Apparatus for carrying out at least one task on a structure to be processed, comprising a telescopic pressing element

Abstract

The invention relates to a device for performing at least one task on a structure to be processed, comprising a frame 2, means 3 for mounting the frame 2 on motorized handling means capable of moving said device at least in a part of space relative to the structure to be processed, means 5 for positioning and / or fixing said device relative to said structure, a spindle 7 capable of rotating and / or translating along the same axis to perform said at least one task, and a pressure element 6 coaxial with the spindle 7 and capable of exerting a pressure force against a surface of said structure when said device is fixed to said structure by fastening means 3, said pressure element 6 comprising a first element 61 and a second element 62 connected by a ball joint 630, said second element 62 having a free end 620 capable of contacting said surface, said first element 61 being translatable along the axis of the spindle 7 such that when pressed against said surface, said second element 62 is oriented perpendicular to said surface.

Description

[Technical field]

[0001] 1. Field of the invention The field of the invention is that of design and manufacture of machines implemented in industry to carry out various tasks on structures to be processed, in particular for the aeronautical industry. [Background technology]

[0002] 2. Prior art Many machines are typically implemented to perform various tasks or operations on the structure being fabricated, such as drilling, milling, installing temporary fasteners, coating rivets with a sealant, and installing rivets into holes drilled in the structure, or any other operation.

[0003] For example, mobile machines have been developed to allow tasks to be performed on complex structures such as aircraft.

[0004] These devices include in particular the type comprising a tool arranged at the end of a robot arm which is steered and moved relative to the structure to be processed, said device being provided with fastening means, for example suction cups, which make it possible to fasten the tool to the structure to be processed in order to absorb the forces resulting from the execution of the task and to reduce the load on the robot arm.

[0005] For example, this type of device may be equipped with a drilling device to carry out drilling operations.

[0006] Some devices, known as multitasking devices, may contain several functional modules, each specialized to perform a particular task.

[0007] Such an apparatus may have a single output spindle which may be rotationally and / or translationally driven along the same axis via a motor and control means.

[0008] This single spindle can alternately cooperate with various mounted modules to enable specialized tasks to be performed.

[0009] Several multitasking devices are described in patent applications filed by the applicant, including US Pat. No. 5,399,433, US Pat. No. 5,499,463, US Pat. No. 5,523,631, US Pat. No. 5,623,364, and US Pat. No. 5,793,896.

[0010] In the field of aeronautics, it is common that holes must be drilled into structures to be machined, including stacks of sheets, which must then be joined by inserting rivets into the holes. In this case, the drilling device is often equipped with a pressure element. Such a pressure element, which generally extends along the axis of the output spindle carrying the cutting tool, is translatable along this axis so as to be pressed against the structure to be machined before the hole is drilled. The implementation of the pressure element ensures that the sheets remain pressed together during drilling, preventing chips from being pinched between the sheets during drilling.

[0011] The presser element can be fixed to the device by means of a ball-joint, the axis of which is the same as the axis of the spindle.

[0012] Such a ball joint assembly can have the advantage that by measuring the inclination of the axis of the pressure element relative to the axis of the spindle, it can be ensured that the axis of the spindle is actually perpendicular to the surface of the structure to be machined, which is when the pressure element abuts the surface of the structure to be machined and the inclination of the axis of the pressure element relative to the axis of the spindle is zero.

[0013] Also, for reasons of overall size and cost, it is generally desirable to implement a small robotic arm to move the multi-tasking device, and to do this, the device is secured to the structure being processed using fastening means such as suction cups, so that the forces from performing the tasks are absorbed by the structure being processed rather than by the robotic arm.

[0014] This robot arm allows, when using the pressure element, to bring the pressure element into abutment against the structure to be processed. In order to reduce the size of the robot arm when the pressure element is implemented, it may be useful to mount the pressure element translationally along the axis of the spindle and to implement specific drive means. Such a mounting may also allow the measurement of the pressure force exerted by the pressure element against the structure to be processed.

[0015] In addition to checking the correctness of the spindle with respect to the structure to be processed and measuring the pressure of the pressing elements with respect to the structure to be processed, e.g. - the initial distance between the end effector and the surface at the moment the pressure element contacts the surface - the depth of movement of the surface at the moment the force of the pressure element is applied to the surface It may be useful to know other parameters such as

[0016] However, to date, there is no multitasking device with presser elements that can perform all of these functions in a simple, efficient and compact manner.

[0017] Thus, there is a need to improve multitasking devices in this regard.

