharge aperture, and a fastener storage means, and the secondary portion further including a fastener advancement mechanism for transporting a fastener from the fastener storage means into the discharge position; the main body comprising a linear actuator which, when actuated, moves into an extended position, entering into the secondary portion and providing a driving force for ejecting a fastener in the discharge position out of the secondary portion through the discharge aperture; providing a docking station for receiving a secondary portion of the fixing gun when not attached to the main body, the docking station including at least one resisting wall; connecting the first secondary portion to the main body by sliding the attachment portion of the main body onto the attachment portion of the secondary portion; using the assembled fixing gun by discharging at least one fastener from the discharge position; replacing the first secondary portion of the fixing gun with the further secondary portion by returning the first secondary portion to the docking station and slidably disconnecting the attachment portion of the first secondary portion from the attachment portion of the main body, and connecting the attachment portion of the main body to the attachment portion of the further secondary portion positioned in the further docking station; and using the assembled fixing gun by discharging at least one fastener from the discharge position. The main body of the fixing gun remains unchanged and is universally used whichever secondary portion is currently connected. This reduces the number of components needed as a single main body can be used for multiple secondary portions, saving costs. The corresponding attachment portions in the main body and secondary portion allow the secondary portion to easily be replaced without the use of any additional tools and while the main body is still active. Not having to dismantle any components or inactivate the main body speeds up the process of changing the secondary portion. Preferably, the fixing gun is used with a robotic arm or gantry system. Here, the robotic arm or gantry connects to the main body and actuates the movement to join the corresponding attachment portions of the main body and secondary portion together. The secondary portion is stationary in the docking station. The robotic arm or gantry articulates the attached main body to slide the attachment portion on the main body onto the attachment portion on the secondary portion. The at least one resisting wall of the docking station provides resistance against the secondary portion to ensure it remains stationary against the movement of the main body. In this way the main body and secondary portion are releasably connected by the robotic arm or gantry. The robotic system may now use the assembled fixing gun. The connection and disconnection of the secondary portion to the main body may be controlled by a computer program or manual input. The first secondary portion and further secondary portion may be for the same type of fastener or for different types of fasteners. If different versions of secondary portions are provided this enables the fixing gun to either use a variety of fixings within a single automated manufacturing step. The replacement of the first secondary portion attached to the main body with a further secondary portion configured for a different fastener type may be initiated by a computer program, or manually, when an alternative fastener is needed. For example, the robotic arm can quickly disconnect the nail secondary portion and attach a staple secondary portion, allowing both to be used in a single manufacturing step, without the item needing to be transported to a different machine or production temporarily stopped for the fixing gun on the robotic arm to be manually switched. Likewise, the first secondary portion attached to the main body may be replaced with a further secondary portion when the fastener storage means on the first secondary portion is empty. If the further secondary portion provided is of the same type of the first secondary portion, the empty and full secondary portion can quickly and efficiently be changed over by the robotic system. This allows production to continue without having to refill the empty fastener storage means before continuing. The empty fastener storage means on the first secondary portion can be refilled while the further secondary portion is in use, streamlining the production process. The apparatus according to the first aspect of the invention may be used in the method according to the second aspect of the invention. BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention, and to show more clearly how it may be carried into effect, reference will now be made by way of example only to the accompanying drawings, in which: Figure 1 is a perspective view of a main body of a fixing gun according to the invention; Figure 2 is a perspective view of the main body of the fixing gun of Figure 1 with a cover removed; Figure 3 is a view from in front of the main body of Figure 1; Figure 4 is a cross-sectional view of the main body of the fixing gun of Figure 1; Figure 5 is a view from one side of an embodiment of the invention with a secondary portion for nails; Figure 6 is a perspective view of the secondary portion and attached fastener storage means of the fixing gun of Figure 5; Figure 7 is a view from either side of the secondary portion of Figure 6; Figure 8 is a cross-sectional view of