Multi-task device comprising means for discharging rivet or temporary fastener identified as non-compliant to disposal zone

Abstract

To improve quality of a device by preventing possibility that a non-compliant task is executed.SOLUTION: A multi-task device includes at least: a rivet support module able to store a rivet and / or a temporary fastener support module able to store a temporary fastener; means for introducing the rivet or the temporary fastener into the modules in at least one loading station; and means for moving the at least one module to a work station for mounting the rivet or the temporary fastener in a hole provided in a structure to be worked on. The multi-task device includes means for checking compliance of the rivet or the temporary fastener depending on at least one predetermined compliance criterion, and means for discharging, to a disposal zone, the rivet or the temporary fastener identified as non-compliant by the means for checking.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The field of the present invention is the field of design and production of devices, particularly for the aerospace industry, used in the industry to perform various tasks on a structure to be processed.

Background Art

[0002] Generally, many devices are installed to perform various tasks or operations on a structure to be processed. Examples include drilling, milling, installation of temporary fasteners, painting a sealant on rivets, and then installing the rivets into the drilled holes in the structure, or any other arbitrary operations.

[0003] For example, movable devices have been developed to perform tasks on composite structures such as aircraft.

[0004] These devices particularly include those of a type that are arranged at the end of a robotic arm and equipped with tools that are manipulated and moved relative to the structure to be processed. The device is provided with fixing means such as suction cups that enable the tool to be integrated with the structure to be processed so as to bear the force resulting from the achievement of the task in order to reduce the load on the robotic arm.

[0005] This type of device is known as a multi-task device, and some of them can incorporate several functional modules each specialized in the execution of one specific task.

[0006] Such a device comprises a single output spindle that can be driven rotationally and / or linearly along a single axis via a motor and control means.

[0007] This single spindle can cooperate with various incorporated modules to enable the execution of the specialized tasks.

[0008] Patent documents 1, 2, 3, 4, and 5, filed by the present applicant, describe a multitasking device.

[0009] More specifically, the present invention relates to a multitasking device for installing rivets and / or temporary fasteners, with or without sealant coating.

[0010] A rivet setting device generally includes a rivet loading station for loading rivets to be installed one by one into rivet support modules. Optionally, the rivet setting device also includes a coating station for moving the rivet support modules containing the rivets to be installed and applying sealant to the rivets. The rivet setting device also includes a workstation positioned in alignment with a spindle, where the spindle acts on the rivet setting modules to position the rivets within the structure being processed.

[0011] A temporary fastener placement device typically includes a temporary fastener loading station that loads temporary fasteners to be placed one by one into a temporary fastener placement module. The temporary fastener placement device also includes a workstation positioned in alignment with a spindle, where the spindle acts on the temporary fastener placement module to place the temporary fasteners within the structure to be processed.

[0012] It is rare, but possible, that the rivets or fasteners introduced into the rivet support module for the purpose of installing rivets or temporary fasteners may not match the type of rivet or temporary fastener required for the desired operation. It is also possible that the rivets may not have been properly painted before installation.

[0013] In such cases, the installation task is not feasible.

[0014] Therefore, the quality of these devices needs to be improved to prevent the possibility of non-compliant tasks being performed. [Prior art documents] [Patent Documents]

[0015] [Patent Document 1] International application PCT / EP2020 / 069158 [Patent Document 2] International application PCT / EP2020 / 069159 [Patent Document 3] International application PCT / EP2020 / 069160 [Patent Document 4] International application PCT / EP2020 / 069161 [Patent Document 5] International application PCT / EP2020 / 069162 [Overview of the project] [Problems that the invention aims to solve]

[0016] In particular, one objective of the present invention is to provide effective solutions to at least some of these different problems.

[0017] In particular, according to at least one embodiment, one object of the present invention is to provide a rivet and / or fastener installation technique that helps prevent the performance of non-compliant rivet or fastener installation operations.

[0018] In particular, one object of the present invention is to provide a technique that enables inspection of rivets or temporary fasteners to be installed in a device before installation, according to at least one embodiment.

[0019] Another object of the present invention is to provide, according to at least one embodiment, a technique that enables verification of the suitability of a rivet or temporary fastener inserted into a device for an installation operation to be performed.

[0020] Another object of the present invention is to provide, according to at least one embodiment, a technique that makes it possible to verify the suitability of the paint on the rivets to be installed before installation.

[0021] Another object of the present invention is to provide a technique which is simple and / or robust and / or versatile in implementation according to at least one embodiment.

Means for Solving the Problems

[0022] For this purpose, the present invention is a multitasking device, a rivet support module capable of accommodating a rivet and / or a temporary fastener support module capable of accommodating a temporary fastener, means for introducing a rivet or a temporary fastener into the above module at at least one loading station, means for moving the above at least one module to a work station so as to install a rivet or a temporary fastener into a hole provided in a structure to be processed, and provides a multitasking device comprising at least.