[0018] In this way, the use of the presser elements can be improved. [Prior art documents] [Patent documents]

[0019] [Patent Document 1] International Application No. PCT / EP2020 / 069158 [Patent Document 2] International Application No. PCT / EP2020 / 069159 [Patent Document 3] International Application No. PCT / EP2020 / 069160 [Patent Document 4] International Application No. PCT / EP2020 / 069161 [Patent Document 5] International Application No. PCT / EP2020 / 069162 Summary of the Invention [Problem to be solved by the invention]

[0020] 3. Objective of the Invention One object of the present invention is, inter alia, to provide an effective solution to at least some of these various problems.

[0021] In particular, according to at least one embodiment, it is an object of the present invention to provide a technique for improving a multitasking device provided with a presser element.

[0022] Among other things, according to at least one embodiment, it is an object of the present invention to provide a multitasking device provided with a presser element that is versatile in terms of the functionality that can be provided.

[0023] Another object of the invention, according to at least one embodiment, is to make it possible to check the orthogonality of the spindle with respect to the surface of the structure to be machined.

[0024] Another object of the present invention, according to at least one embodiment, is to provide such a technique that allows for control of the pressure exerted by a presser element against a surface against which the presser element is pressed.

[0025] Another object of the invention, according to at least one embodiment, is to be able to evaluate the initial distance between the multitasking device and a surface of a structure at the moment when the presser element comes into contact with this surface.

[0026] Another object of the invention, according to at least one embodiment, is to be able to assess the depth of movement of a surface when the force of a presser element is applied to the surface.

[0027] Another object of the present invention, according to at least one embodiment, is to provide a technique that is reliable, robust and compact. [Means for solving the problem]

[0028] 4. Disclosure of the Invention To this end, the present invention provides an apparatus for performing at least one task on a structure to be processed, the apparatus comprising: A frame, means for fastening said frame to motor-driven handling means capable of moving said device at least in part of space relative to the structure to be processed; means for positioning and / or fixing said device to said structure to be processed; - a spindle that can be driven in rotation and / or translation along the same axis to perform said at least one task; a presser element coaxial with the spindle and capable of applying a pressure force against the surface of the structure to be processed when the device is fixed to the structure by the fastening means; It is equipped with The presser element comprises a first element and a second element connected by a ball joint, the second element having a free end capable of contacting the surface, and the first element is translatable along an axis of the spindle such that when pressed against the surface, the second element is oriented perpendicular to the surface.

[0029] Thus, according to this aspect of the invention, the invention is based on implementing a telescopic presser element having a ball joint at its end.

[0030] The combined implementation of telescopic holding elements and ball joints allows, inter alia, - Check the correctness of the spindle axis with respect to the surface of the structure to be machined -Evaluating the force exerted by the pressure elements on the structure to be processed -Evaluating the initial distance between the end effector and the surface at the moment when the presser element contacts the surface. -Evaluating the depth of movement of a surface when the force of a pressure element is applied to the surface It is further possible to provide a versatile device that performs multiple functions such as:

[0031] Thus, by implementing the present invention, a multitasking device is provided with a compact and versatile presser element.

[0032] According to one possible feature, the device according to the invention comprises means for translating said first element.

[0033] When the apparatus according to the invention is implemented for carrying out a method for performing at least one task, these means may enable the step of translating said first element to be performed.

[0034] According to one possible feature, the means for translating drive include a screw-nut system.

[0035] According to one possible feature, the screw-nut system comprises a threaded portion provided around the periphery of the first element and a rotatably movable threaded ring of a complementary shape, the translational driving means comprising means for rotationally driving the ring relative to the rotatably fixed first element, the ring being translationally fixed to the frame along the axis.

[0036] Thus, the method according to the invention may comprise the step of rotationally driving the ring relative to the rotatably fixed first element, the ring being translationally fixed relative to the frame along the axis.

[0037] According to one possible feature, the means for rotating the ring include a motor connected to the ring by a cascade of pinions.

[0038] According to one possible characteristic, the device according to the invention comprises means for measuring at least one piece of information representative of a thrust along the axis of said spindle generated by said second element against said surface.

[0039] Thus, the method according to the invention may comprise the step of measuring at least one piece of information representative of a thrust along the axis of the spindle generated by the second element against the surface.

[0040] According to one possible feature, the device according to the invention is characterized in that said thrust is a contact value corresponding to a thrust value at the moment the free end of the second element contacts the surface; and The pressing force of the above structure to be processed; A means for detecting when the

[0041] The method according to the invention therefore comprises the steps of: a contact value corresponding to a thrust value at the moment the free end of the second element contacts the surface; and The pressing force of the above structure to be processed; The method may include detecting when a

[0042] According to one possible characteristic, the device according to the invention comprises means for measuring at least one piece of information representative of the inclination of said second element relative to the axis of said spindle.