the secondary portion of Figure 7; Figure 9 is perspective view of the an alternative secondary portion of the fixing gun, used to drive staples; Figure 10 is a perspective view of the fastener storage means of the secondary portion of Figure 9; Figure 11 is a side view of the fastener storage means of Figure 10; and Figure 12 is a view of the secondary portion of Figure 9 with the side casing removed. DESCRIPTION OF PREFERRED EMBODIMENTS Referring firstly to Figure 1, a main body of a fixing gun is generally indicated at 10. The main body 10 is universal and can be used with different secondary portions to drive different types of fixings (e.g. nails, staples, pegs, etc.). The exterior of the main body 10 is comprised of acasing 12 and a lid 14 and is roughly cuboidal in form. The casing 12 and lid 14 can be moulded from a rigid plastic or metal. Alternatively, the casing 12 and / or lid 14 may be made from a combination of materials, such as with individual panels made from different materials. The casing 12 is manufactured from multiple moulded sections joined together to form a singular piece. In this embodiment the casing 12 is comprised of four sections with two sections on each side of the main body 10 that mirror each other. Each side includes a main panel covering one half of the main body 10 and a window panel in the centre of the main panel. In other embodiments the casing 12 may be provided as a single piece or as another number of pieces. The casing 12 fully encapsulates four of the faces of the main body 10, leaving the top end open and with a large rectangular aperture provided on the base of the casing 12. The open top end is closed by the lid 14. In this embodiment, the lid 14 is comprised from multiple sections, with a main panel disposed across the middle of the opening, and two separate end panels at either end of the main panel to fully cover the opening in the casing 12. The main panel of the lid 14 extends down into the internal part of the main body 10, forming part of the top portion of the piston. Provided on the casing 12 and lid 14 are various connection apparatuses to connect the main body 10 of the fixing gun to other components, when in use. Disposed on the lid 14, there is a mounting attachment 16 to physically attach the main body 10 to, for example, a tool changer connected to a robotic arm or gantry (not shown). The mounting attachment 16 is attached to the main panel of the lid 14 at four anchor points to ensure a secure connection. In this way the main body, and any attached secondary components, can be easily manoeuvred by a robotic system in a manufacturing setting. Referring now to Figure 2, provided on the lid 14 are apertures for electronic and pneumatic connections with other components. Positioned at one end of the lid 14 there is a connection for compressed air to enter the main body 10 via a tube from an air compressor positioned away from the main body 10 (not shown), the connection in the form of a coupling 18. The coupling 18 consists of a socket end and a thread end. The thread side of the coupling 18 is attached to the main body 10 and the socket side of the coupling 18 faces away from the main body. In use, the socket of the coupling 18 receives an adaptor, which is connected to the compressed air tube, to provide an air supply to the main body 10. Electronic connections are provided in the form of two electrical wires 20, 21 extending from the main body 10. These wires 20, 21 are electronic trigger connections. Another wire 24 connects a pressure sensor 32 to an external device. Further connections to an external device may be provided, for example to transfer data. The above connections are all positioned at one end of the casing 12, which is referred to as the front of the main body 10. The opposite end will be referred to as the back of the main body 10. Lastly, there is a hot shoe mount provided in the large aperture in the base of the casing 12, shown in Figures 2 and 3. The hot shoe mount is comprised of two parts. The first is a physical tongue and groove connection in the form of two angled metal brackets 23. Each bracket 23 is angled in an L-shaped form and adhered to the base of the casing 12, protruding away from the main body 10 and orientated so that the brackets 23 face one another in a mirrored position. The brackets 23 slide into corresponding grooves disposed on the secondary portion to physically join the main body 10 and secondary portion together. The angled metal brackets 23 surround multiple metal contact points 22 that form an electronic connection between the main body 10 and an attached secondary portion. It is envisioned that the electronic component of the hot shoe will transfer information between the two halves of the fixing gun and provide electrical power to the secondary portion. In this embodiment, the hot shoe portion on the main body 10 include thirty pin metal contact points 22 that corresponding with thirty metal contact points on the secondary portion. Some of the metal contact points are provided to transfer power to the secondary portion and some as sensor connections to transmit information on the function of various components located in the secondary portion of the fixing gun. Sensors, including feed sensors, part present sensors, and strike sensors, are provided on the secondary portion of the fixing gun. Data collected from these sensors are transmitted to the metal contact points of the hot shoe portion disposed on the secondary portion. When