[0023] According to the present invention, the device comprises means for inspecting the compliance of the above rivet or the above temporary fastener according to at least one predetermined compliance standard, and means for discharging a rivet or a temporary fastener identified as non-compliant by the above inspecting means to a waste zone.

[0024] Therefore, according to this aspect of the present invention, the present invention relies on the implementation of a technique that ensures that the rivets or temporary fasteners for installation loaded into the multitasking device actually match the installation operation desired to be performed, and discharges non-compliant rivets or temporary fasteners to the waste zone if they do not match.

[0025] According to one possible feature, the means for inspecting the compliance can analyze the appearance of the above rivet or the above temporary fastener and estimate its compliance or non-compliance with respect to a reference appearance.

[0026] When the apparatus according to the present invention is implemented to carry out a method for performing a task by the means described above, it is possible to perform a compliance inspection step that analyzes the appearance of the rivet or temporary fastener and estimates its compliance or non-compliance with a standard appearance.

[0027] According to one possible feature, the means for inspecting compliance includes at least one camera, means for controlling the camera, and means for analyzing images captured by the camera, wherein the control means and the analysis means can compare the images of the rivets or temporary fasteners captured by the camera with reference images and estimate the compliance / non-compliance of the rivets or temporary fasteners from there.

[0028] When the apparatus according to the present invention is implemented to carry out the method for performing the task by the means described above, it is possible to perform the steps of capturing an image of the rivet or temporary fastener with the camera, comparing the image with a reference image, and estimating the compliance / non-compliance of the rivet or temporary fastener.

[0029] According to one possible feature, the means for discharging non-compliant rivets or temporary fasteners includes gravity discharging means.

[0030] When the apparatus according to the present invention is implemented to carry out the method of performing the task by the means described above, it is possible to perform the step of discharging the rivet or temporary fastener by gravity.

[0031] According to one possible feature, the means for discharging non-compliant rivets includes a clamp movable between at least one gripping position capable of gripping the non-compliant rivet integrated with the rivet support module and a discharge position capable of discharging the non-compliant rivet toward a waste zone, wherein the clamp can be in a tightened state and a released state at each of its positions.

[0032] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include moving the clamp from one position to the other so that the clamp performs a gripping step of gripping a rivet or temporary fastener, a non-compliant rivet or temporary fastener integrated with the rivet or non-compliant fastener support module, and a discharge step of releasing the non-compliant temporary rivet or fastener into a waste zone, the method including a step of tightening the clamp and a step of releasing the clamp.

[0033] According to one possible feature, the clamp is rotatably movable between a gripping position and a release position along an axis substantially parallel to the axis of the module.

[0034] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include the step of rotatably moving the clamp along an axis essentially parallel to the axis of the module.

[0035] According to one possible feature, the clamp is positioned at least along the axis of the spindle. The clamp is in a retracted position that extends close to the exit end of the rivet support module, The clamp is in a disengaged position that is remote from the exit end of the rivet support module. It is mounted so as to be movable in parallel between them.

[0036] This makes it possible to move the rivet, which is held within the rivet support module by the elastic ring, so as to disengage the rivet head from its clamp.

[0037] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include the step of translating the clamp between its retracted position and its disengaged position along an axis substantially parallel to the axis of the module.

[0038] According to one preferred feature, the means for discharging unpainted rivets or temporary fasteners includes a suction discharge means.

[0039] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include a step of removing non-compliant rivets or temporary fasteners by including a suction and discharge means.

[0040] According to one possible feature, the suction discharge means for non-compliant unpainted rivets or temporary fasteners includes a discharge manifold and means for generating a vacuum within the manifold.

[0041] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include the step of generating a vacuum in the manifold.

[0042] According to one possible feature, the means for introducing the temporary fastener into the module includes the manifold.

[0043] According to one possible feature, the multitasking device according to the present invention comprises means for initiating the suction discharge, which includes a pusher element capable of positioning beyond the end of the non-compliant rivet or fastener on the opposite side of the end located on the manifold side, the pusher element being mounted to be movable in parallel along the axis of the rivet or temporary fastener.

[0044] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include a step of initiating the suction discharge, which includes the steps of positioning a pusher element beyond the end of the non-compliant rivet or fastener on the side opposite to the end located on the manifold side, and moving parallel to the rivet or fastener along the axis of the rivet or fastener toward the rivet or fastener.

[0045] According to one possible feature, the multitasking apparatus according to the present invention comprises a painting station equipped with means for applying sealant to the rivets, wherein the sealant application means includes a painting nozzle.

[0046] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include the step of applying sealant to the rivet using a paint nozzle.

[0047] According to one possible feature, the gravity discharge means described above is adapted to discharge non-compliant painted rivets.

[0048] According to one possible feature, the suction discharge means is capable of discharging non-compliant unpainted rivets or non-compliant temporary fasteners.

[0049] According to one possible feature, the painting station comprises a feeler capable of determining the length of a rivet integrated with a support module located in the painting station.

[0050] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include the step of determining the length of a rivet integrated with a support module located in the painting station by a feeler.

[0051] According to one possible feature, the pusher element is the feeler.