[0043] Thus, the method according to the invention may comprise a step of measuring at least one piece of information representative of the tilt of said second element relative to the axis of said spindle.

[0044] According to one possible characteristic, the means for measuring at least one piece of information representative of the tilt include distance sensors, for example of the inductive or laser type, carried by the frame and evenly distributed around the second element, the sensors being capable of measuring the radial movement of the second element relative to the frame.

[0045] Thus, the method according to the invention may comprise the step of measuring the radial movement, in the plane of the sensor, of said second element relative to the frame.

[0046] According to one possible feature, the first element and the second element are tubular.

[0047] According to one possible characteristic, a reference frame is associated with said frame, said device comprising means for measuring a translational movement of said first element relative to the reference frame of said frame along the axis of said spindle.

[0048] Thus, the method according to the invention may comprise the step of measuring a translational movement of the first element relative to a reference frame of the frame along the axis of the spindle.

[0049] According to one possible characteristic, the means for measuring the translational movement of the first element relative to the reference frame of the frame include a sensor for measuring the angle of rotation of a rotor of the motor.

[0050] The method according to the invention may therefore comprise the step of measuring the angle of rotation of the rotor of said motor.

[0051] According to one possible feature, the device according to the invention comprises means for determining the distance between a surface of the structure to be processed directed towards the device along a direction parallel to the axis of the spindle and a reference plane of the frame in the reference frame associated with the frame, the determining means determining the distance when the device is fixed to the structure to be processed by the fixing means by taking into account the angle value provided by the angle sensor at the moment when the detecting means detects that the thrust has reached the contact value corresponding to the thrust value at the moment when the free end of the second element contacts the surface.

[0052] Thus, the method according to the invention may include a step of determining a distance between a surface of the structure to be processed directed towards the device along a direction parallel to the axis of the spindle and a reference plane of the frame in the reference frame associated with the frame, the determining step consisting in determining the distance when the device is fixed to the structure to be processed by the fixing means by taking into account the angular value at the moment when the thrust reaches the contact value corresponding to the thrust value at the moment when the free end of the second element contacts the surface.

[0053] According to one possible alternative, the device according to the invention comprises means for measuring the deformation of the structure to be processed under the pressing force, said deformation corresponding to a translational movement of a first element between several moments at which the detection means detects the transition of the thrust force value from the contact value to the pressing force value.

[0054] Thus, the method according to the invention may include a step of measuring the deformation of the structure to be processed under the pressing force, said deformation corresponding to a translational movement of a first element between several moments when the value of the thrust force changes from the contact value to the pressing value.

[0055] According to one possible alternative, the device according to the invention comprises: at least two functional modules, each of said functional modules comprising at least one moveable member capable of enabling the performance of a given task; a single drive spindle that is rotatable and / or translatable along the same axis and that can cooperate individually with said movable members to impart rotational and / or translational motion to the movable members to enable them to perform a given task; It is equipped with:

[0056] According to one possible feature, the functional module comprises at least: A drilling module; a module for installing a sealant-coated rivet; A module for installing temporary fasteners; It belongs to a group including:

[0057] The invention also includes a method for performing at least one task on a structure to be processed by the above-mentioned apparatus comprising a presser element comprising a first element and a second element connected by a ball joint, the method comprising a step of translating the first element along an axis of the spindle such that the second element is oriented perpendicular to the surface when pressed against the surface.

[0058] 5. Description of the drawings Further features and advantages of the invention will become apparent on reading the following description of particular embodiments, given purely as illustrative and non-limiting examples, and the accompanying drawings, in which: [Brief description of the drawings]

[0059] [Figure 1] 1 is a perspective view of an example of a multitasking device according to the present invention; [Diagram 2] FIG. 2 is a partial cross-sectional view taken along a plane passing through the axis of the spindle of the device of FIG. 1; [Diagram 3] FIG. 2 is a detailed view of FIG. 1, focusing on the pressing element. [Figure 4] 4 is a cross-sectional view of FIG. 3 taken along a plane perpendicular to the axis of the spindle; [Diagram 5] FIG. 4 is a detailed view of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0060] 6. Description of Specific Embodiments 6.1. Structure (Means for fastening to handling means) An example of a multitasking device according to the present invention will be described with reference to FIGS.

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

[0062] This frame 2 is provided with means 3 for fastening to a motor-driven handling device (not shown) intended to be fixed so as to be at least partially movable relative to the structure to be processed (not shown).