the main body 10 and secondary portion are connected, the data is then transmitted to the main body 10 and beyond. A safety lock is provided on the base of the casing 12 in the form of a spring-loaded ball bearing 63. At atmospheric pressure, the ball bearing 63 can easily be pushed inside the main body 10 against the force of the spring. When the pressure inside the main body 10 increases, the ball bearing 63 cannot be pushed into the main body 10, and it extends into a corresponding aperture in the secondary portion. This locks the main body 10 and attached secondary portion together when the driving force generation is occurring, preventing the two components from coming apart and potentially causing injury or damage. As the air pressure inside the main body 10 returns to atmospheric pressure when the gun is no longer primed, the main body 10 and secondary portion may be separated. Referring now to Figure 3, the front of the main body 10 is shown with the front panel of the casing 12 and lid 14 covering removed, to reveal the electronic and pneumatic connections. This reveals the first electronic trigger 26 and second electronic trigger 27 and connections for the pneumatic piping runs. The first electronic trigger 26 and second electronic trigger 27 are independently driven by signals from the wires 20, 21 leading into the top of the lid 14. The first electronic trigger 26 is responsible for initiating the activation of the linear actuator in the main body 10 of the fixing gun and is controlled by the first wire 20. The second electronic trigger 27 is responsible for initiating the fastener advancement mechanism, to move a next fastener into the discharge position once the first fastener has been discharged. The second electronic trigger 27 receives signals from the second wire 21. The output of the fastener advancement trigger may differ depending on which secondary portion is connected to the main body 10. For instance, for the nail secondary portion 100, the output of the fastener advancement trigger is pneumatic 34, 36. For the staple secondary portion, this output is electronic 66. By separating the two triggering mechanisms, one for initiating the linear actuator and one for moving the next fastener into the discharge position, the fixing gun can achieve a faster rate of fastener discharge compared to guns which combine the two. Figure 3 shows connections for pneumatic piping runs. A pipe connects 38a to 38b and another pipe connects 28a to 28b. The pipes themselves are not shown in the drawing. A main air inlet 18 is provided, through which compressed air enters the main body 10 from an attached air compressor or canister. A systems pressure piping set between connections 38a and 38b maintains the correct air pressure inside the main body 10. Once a signal has been received by either the first 26 or second 27 electronic trigger, in response an output is produced by controlling a valve to allow airflow through a pipe. A pneumatic connections 28a to 28b from the first electronic trigger 26 allows control of the initiation of the linear actuator piston via a butterfly valve. An additional pipe runs from the main body 10 into a pressure sensor 32 to ensure the correct air pressure in the main body 10 is achieved at the different stages of linear actuation. Data from this pressure sensor 32 is transmitted to an external device via the pressure sensor cable 24. Two exhaust pipes 30 and 31 are provided for air to exit the main body 10 from the triggers when they change valve position or depressurise. Lastly, there are two sets of pneumatic connections starting from the second electronic trigger 27 to control the fastener advancement mechanism in the nail version of the secondary portion (100, Figure 5). A fastener advance 34 connection provides the air supply to move translatable hook forwards and deposit a new fastener into the discharge position. A fastener retract 36 connection provides the air supply to return the translatable hook to its original position. The fastener advance 34 and retract 36 connections are only utilised with the secondary portion for nails 100 as the fastener advancement mechanism is achieved electronically in the secondary portion for staples (200, Figure 12). Pipework (not shown) connects the output from the triggers to pneumatic connections on the base of the main body, the connections being made between the main body and secondary portion, when the main body and secondary portion are connected to each other. Referring now to Figure 4, positioned inside the casing 12 are the components that drive the piston to discharge a fastener. These primarily include a cylinder 46 to house the piston, a head valve 56 to control the piston and an air reservoir chamber 50 and air return chamber 48 to generate the pressure differences needed to drive the piston. The air reservoir chamber 50 and air return chamber 48 are fluidically separated by a seal 58 around the cylinder 46, the air reservoir chamber 50 disposed in the top portion of the main body 10 above the seal 58 and the air return chamber 48 disposed in the lower portion of the main body 10 below the seal 58. Multiple apertures in the form of bleed ports 64 are provided evenly spaced around the exterior of the cylinder 46, below the level of the seal 58 that separates the air reservoir chamber 50 and air return chamber 48. A head valve 56, a piston head 54, piston rod 62 and bumper 52 are disposed inside the cylinder 46. The piston head 54 is a circular piece