[0052] According to one possible alternative embodiment, the multitasking device according to the present invention comprises at least one rivet support module and one temporary fastener support module, wherein the workstation device comprises a single spindle that can be driven parallel and / or rotatably along the same axis, the device comprises means for feeding the rivet support module and the temporary fastener module to the workstation individually, and the single spindle can cooperate with the rivet support module or temporary fastener module located on the workstation to enable the installation of rivets or temporary fasteners.

[0053] When the apparatus according to the present invention is implemented to carry out a method for performing a task, the method may include the steps of: driving the single spindle in a parallel and / or rotatable manner along the same axis; feeding the rivet support module and the temporary fastener module separately to the workstation; and coordinating the single spindle with the rivet support module or temporary fastener module located in the workstation to enable the installation of rivets or temporary fasteners.

[0054] According to one possible feature, the painting station, the temporary fastener loading station, and the suction and discharge means for non-compliant rivets or temporary fasteners are located in the same station.

[0055] According to one possible feature, the rivet loading station and the gravity discharge means for non-compliant rivets or temporary fasteners are located in the same station.

[0056] According to one possible feature, the multitasking device according to the present invention is Frame and, A means for attaching the frame to a motor handling means capable of moving the device in space at least partially with respect to the structure to be processed, Means for positioning and / or fixing the above device to the above structure to be processed It is equipped with.

[0057] The present invention also includes a method for performing a task using a multitasking device according to any of the alternative embodiments described above, comprising the steps of: inspecting the compliance of the rivets or temporary fasteners according to at least one predetermined compliance criterion; and discharging the rivets or temporary fasteners identified as non-compliant by the inspecting means to a waste zone.

[0058] Further features and advantages of the present invention will become apparent from the following description of specific embodiments and the accompanying drawings. The following description is given merely as an illustrative and non-limiting example. [Brief explanation of the drawing]

[0059] [Figure 1] This is a perspective view of an example of a multitasking device according to the present invention. [Figure 2] This is another perspective view from a different angle of an example of a multitasking device according to the present invention. [Figure 3] This is a partial cross-sectional view of the apparatus in Figure 1 at the rivet loading station, along a plane perpendicular to the spindle. [Figure 4] This is a partial cross-sectional view of the apparatus in Figure 3, along a plane parallel to the spindle. [Figure 5] This is a partial cross-sectional view along a plane parallel to the spindle of the device in Figure 1 at the temporary fastener loading station. [Figure 6] This is a top view of the apparatus according to the present invention, showing different cross-sections and angles of view for use in further drawings. [Figure 7] This is a partial cross-sectional view of the device in Figure 1 at the temporary fastener loading station, along a plane parallel to the spindle, where the temporary fastener support module is located at the temporary fastener loading station. [Figure 8] This is a partial cross-sectional view of the device in Figure 1 at the temporary fastener loading station, along a plane parallel to the spindle, where the rivet support module is located at the temporary fastener loading station. [Figure 9] This is a detailed perspective view of the clamp and its driving mechanism. [Figure 10] This is a detailed perspective view of the clamp and its drive mechanism from another angle. [Figure 11] This is a detailed cross-sectional view of the clamp and its driving mechanism from another angle. [Figure 12] This is a cross-sectional view of the drive means for moving the paint nozzle and pusher element. [Figure 13] This is a detailed view of Figure 12. [Figure 14] This is a detailed diagram showing the insertion of rivets into the rivet support module. [Modes for carrying out the invention]

[0060] 6.1 Architecture Means to be attached to handling means An example of a multitasking device according to the present invention is described in relation to Figures 1 to 14.

[0061] As shown in these drawings, such a multitasking device 1 comprises a frame 2.

[0062] The frame 2 is equipped with means 3 for attaching to a motor handling device (not shown) and is fixed to the motor handling device so that it can be moved at least partially relative to the structure to be processed (not shown).

[0063] These motor handling means are, in particular, A robotic arm and For example, a walking robot that conforms to the principles described in French Patent No. 2809034, For example, a digital grid that follows the principles described in International Publication No. 200349899 and It belongs to the group that includes [this].

[0064] Such fastening means 3 are known in themselves and will not be described. Fastening means 3 may include, for example, a plate and bolt type system, a clamp or cam system, or other quick fastening means.

[0065] The motor handling means can move the multitasking device in space, at least partially (especially if the controller is fixed) with respect to the surface of the structure to be processed, between at least one approach position in which the device is in close proximity to the surface while maintaining a distance from it, and, for example, a docking position in which the device is in contact with the surface for fixing to the surface, if fixing means are used.

[0066] Single outlet spindle The device comprises a single drive spindle 7 that is rotatable and / or translatable along a single axis.

[0067] The apparatus also includes motor means and transmissions for driving the spindle rotatably and / or translatably along its longitudinal axis. These motor means are known in themselves and will not be described in further detail here.

[0068] controller The device typically includes a controller 4 equipped with control and power electronics for controlling and powering the device.

[0069] Preferably, this controller 4 is housed in a cabinet remotely from the frame 2 and stored in a fixed position on site.

[0070] Controller 4 or at least some of its components may be incorporated into frame 2.

[0071] Means for fixing to the structure to be processed (optional) The apparatus may optionally, but preferably, include means 5 for fixing it to the structure to be processed.

[0072] These fastening means can be of various types.

[0073] For example, the fixing means may include a suction cup 51 that is integrated with the frame 2 and can be connected to a vacuum means such as a vacuum pump to improve fixing to the surface of the structure to be processed. These suction cups can be assembled in groups to form a suction pad.

[0074] If no means are used to fix the frame to the structure to be processed, the handling device can provide not only means for positioning the frame relative to the structure to be processed, but also means for properly fixing the frame to the structure to be processed.

[0075] Binding element (optional) The apparatus may optionally include a tubular presser element 6, which is mounted in a parallel manner to the frame 2 and in its extension along the movement axis of the spindle 51.

[0076] The presser element is a hollow tube through which the spindle can pass.

[0077] Such a presser element 6 can be used, for example, during a drilling operation to apply a compressive force to the structure being drilled, in particular to ensure contact between the stack plates and to prevent the formation of burrs (bavures) between these plates during drilling.

[0078] Functional module The device may incorporate multiple functional modules (MF).

[0079] Each of these functional modules MM enables the performance of specific tasks, such as drilling and / or milling operations, riveting operations, temporary fastener installation operations (e.g., stapling), and operations such as applying (or painting) sealant beads to fastening elements (rivets or screws). Other functions, such as threading, can also be envisioned.

[0080] A functional module is, for example, at least, Drilling and / or milling modules, A rivet-supported module (regardless of whether it is painted with sealant or not), Support module of temporary fastener and It belongs to the group that includes [this].

[0081] Temporary fasteners used in the aerospace industry are mechanical components that hold at least two walls together to perform production operations necessary for the final assembly of those walls, such as counter-drilling or screw or rivet fitting.

[0082] As the name suggests, these temporary fasteners are removed once the screws or rivets have fulfilled their function of assembling the wall.

[0083] The temporary fasteners are placed in holes drilled in the wall after the wall has been initially positioned relative to it.

[0084] The temporary fastener requires access to only one side of one of the walls.

[0085] Such functional modules are described in particular in the above-mentioned Patent Documents 1, 2, 3, 4, and 5, which have been filed by the applicant.

[0086] In this embodiment, the apparatus comprises a rivet support module and a temporary fastener support module. However, the apparatus may also comprise multiple rivet support modules or multiple temporary fastener support modules, or multiple modules of one of these modules. For example, the modules may be modules as described in the above-mentioned literature.

[0087] Functional Station The device is equipped with various functional stations. In particular, the device is equipped with: A rivet loading station P1 comprises a rivet supply means 8 such as a drawer (tiroir) or carousel, and a means 9 having a push cylinder 90 in this specification for introducing rivets one by one into a rivet support module 10, A temporary fastener loading station P2 comprises a temporary fastener supply means 11 and a means 19 for introducing temporary fasteners one by one into a temporary fastener support module, A painting station P3 for painting rivets with sealant, comprising means for applying sealant to rivets, wherein the sealant application means includes a painting nozzle 13, and the painting station P3 (in this embodiment, stations P2 and P3 are in the same location, but may be in different locations), Workstation P4 as an extension of the spindle and It is equipped with.

[0088] The paint nozzle 13 is mounted by a cylinder 130 so as to be movable in parallel along an axis perpendicular to the axis of the rivet support module 10. The paint nozzle 13 is also mounted by a motor reducer 131 so as to be movable in parallel along an axis parallel to the axis of the rivet support module 10. The motor reducer 131 can rotatably drive a threaded ring 132 that cooperates with a non-rotatably fixed, freely movable threaded rod 133. The end of the threaded rod 133 is connected to a support 134 that holds the cylinder 130. Thus, the motor reducer 131, the threaded ring 132, and the threaded rod 133 constitute an electric cylinder capable of driving the nozzle support in parallel relative to the piston 182 of a cylinder 180 used to movably drive the pusher element 18, as will be described in more detail later. The body of the cylinder 180 is integrated with the threaded rod 133. The movement of the nozzle and the movement of the pusher element are independent.

[0089] The apparatus includes means for aligning various embedded modules with the spindle 7 in order to perform a task. Such means may include, for example, a carousel 14, a cartridge belt, and the like.

[0090] Means for moving such functional stations and functional modules are described in particular in the above-mentioned Patent Documents 1, 2, 3, 4, and 5, which have been filed by the applicant.

[0091] Means for inspecting compliance of rivets or temporary fasteners The apparatus includes means for inspecting the conformity of rivets or temporary fasteners according to at least one predetermined compliance standard.

[0092] The prescribed compliance standards are, for example, The diameter or length of the rivet or temporary fastener, The regularity of sealant application, the geometric compliance of the application turn, or the diameter of the screw. It can be done this way.