disposed at the top of a central rod 62 in the cylinder 46. The piston head 54 is permanently connected on the rod 62, with the piston head 54 and rod 62 acting as a singular piece. The piston head 54 and rod 62 travel up and down in the cylinder 46 with changes in air pressure. At the top of the cylinder 46 is the head valve 56, which is in the form of a butterfly valve. The head valve 56 controls the air flow into the cylinder 46 by remaining in the closed position when the air pressure between the air reservoir chamber 50 and inside of the cylinder 46 is equal and opening when the pressure is unequal. When open, the head valve 56 allows air to enter the cylinder 46, driving the piston head 54 downwards. At the base of the cylinder 46 is the bumper 52, which acts as a resilient stop for the piston head 54. The piston rod 62 extends out through an aperture at the bumper end of the cylinder 46 in the extended position, extending into an attached secondary portion to act as the linear actuator and transfer the driving force to the secondary portion. Referring now to Figure 5, a specific description of a secondary portion of the fixing gun follows. Figures 5 to 8 relate to a secondary portion designed for nails to be used as the specific type of fastener. The main body 10 is used with this secondary portion for nails, and with other secondary portions for other types of fixing. The secondary portion 100 is comprised of two main parts; the discharge portion 101 that discharges the fasteners, and a fastener storage means 112 attached to the discharge portion 101, which holds the fasteners and guides them into the discharge portion 101 (seen most clearly in Figure 6). Referring now to Figure 6, the discharge portion 101 of the secondary portion 100 is the portion from which fasteners are ejected. The discharge portion 101 is roughly wedge-shaped, with a wider portion facing the main body 10 when connected and the narrower portion facing away from the main body 10. The wide end has a flat face that abuts the underside of the main body 10 when connected. Disposed on the flat face are metal contact points 108, which form part of the corresponding hot shoe connection 22 with the main body 10. A striker aperture 104 is provided for the rod 62, the linear actuator in the main body 10, to enter to transfer the driving force generated by the piston mechanism in the main body 10 to the secondary portion 100 to eject a fastener. In line with and opposite the striker aperture 104 is a discharge aperture 106 through which the fasteners are ejected. Cable runs for a part present sensor,striker sensor 126 and a feed sensor 126 are also provided to transmit data from the sensors to the metal contact points 108. Finally, grooves 102 on either side of the flat top of the discharge portion 101 are provided to physically connect it to the main body 10. The discharge portion 101 in this embodiment is manufactured from multiple pieces to encapsulate the internal components. A slot is provided in the discharge portion 101, facing the fastener storage means 112, to allow fasteners from the fastener storage means 112 to enter the discharge portion 101. In this embodiment, the slot is on a midline of the discharge portion 101. A fastener storage means 112 is provided attached to the discharge portion 101. The fastener storage means 112 holds the fasteners (a reel of nails) in place and feeds the fasteners into the corresponding discharge portion 101. These two components are joined together via bolts and are intended to be used as a single secondary portion 100 when connected. The fastener storage means 112 consists of a metal plate providing the main structure of the component, and a nail coil holder 114 and a guide piece 110 disposed at opposite ends of the structural plate. The nail coil holder 114 is positioned at the end of the plate furthest away from the secondary portion 100 when connected and is in the form of a tubular protrusion and a base. The centre of a reel of nails is inserted onto the protrusion, holding it in place on the fastener storage means 112. The nail coil holder 114 also rotates, facilitating the uncoiling of the nails. The guide 110 is provided on the opposite side of the fastener storage means 112, closest to the discharge portion 101, to guide the nails into the correct position to enter the slot in the discharge portion 101. The secondary portion 100 is releasably connected to the main body 10. The secondary portion 100 is physically connected to the base of the main body 10 via a tongue and groove connection on the discharge portion 101. The metal brackets 23 disposed on the underside of the main body 10 (23, Figure 3) slide into corresponding grooves 102 on the sides of the discharge portion 101, near the flat top face. This provides a secure attachment that can easily be removed and reinstated by both manual and robotic means. Additionally, the secondary portion 100 is electronically connected to the main body 10 via the metal contact points 108 of the hot shoe mount that correspond to the metal contact points (22, Figure 3) on the underside of the main body 10 . Lastly, there is also a pneumatic connection between the two components, to drive the pneumatic nail advancement mechanism. This is also achieved via the corresponding hot shoe connection between the main body 10 and secondary portion 100. Corresponding apertures in the main body and secondary portion, where they meet each other at the “hot shoe” mount, allow pressurised air to be