[0093] The compliance inspection means can analyze the appearance of rivets incorporated by rivet support modules or temporary fasteners incorporated by temporary fastener support modules, and estimate the compliance or non-compliance of the rivets or temporary fasteners with respect to the standard appearance.

[0094] In this embodiment, the means for controlling compliance includes at least one camera 150, means for controlling the camera 151, and means for analyzing images captured by the camera 152.

[0095] The means for controlling the camera and the means for analyzing the images captured by the camera can compare the images of the rivets or temporary fasteners captured by the camera with reference images and estimate the compliance / non-compliance of the rivets or temporary fasteners from there.

[0096] When performing the installation operation of rivets or temporary fasteners, the controller 4 controls the supply of rivets or temporary fasteners so that the rivets or temporary fasteners introduced into the rivet support module or temporary fastener support module match the type of rivet or temporary fastener to be placed. For various reasons, it is rare, but possible, that the rivets or temporary fasteners loaded into the rivet or temporary fastener support module may not actually be of the correct type. In this case, the analysis means detects that the image(s) of the rivets or temporary fasteners captured by the camera differ from the reference image and classifies the rivets or temporary fasteners loaded into the corresponding module as non-compliant. If the rivets are painted with sealant, the analysis means detects that the image(s) of the painted rivets captured by the camera differ from the reference image and classifies the painted rivets loaded into the corresponding module as non-compliant.

[0097] In this embodiment, the camera is located at the temporary fastener loading station. However, the camera may be located at another location, in particular at a rivet loading station or another station such as a compliance inspection station.

[0098] Means for discharging non-compliant rivets or temporary fasteners The apparatus includes means for discharging rivets or temporary fasteners identified as non-compliant by inspection means to a waste zone.

[0099] Rivet discharge In this embodiment, the means for discharging non-compliant rivets includes gravity discharge means.

[0100] This means includes a clamp 16, also known as a discharge clamp. This clamp includes at least, The clamp has a gripping position that allows it to grip a non-compliant rivet integrated with the rivet support module, The clamp has an outlet position that allows it to discharge non-compliant rivets into the waste zone (see Figure 3) and It is movable between these two points.

[0101] The clamp 16 is rotatable between these positions along the axis of the module, which is essentially parallel to the axis of the spindle 7.

[0102] A pneumatic cylinder is used to ensure the rotation of the clamp 16 around the shaft 161. For this purpose, the pneumatic cylinder drives a drive system (chaine cinematique) which includes the following components:

[0103] The cylinder 162 is coupled in a parallel manner to a fork section 1612, which has two spaced-apart parallel wing sections 16121. A pin 1611 is located between these wing sections. This pin is held by the support section 1610 itself, which is connected to the pivot axis 161 of the clamp.

[0104] Therefore, when the cylinder 162 is operated, it moves the fork portion 1612 in parallel, pushing the pin 1611. This action on the pin causes the shaft 161 to rotate, and thus the clamp rotates.

[0105] Therefore, when the cylinder extends, the clamp moves to the gripping position, and when the cylinder retracts, the clamp moves to the discharge position.

[0106] Shaft 161 is the piston of cylinder 1600, which allows for parallel movement of the gripper along an axis parallel to the spindle axis.

[0107] In this embodiment, the clamp also includes at least, The retracted position in which the piston 161 enters its chamber 1601, A position in which the head of the rivet, held within the rivet support module by the elastic ring 100, is disengaged, and is taken after the cylinder rod 161 has been moved over a stroke sufficient to allow the rivet head to exit the elastic ring 100 of the rivet support module, in a direction away from the end of the rivet support module and It is possible to translate along the axis of axis 161 between them.

[0108] The clamp comprises two jaws 163, 164 that can move toward and away from each other, and at each of its positions, the clamp has at least The jaws move toward each other to hold the rivet in a clamping position, The jaws move apart from each other, creating a relaxed state in which they grasp or release the rivet. You can take it.

[0109] The two jaws are movable parallel to each other along an axis perpendicular to the axis of the rivet being clamped in the clamp, allowing for switching between the states of one jaw and the other.

[0110] Cylinder 165 allows the jaws to act on each other to switch between the states of the jaws. The cylinder comprises a piston 166 whose rod passes through the axis of translation of the jaws and has at least one inclined portion 167 along a plane perpendicular to a plane inclined with respect to this axis. As the cylinder rod moves away from the chamber of the cylinder, the inclined portion acts on one of the jaws to move away from the other, thereby releasing the clamp. When the cylinder rod retracts, a reverse closing motion occurs, facilitated as necessary by a return spring.

[0111] In one preferred alternative configuration, the end of the cylinder rod has two opposing inclined portions. Each of these inclined portions acts on one of the jaw portions as the cylinder rod moves.

[0112] The clamp can assume a stationary state where it is in the discharged position and relaxed.

[0113] Discharge of temporary fasteners In this embodiment, the means for removing non-compliant temporary fasteners includes suction removal means.

[0114] More precisely, the means for suctioning and discharging non-compliant temporary fasteners includes a discharge manifold 17 and means for generating a vacuum within the manifold, such as a vacuum pump (not shown).

[0115] This manifold 17 is opened at the temporary fastener loading station P2. The manifold 17 enables not only the discharge of non-compliant temporary fasteners but also the supply of temporary fasteners to the loading station. The manifold 17 therefore also partially constitutes means for supplying and introducing temporary fasteners to the temporary fastener support module.

[0116] This manifold is connected to a control unit (not shown) driven by a controller, which in turn connects to multiple storage zones, each storing different types of temporary fasteners. The control unit is also connected to a waste zone.

[0117] The device includes means for initiating the suction and discharge of non-compliant temporary fasteners.

[0118] This starting mechanism includes a pusher element 18 that can be positioned beyond the end of a non-compliant fastener opposite to the end located on the manifold side. The pusher element 18 is mounted by a cylinder 180 so as to be movable in parallel along an axis perpendicular to the spindle 7. The pusher element is mounted so as to be movable in parallel along the axis of the rivet or the temporary fastener, i.e., along the axis of the functional module. For this purpose, the cylinder 180 is integrated with a support 181 that is attached to the end of a piston 182 that is movable in parallel within the chamber 183 of a pneumatic cylinder 184.

[0119] The pusher element 18 can also perform a palpeur function, the purpose of which is to define the starting position of the nozzle when applying sealant to the rivet. Such a function is described in more detail in Patent Document 3. In this embodiment, the pusher element has two functions. The pusher element not only initiates suction discharge, but also acts as a palpeur in the painting station. In its palpeur function, the pusher element moves until it stops in contact with the end of the rivet, which is integrated with a rivet support module positioned in the painting station (in this specification, a temporary fastener loading station) to determine the length of the rivet, in accordance with the principles described in Patent Documents 1, 2, 3, 4, and 5 filed by the applicant, in order to ensure rotational guidance of the rivet and to enable proper painting thereof.

[0120] Alternative forms of emissions In this embodiment, the gravity discharge means enables the discharge of non-compliant rivets, whether painted or not, and the suction discharge means enables the discharge of non-compliant temporary fasteners. In one preferred alternative embodiment, the suction discharge means enables the discharge of non-compliant and unpainted rivets.

[0121] In an alternative configuration, the gravity discharge means may enable the discharge of non-compliant temporary fasteners.

[0122] Alternative configuration In this embodiment, the painting station, the temporary fastener insertion station, and the suction / discharge means are located in the same station. However, they may be arranged separately.

[0123] In this embodiment, the rivet loading station and the gravity discharge means are located in the same station. However, they may be arranged separately.

[0124] 6.2 Operation To perform a task on a structure to be machined, a multi-tasker is first moved using handling means and positioned on the structure to be machined. Marking elements can be pre-installed or placed on the structure to be machined to indicate the location(s) where the task(s) will be performed. These marking elements can be, for example, existing holes.

[0125] These holes are drilled by skilled operators in the positions of rows of holes that will be drilled by the end effector. The number of these holes is roughly one existing hole for every dozens of new holes to be drilled.

[0126] Multiple checks by the operator ensure that these existing holes are perfectly positioned.

[0127] Therefore, existing holes can be used as reference points for positioning end effectors or for installing temporary fasteners, to maintain the relative positions of the parts being assembled and subsequently counter-drilled.

[0128] After positioning the multitasking device at the task location, it is placed in a proximity position that extends at a distance of, for example, several centimeters from the surface of the structure to be processed. The proximity position is such that the spindle axis is perpendicular to the surface of the structure and intersects the surface of the structure to be processed at locations where it is desirable to drill holes or install temporary fasteners or rivets.

[0129] However, due to inaccuracies in aligning the motor handling means to the surface, inspections regarding the possibility of position correction are necessary.

[0130] If the initial marking element is an existing hole, the handling means begins by centering the spindle of the multitasking device to this hole, and then moves the end effector relative to this hole to reach the position of the hole to be drilled. The relative positioning of these existing holes to be drilled is known to the control means of the handling means.

[0131] Means for inspecting the orthogonality of the spindle axis with respect to the surface, such as a camera coupled to a laser that projects a pattern onto the surface of a structure, are implemented to verify whether or not the spindle axis is orthogonal to the surface. If it is not orthogonal, the orientation of the device is changed by handling means to compensate for the inclination of the spindle axis with respect to the surface.

[0132] If the position of the device and the orthogonality of the spindle are correct, the device is moved to its docking position by handling means.

[0133] If necessary, a fixing mechanism, such as a suction cup, is activated to secure the frame to the structure being processed.

[0134] After being fixed in place, the clamping element moves toward the surface of the structure to be machined, pressing against the surface of the structure as needed.

[0135] Once the device is properly positioned and / or secured, modules corresponding to the desired operation are positioned and paired with the spindle axis.

[0136] Rivet installation process Before riveting, holes are drilled in the structure to be processed at the locations where the rivets will be installed. These holes are then chamfered.