delivered from the main body to the secondary portion. Referring now to Figure 8, inside the discharge portion 101 there is provided a mechanism for discharging a nail, a mechanism for moving the next nail into the discharge position and various sensors to track both mechanisms. For discharging a nail, the piston rod 62 in the main body 10 extends into the through aperture created between the striker aperture 104 and discharge aperture 106, when in the extended position. The piston rod 62 hits the nail in the discharge position, ejecting it through the discharge aperture 106. A part present sensor 132 and striker sensor (positioned behind the part present sensor 132 so not shown in Figure 8) track the driving mechanism. The part present sensor 132 detects that a fastener is present in the discharge position so that the piston can be triggered and the striker sensor detects once the fastener has been discharged. For moving a next nail into the discharge position, a fastener advancement mechanism 122 is provided. This is provided in the discharge portion 101, positioned in between the discharge position and the fastener storage means 112. The fastener advancement mechanism 122 consists of a set of translatable hooks, disposed on a slidable plate. Each hook consists of a first flat side and second curved side, the first side orientated towards the discharge position and the second side facing the opposite direction towards the fastener storage means 112. In this embodiment four hooks are provided in two rows to enable two nails to be grasped at the same time. Two guiding pieces are provided around the hooks, to act as tracks for the plate and attached hooks, to slide between the guiding pieces. In use, the plate slides backwards between the guiding pieces towards the fastener storage means. As it does so the curved sides of the hooks press against the next nail in line to the discharge position. The curved second side of the hook acts as a ramp, guiding the nail over the hook for the nail to rest against the first flat side of the hook. As the plate then moves towards the discharge position, the nail is pushed along by the flat first side of the hook. The nail is then placed in the discharge position and ejected from the secondary portion 100. This process is repeated for each nail. The backwards and forward movement of the plate is controlled pneumatically with the fastener advance 42 and fastener retract 43 air supplies to actuate the nail advancement mechanism via two small push pull pistons disposed inside the discharge portion 101. A feed sensor 124 tracks the nail advancement. All data collected from the sensors is transmitted back to the main body 10 via the metal contacts 108 in the hot shoe connection on the discharge portion 101. Referring now to Figure 9, another secondary portion of a fixing gun is described. Figures 9 to 12 relate to a secondary portion designed for staples to be used as the specific type of fastener. The secondary portion for staples 200 is comprised of two main parts; the discharge portion 201 that discharges the fasteners, and the fastener storage means 212 attached to the discharge portion 201, that holds the fasteners and guides them into the discharge portion 201. The fastener storage means 212 in this case is in the form of a hopper. A close-up view of the hopper 212 is shown in Figures 10 and 11. The hopper 212 comprises a frame 213, that is the form of a pentagonal prism, with the top of the frame 213 consisting of a rectangular fastener storage area and the bottom of the frame 213 narrowing to guide the fasteners into a loading zone 254 directly below the frame 213. The top storage area of the frame 213 is split vertically into two compartments, each housing equal quantities of fasteners. Two lids 240 are provided to close the top end of the frame 213, a right lid 240a to close the right compartment of the hopper 212 and a left lid 240b to close the left compartment of the hopper 212. The lids 240 are each hinged at one side and a lid latching mechanism 244 is provided to lock the lids 240 in the closed position, for example when the secondary portion 200 is tilted at an angle or used upside down. The bottom part of the frame 213 narrows to meet an aperture through which the fasteners travel to be received in the loading zone 254. Two convex floor panels 260 on either side of the base of the frame 213 are provided to further narrow the aperture to a width conducive to allowing only one stripe of staples through at a time. In this way the frame 213 of the hopper 212 acts as a funnel, guiding fasteners from both halves of the frame 213 into the loading zone 254 via gravity. The fasteners’ descent is controlled by a staple loading mechanism disposed on the hopper 212. This mechanism comprises three pistons 242a-c and three corresponding rotating shafts 246a-c. The pistons 242 act as linear actuators and are driven electronically via a power supply from the metal contact points in the corresponding hot shoe connection between the main body 10 and secondary portion 200. A cam on the end of each piston 242 translates the linear motion of the pistons 242 into rotational force to drive the shafts 246. Three shafts 246 are positioned on the frame 213, one on either outer side of each compartment and one central shaft 246b, between the compartments. The area between the left shaft 246a and the central shaft 246b defines the outflow area of the left storage area and the space between the central shaft 246b and the right shaft 246c defines the outflow area from the right storage area. The two outer shafts 246a, 246c are provided with fingers from a radius of the shaft. As the shaft rotates, the fingers alternately face either towards the central shaft 246b or away from the central shaft 246b. When the fingers face towards the central shaft 246b, the outflow area forthat fastener storage side is blocked, preventing any staples from that side entering the loading zone 254. When the fingers face away from the central shaft 246b, the outflow area is unobstructed, and fasteners can fall into the loading zone 254 below. By alternating which side of the hopper 212 the staples are taken from, both halves of the hopper 212 are emptied evenly. The hopper 212 is connected to the discharge portion 201 by a connecting piece in the form of a guiding rail 256 (Figure 9). As well as joining the hopper 212 and discharge portion 201 together, the guiding rail 256 enables the staples from the hopper 212 to be transferred to the discharge position. When in use, the hopper 212 and discharge portion 201 act as a single secondary portion 200. The discharge portion 201 has similarities to the discharge portion 101 used for nails, comprising a wedged-shaped body, with a wider portion orientated towards the main body 10 when connected and a narrower portion facing in the opposite direction. The wider end comprises a flat face that abuts the underside of the main body 10 when connected. Disposed on the flat face are metal contact points 208, which form part of the corresponding hot shoe connection 22 to the main body 10 (seen in Figure 3). A striker aperture 204 is provided for the piston rod 62 from the linear actuator in the main body 10 to enter and a discharge aperture 206 is provided on the opposite side in line with the striker aperture 204. Channels acting as cable runs for part present, striker and feed sensors are also provided to transmit data from said sensors to the metal contact points 208. A pair of grooves 202 on either side of the flat top of the discharge portion 201 are provided to physically connect the secondary portion 200 and main body 10 together. Additionally, a motor 250 is provided, secured to a motor mount 252. The discharge portion 201 and main body 10 are again releasably connected via the tongue and groove portion of the hot shoe mount. The metal brackets 23 disposed on the underside of the main body 10 slide into the corresponding grooves 202 on the sides of the discharge portion 201. This provides a secure, temporary attachment that is easily removed and reinstated both manually and robotically. The secondary portion 200 is also electronically connected to the main body 10 via the metal contact points 208 of the hot shoe mount that correspond to the metal contact points 22 on the underside of the main body 10 (seen in Figure 3). These metal contact points 208, 22 supply the electrical power supply needed to drive both the pistons 242 for the staple loading mechanism in the hopper 212 and the motor 250 of the staple advancement mechanism. The inside of the secondary portion 200 is shown in Figure 12, illustrating the staple advancement mechanism to move the staples from the loading zone 254 of the hopper 212 to the discharge position. The staple advancement mechanism comprises the motor 250, a driving roller 258 to actuate the staple advancement and a series of secondary rollers 248, disposed along the guiding rail 256. Positioned at the start of the guiding rail 256, at the end closest to the hopper 212, is the motor 250 and driving roller 258. The motor 250 and driving roller 258 are connected via a set of gears, where the rotational force of the motor 250 is transferred to the driving roller 258, causing it to also rotate. A feed sensor 266 is also positioned at the start of the guiding rail 256 to track the loading of staples from the loading zone 254 into the guiding rail 256. Disposed evenly along the guiding rail 256 are three belt-mounted rollers 248a (not visible as positioned behind motor mount 252), 248b and 248c. These are positioned within the guiding rail 256 so that each roller contacts a stripe of staples across a flat side surface of the stripe of staples. The three belt-mounted rollers 248a-c and the driving roller 258 are joined by a belt 249 spanning the length of the guiding rail 256. As the driving roller 258 rotates so do the other rollers due to the belt 249 connection. The rollers 248 are mounted on a carriage which is spring loaded to ensure consistent contact between the guiding rail 256, roller and the stripe of staples. Although only four rollers 248 are provided in this embodiment, this number can be altered to accommodate the length of guiding rail 256 desired. A part present sensor 264 is provided positioned in the guiding rail 256 between the three rollers 248 to track the movement of staples. It is envisioned that there will always be some staples remaining in the guiding rail 256 so that the spring-loaded carriage remains in the correct position. When loading the staples into an empty guiding rail 256 a mechanism by which to pull away the carriage from the guiding rail is provided. The discharge position is positioned at the end of the guiding rail 256, the end furthest away from the hopper 212. Here, there is provided a mechanism for discharging a staple. For discharging a staple, a striker 40 is positioned within a through aperture created between the striker aperture 204 and the discharge aperture 206. The