[0137] To install the rivet 200, the controller controls the movement of the rivet support module to the rivet loading station.

[0138] The process of introducing a rivet into the rivet support module 10 involves the following steps: A cylinder 402 driven by a controller positions a spool 400 located upstream of the inlet to the rivet support module so that the flexible rivet supply pipe 401 extends from the rivet support module 10. Subsequently, the controller drives the supply and introduction means to introduce the rivet to be installed into the supply pipe 401. The rivet to be installed, with some momentum from the effect of compressed air used to move the rivet into the supply pipe 401, passes through the inlet orifice 403 provided in the spool and arrives in the rivet support module 10, where the rivet stops when it comes into contact with the surface of the discharge clamp oriented toward the outlet of the rivet support module. The clamp is pre-positioned by the controller in a gripping position, a clamped position, and a retracted position. In the retracted position, the clamp 16, which is connected to its cylinder 1600, absorbs the impact of the rivet's arrival. Subsequently, the clamp 16 is rotated to its discharge position by the action of the cylinder 162. The spool 400 is moved by the cylinder 402 so that the rivet push cylinder 90 extends from the rivet support module 10. The rod of the cylinder 90 enters the rivet support module 10 and pushes the rivet 200 so that the head 201 of the rivet 200 engages with the peripheral locking groove 101 of the elastic ring 100 of the module 10.

[0139] Once the rivet is properly positioned in the rivet support module, the controller drives the clamp back to its resting position, i.e., the released and ejected position.

[0140] If it is desirable to paint the rivets with sealant, the controller drives the movement of the rivet support module to the painting station, and then drives the painting means to paint the rivets. Once painting is complete, the controller controls the camera to take at least one image of the rivet, so that the analysis means can verify whether the rivet is compliant or not.

[0141] Even if painting the rivets is undesirable, the controller drives the movement of the rivet support module to the painting station. The controller controls the camera to capture at least one image of the rivets, so that the analysis means can verify whether the rivets are properly painted.

[0142] If the analysis determines that a painted or unpainted rivet is non-compliant, the controller controls the movement of the rivet support module to the rivet loading station. The controller activates the clamp to move it to the gripping position. The controller then controls the switching of the clamp to a tightened position, where the clamp grips the rivet to be discharged. The controller then drives the switching of the clamp to a disengaged position, so as to release the rivet from the elastic ring of the rivet support module. Finally, the controller drives the movement of the clamp to a discharge position, where the clamp is placed in the released position, allowing the non-compliant rivet to be discharged by gravity into its waste zone or directly onto the floor.

[0143] If the analysis determines that painted or unpainted rivets are compliant, the controller controls the movement of the rivet support module in the workstation. The controller operates the spindle so that it is paired with the rivet support module, and then moves the spindle so that the rivet can be installed.

[0144] Once a rivet is installed, the controller drives the spindle to release the pair, and then, if another rivet is to be installed, drives the rivet support module to move to a holding station or rivet loading station.

[0145] Temporary fastener installation procedure To install the temporary fastener 300, the controller controls the movement of the temporary fastener support module to the temporary fastener loading station. The controller then drives the feeding and loading means to introduce the temporary fastener to be installed into the temporary fastener support module. A feeler is then used to stop the temporary fastener at the correct height within the support module. The locking means then locks the temporary fastener into the temporary fastener holder module. Once the temporary fastener is in place in the temporary fastener support module, the controller controls the camera to capture at least one image of the temporary fastener, so that the analysis means can verify whether the temporary fastener is compliant.

[0146] If a temporary fastener is deemed non-compliant, the controller controls the suction operation within the manifold and then controls the movement of the feeler toward the manifold by the pneumatic cylinder 184 over a short distance to provide a pulse and facilitate the suction of the temporary fastener. Simultaneously, the controller drives the manifold to be placed under vacuum to suction and discharge the temporary fastener. The controller also controls the steering device to transport the non-compliant temporary fastener to a desired zone, such as a waste area or storage area, so that the non-compliant temporary fastener can be used later, especially if the non-compliance is due to the introduction of the wrong type of temporary fastener into the module but the temporary fastener has no other functional defects.

[0147] If the analysis determines that the temporary fastener is compliant, the controller controls the movement of the temporary fastener support module to the workstation. The controller operates the spindle to pair with the temporary fastener support module and then moves the spindle so that the temporary fastener can be installed.

[0148] When a temporary fastener is installed, the controller drives the spindle pair release and, if another temporary fastener is desired, drives the temporary fastener support module to move to a storage station or temporary fastener loading station.

[0149] Subsequently, other tasks can be performed at the same location on a different part of the structure being processed.

Claims

1. A multitasking device, a rivet support module capable of receiving a rivet and / or a temporary fastener support module capable of receiving a temporary fastener; means for introducing rivets or temporary fasteners into said rivet support module or said temporary fastener support module at at least one loading station; means for moving said at least one module to a workstation to place rivets or temporary fasteners into holes provided in the structure being machined; At least The device comprises: means for testing compliance of said rivet or temporary fastener according to at least one predetermined compliance standard; means for ejecting rivets or temporary fasteners identified as non-compliant by said inspecting means into a disposal zone; A multitasking device comprising:

2. 2. A multitasking apparatus according to claim 1, wherein the means for checking compliance is capable of analyzing the appearance of the rivet or temporary fastener and estimating its compliance or non-compliance with respect to a reference appearance.