striker comprises a rod with one blunt end facing the striker aperture 204 and one end in the form of a blade facing the discharge aperture 206. The blunt end of the striker 40 receives the driving force generated by the piston in the main body 10 and the blade end cleaves off a staple from the strip of staples in the barrel 256. A striker sensor 262 is positioned near the through aperture to track the discharge mechanism. In use, staples are dropped into the loading zone 254 of the hopper 212. The motor 250 rotates, causing the driving roller 258 and connected belt-mounted roller 248 to also rotate due to a set of gears. This actuates the staple movement mechanism. The staples are pulled forwards by the rotation of the driving roller 258, moving along the guiding rail 256. The rollers 248a-c stabilise the movement of the staples, guiding them into the discharge position. As these are connected to the driving roller 258 via the belt, these also rotate, further driving the stripe of staples in the direction of the discharge position. Once a staple is positioned in the discharge position above the discharge aperture 206, the piston rod 62 (not shown) enters the striker aperture 204, transferring the discharge force to the striker 40, which strikes the stripe of staples, shearing off a staple and ejecting it though the discharge aperture 206. The rollers then move the next staple into position. All data collected from the sensors is transmitted back to the main body 10 via the metal connectors 208 in the hot shoe mount. When using the fixing gun, the mechanism by which the driving force is generated in the main body 10 of the fixing gun remains the same for all embodiments of the secondary portion. This is as follows. A signal is transmitted through wires 20 into the main body 10 and received by the first electronic trigger 26. The first electronic trigger 26 initiates the piston mechanism to generate a driving force. This is achieved by opening a valve positioned within the air inlet 18, letting air into the air reservoir chamber 50 of the main body 10. The air pressure difference between the air inside the air reservoir chamber 50 and the air inside the cylinder 46 become unequal causing the head valve 56 to open. Air flows from the area of high pressure outside the cylinder 46 to the area of low pressure inside the cylinder 46. The air pushes down on the top of the piston head 54, driving the head 54 and attached rod 62 down. The piston head 54 reaches the end of its downstroke once it hits the bumper 52 at the base of the cylinder 46. Here, the energy generated in the downstroke of the piston head 54 is transferred from the rod 62, either directly to a fastener or indirectly to the striker 40 to actuate the fastener discharge in the secondary portion. The piston head 54 bounces off the bumper 52, moving back up the rod 62 in an upstroke. Once the piston head 54 moves below the bleed ports 64 in the cylinder 46 on its downstroke, the compressed air in the cylinder moves into the air return chamber 48. The increased air pressure in the air return chamber 48 helps drive the piston head 54 and rod 62 back up the cylinder 46 during the upstroke. The air pressure within the main body 10 returns to atmospheric pressure as excess air leaves the main body. The second electronic trigger 26 initiates the relevant fastener advancement mechanism in the secondary portion to move the next fastener into the discharge position. This is either achieved pneumatically in the nail embodiment of the secondary portion 100 or electronically in the staple embodiment of the secondary portion 200. This invention is envisioned to be used within a robotic system. An example of its use with a robotic arm system is as follows. The robotic arm picks up the main body 10 via the attachment 16. The robotic arm chooses the correct secondary portion with a fully loaded fastener storage means depending on which type of fastener the task requires, from a selection provided in a docking bay. The correct secondary portion is releasably attached to the main body 10 via the hot shoe mount 22. An RFID reader positioned on the main body scans a chip disposed in the secondary portion to ensure that the correct type of secondary portion was selected. The assembled fixing gun is now used until the sensors communicate that the fastener storage means is empty. The robotic arm then moves back to the docking bay, releases the empty secondary portion, and picks up a new secondary portion. This is repeated until manufacturing is complete. Also, the secondary portion may be switched out when a computer program or manual input indicates that a different type of fastener is needed. For example, the nailing section of manufacturing is completed, and the robotic arm now needs to switch out the nail version of the secondary portion for one configured for staples to use in a different manufacturing step. In some systems it may be possible to reload the fastener storage means automatically. In others this can be done manually by an operator. The data collected from the sensors and RFID reader are transmitted to a remote device for analysis. This provides real-time data on the use and functionality of the fixing gun, helping optimise the manufacturing process. The embodiments described above are provided by way of example only, and various changes and modifications will be apparent to persons skilled in the art without departing from the scope of the present invention as defined by the appended claims.