3. the means for checking compliance includes at least one camera, means for controlling the camera, and means for analyzing images captured by the camera; 3. The multitasking apparatus of claim 2, wherein the control means and the analysis means are capable of comparing the image of the rivet or temporary fastener taken by the camera with a reference image and estimating compliance / non-compliance of the rivet or temporary fastener therefrom.

4. A multi-tasking apparatus according to any preceding claim, wherein the means for ejecting non-compliant rivets or temporary fasteners comprises gravity ejection means.

5. 5. A multitasking apparatus according to claim 4, wherein the means for ejecting non-compliant rivets or temporary fasteners includes a clamp movable between at least one gripping position capable of gripping a non-compliant rivet or temporary fastener integral with the rivet or fastener support module and an ejection position capable of ejecting the non-compliant rivet or temporary fastener towards a waste zone, the clamp being capable of assuming a clamped state and a released state in each position.

6. 6. The multitasking device of claim 5, wherein the clamp is rotatably movable between its gripping and release positions along an axis substantially parallel to an axis of the module.

7. The clamp may be configured to have at least: a retracted position in which the clamp extends proximate the outlet end of the rivet support module; the clamp has a disengaged position remote from the outlet end of the rivet support module; 6. The multitasking device of claim 5, wherein the multitasking device is mounted for translation between the first and second axes.

8. The clamp has at least: a retracted position in which the clamp extends proximate the outlet end of the rivet support module; the clamp has a disengaged position remote from the outlet end of the rivet support module; 7. The multitasking device of claim 6, wherein the multitasking device is mounted for translation between the first and second axes.

9. A multitasking device according to any one of claims 1 to 3, wherein the means for ejecting paintless rivets or temporary fasteners includes suction ejection means.

10. 10. The multi-tasking apparatus of claim 9, wherein said suction exhaust means for exhausting paintless rivets or temporary fasteners includes an exhaust manifold and means for creating a vacuum within said manifold.

11. 11. The multitasking apparatus of claim 10, wherein the means for introducing temporary fasteners into the module includes the manifold.

12. 10. The multitasking apparatus of claim 9, incorporating means for actuating the suction evacuation with a pusher element positionable over an end of the non-compliant rivet or fastener opposite the end located on the manifold, the pusher element being mounted for translation along an axis of the rivet or temporary fastener.

13. A multitasking apparatus according to any one of claims 1 to 3, comprising a painting station having means for applying a sealant to the rivets, the sealant application means including a painting nozzle.

14. A coating station having means for applying a sealant to the rivet, the sealant application means including a coating nozzle; 5. The multi-tasking device of claim 4, wherein the gravity ejection means is capable of ejecting non-compliant painted rivets.

15. A coating station having means for applying a sealant to the rivet, the sealant application means including a coating nozzle; 10. The multi-tasking device of claim 9, wherein the suction ejection means is capable of ejecting non-compliant paintless rivets or non-compliant temporary fasteners.

16. 14. The multitasking device of claim 13, wherein the painting station comprises a feeler capable of determining the length of a rivet integrated with a support module disposed at the painting station.

17. 17. The multitasking device of claim 16, wherein the pusher element is the feeler.

18. configuring a multitasking device comprising at least one rivet support module and one temporary fastener support module; the workstation comprises a single spindle translatably and / or rotatably drivable along a single axis; the apparatus includes means for individually feeding the rivet support module and the temporary fastener support module to the workstation; 4. A multitasking apparatus according to claim 1, wherein the single spindle can cooperate with a rivet support module or a temporary fastener support module located at the workstation to enable the installation of rivets or temporary fasteners.

19. The means for ejecting rivets or temporary fasteners identified as non-compliant includes suction ejection means.

20. The multi-tasking machine of claim 18, wherein the painting station, temporary fastener loading station, and non-compliant rivet or temporary fastener suction and extraction means are located at the same station.

20. The means for ejecting rivets or temporary fasteners identified as non-compliant includes gravity ejection means; 20. The multi-tasking apparatus of claim 18, wherein the rivet loading station and the gravity ejection means for the non-compliant rivets or temporary fasteners are located at the same station.

21. The frame and means for mounting said frame to motor handling means capable of moving said multi-tasking device at least partially in space relative to a structure to be machined; means for positioning and / or securing the multitasking device to the structure to be machined; The multitasking device according to any one of claims 1 to 3, comprising:

22. A method for performing a task using a multitasking device according to any one of claims 1 to 3, comprising: testing the compliance of the rivet or temporary fastener according to at least one predetermined compliance criterion; ejecting any rivets or temporary fasteners identified as non-compliant by said inspecting means into a disposal zone; A method comprising:

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