Claims

1. A modular fixing gun comprising:a main body and a secondary portion, the main body and secondary portion having corresponding attachment portions adapted for release and reconnection of the main body and secondary portion;the secondary portion having a discharge position, a discharge aperture, and a fastener storage means, and the secondary portion further including a fastener advancement mechanism for transporting a fastener from the fastener storage means into the discharge position; andthe main body comprising a linear actuator which, when actuated, moves into an extended position, entering into the secondary portion and providing a driving force for ejecting a fastener in the discharge position out of the secondary portion through the discharge aperture.

2. A gun as claimed in claim 1, in which the corresponding attachment portions are adapted for release and reconnection by translating the main body relative to the secondary portion.

3. A gun as claimed in claim 2, in which the corresponding attachment portions are a tongue and groove connection.

4. A gun as claimed in any preceding claim, in which the corresponding attachment portions include an electrical connection adapted to make electrical contact between the main body and secondary portion when the main body and secondary portion are connected.

5. A gun as claimed in claim 4, in which the electrical connection is in the form of corresponding metal contact points disposed on the attachment portions of the main body and secondary portion, with the corresponding metal contact points being in contact when the main body and secondary portion are connected.

6. A gun as claimed in any preceding claim, in which a further secondary portion is provided to switch out with the first secondary portion, the further secondary portion being releasably connectable to the main body and the further secondary portion having a discharge position, a discharge aperture, and a fastener storage means, and the further secondary portion further including afastener advancement mechanism for transporting a fastener from the fastener storage means into the discharge position, the further secondary portion being adapted for use with a type of fastener different from the type of fastener used with the first secondary portion.

7. A gun as claimed in any preceding claim, in which the secondary portion has machine readable identification means for identification of the type of fastener provided to the secondary portion by an identification means reader disposed on the main body.

8. A gun as claimed in claim 7, in which the identification means is an optically readable identification label.

9. A gun as claimed in claim 7, in which the identification means is a radio frequency identification (RFID) tag.

10. A gun as claimed in any preceding claim, in which the linear actuator is driven by a pneumatically operated piston.

11. A gun as claimed in claim 10, in which a first electronic trigger is provided on the main body to trigger the driving of the linear actuator.

12. A gun as claimed in any preceding claim, in which a second electronic trigger is provided on the main body to trigger the fastener advancement mechanism.

13. A gun as claimed in any preceding claim, in which the fastener advancement mechanism is a translatable hook positioned on the secondary portion.

14. A gun as claimed in any of claims 1 to 12, in which the fastener advancement mechanism is a set of rollers positioned on the secondary portion.

15. A gun as claimed in claim 12 when dependent on claim 11, in which the first and second electronic triggers are individually controlled to isolate the driving of the linear actuator and fastener advancement initiation from each other.

16. A gun as claimed in any preceding claim, in which the gun is automatically operated by a robotic gantry or arm system.

17. A gun as claimed in claim 16, in which the main body is releasably connected to the robotic gantry or arm system.

18. A gun as claimed in any preceding claim, in which a docking station is provided, the docking station having at least one resisting wall and configured to receive the secondary portion.

19. A gun as claimed in any preceding claim, in which an electronic processing means is provided for collecting data from the gun and transmitting the data to a remote device.

20. A gun as claimed in claim 19, in which the data relates to the status of the gun, type of fastener provided to the secondary portion, or the number of fasteners remaining in the fastener storage means.

21. A gun as claimed in any preceding claim, in which the fastener storage means connected with the secondary portion is in the form of a reel of nails or a hopper of staples.

22. A gun as claimed in any preceding claim, in which the fastener storage means is refillable once empty.

23. A method of manufacturing an item using a modular fixing gun as claimed in any preceding claim, the method comprising the steps of:providing a fixing gun in the form of a main body and first and further secondary portions, the main body and each secondary portion having corresponding attachment portions adapted for release and reconnection of the main body and secondary portion,the secondary portions each comprising a discharge position, a discharge aperture, and a fastener storage means, and the secondary portion further including a fastener advancement mechanism for transporting a fastener from the fastener storage means into the discharge position;the main body comprising a linear actuator which, when actuated, moves into an extended position, entering into the secondary portion and providing a driving force for ejecting a fastener in the discharge position out of the secondary portion through the discharge aperture;providing a docking station for receiving a secondary portion of the fixing gun when not attached to the main body, the docking station including at least one resisting wall;connecting the first secondary portion to the main body by sliding the attachment portion of the main body onto the attachment portion of the secondary portion;using the assembled fixing gun by discharging at least one fastener from the 5 discharge position;replacing the first secondary portion of the fixing gun with the further secondary portion by returning the first secondary portion to the docking station and slidably disconnecting the attachment portion of the first secondary portion from the attachment portion of the main body, and connecting the attachment portion10 of the main body to the attachment portion of the further secondary portionpositioned in the further docking station; andusing the assembled fixing gun by discharging at least one fastener from the discharge position.

24. A method as claimed in claim 23, in which a robotic arm or gantry connects the15 secondary portion from a docking station to the main body.

25. A method as claimed in claim 23 or claim 24, in which the first secondary portion and further secondary portion contain different types of fasteners.s

Images