[0063] These motor-driven handling means are, inter alia: -A robotic arm; a walking robot according to the principles described, for example, in patent document FR 2 809 034; - Digital grid according to the principle described in the patent document WO 200349899, ​​for example It belongs to a group including:

[0064] Such fastening means 3 will not be described since they are known per se: for example, they may include plate and bolt type systems, quick fastening means of the collar type, clamp or cam systems, etc.

[0065] The motorized handling means are capable of moving the multitasking devices in space at least partially (in particular when the controller is fixed) relative to the surface of the structure to be processed between at least one approach position in which the device is close to the surface but distant from it, and a docking position in which the device is mounted relative to the surface, for example for the purpose of being fixed to the surface if fixing means are implemented. They can also place the multitasking devices in a storage position when they are not being used to perform a task.

[0066] (single output spindle) The apparatus comprises a single drive spindle 7 which is rotatable and / or translatable along a single axis.

[0067] The device also comprises motor and transmission means MT making it possible to impart to the spindle a rotational and / or translational movement along its longitudinal axis, these motor and transmission means being known per se and will not be described here in more detail.

[0068] (controller) The device conventionally comprises a controller 4 which comprises the control and power electronics which control and power the device.

[0069] The controller 4 is preferably housed in a cabinet separate from the frame 2 and stored in a fixed location on-site.

[0070] Even so, the controller 4 or at least some of its components may be carried on the frame 2.

[0071] (Means for fixing to the structure to be processed (optional)) The device may optionally but preferably comprise means 5 for fastening to the structure to be processed.

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

[0073] For example, the fastening means may comprise suction cups 51 fixed to the frame 2 and connectable to vacuum means, such as a vacuum pump, to improve fastening of the structure to be processed to the surface. These suction cups may be assembled in groups to form a suction pad.

[0074] In the case where no fixing means is implemented on the structure to be processed, the handling device can comprise not only a means for positioning the frame relative to the structure to be processed, but also a means for fixing the frame in a predetermined position relative to the structure to be processed.

[0075] (Function Module) The device may be equipped with multiple functional modules MF.

[0076] Each of these functional modules MF makes it possible to carry out a specific task, such as, for example, drilling and / or milling operations, setting rivets, setting temporary fasteners (e.g. staples) or applying (or coating) a bead of sealant to a fastening element (rivet or screw). Other functions, such as screwing, are also contemplated.

[0077] The functional module may, for example, include at least a drilling and / or milling module, a module for installing rivets, whether or not coated with a sealant; - A module for installing temporary fasteners; It belongs to a group including:

[0078] Temporary fasteners used in the aeronautical industry are mechanical elements that make it possible to clamp at least two walls together for the purpose of carrying out manufacturing operations necessary for the final assembly of these walls, such as countersinking or setting screws or rivets.

[0079] As the name suggests, these temporary fasteners are removed once the screws or rivets have performed their function of assembling the walls.

[0080] The temporary fasteners are placed in the holes in the wall after initial relative positioning of the walls.

[0081] The temporary fasteners only require access to one side of one of the walls.

[0082] Such functional modules are described inter alia in patent documents filed by the applicant, such as US Pat. No. 5,399,433, US Pat. No. 5,499,623, US Pat. No. 5,599,637, US Pat. No. 5,599,703, and US Pat. No. 5,620,637.

[0083] The apparatus comprises means 12 for aligning the various mounted modules with the spindle 7 in order to perform the tasks. Such means may include, for example, a carousel, a cartridge belt, etc.

[0084] (Pressing element) The device comprises a tubular pressure element 6 which is mounted for translational movement relative to the frame 2 along the movement axis of the spindle 7 and which is in the extension of the spindle 7. The pressure element is therefore coaxial with the spindle. Insofar as the pressure element 6 is tubular, the spindle can translate inside the pressure element.

[0085] Such a pressure element 6 can be used, for example, during a drilling operation to exert a compressive force on the structure to be drilled and, inter alia, to ensure contact between the plates of the stack and to avoid chipping and / or the formation of burrs between these plates during drilling.

[0086] The presser element 6 comprises a first element 61 and a second element 62 connected by a ball-and-socket joint 630 along the axis of the spindle.

[0087] The second element 62 has a free end 620 capable of contacting the surface of the structure to be processed.

[0088] The first element 61 is translatable along the axis of the spindle such that the second element 62 is oriented perpendicular to the surface when pressed against the surface.

[0089] The presser element comprises an intermediate element 63. The intermediate element 63 comprises an end 631 directed towards the frame 2 to which it is rigidly fixed. The intermediate element 63 comprises an opposite end 632 directed towards the free end 620 of the second tubular element 62. The first element 61 is mounted inside the intermediate element so as to be translationally slidable along the axis of the spindle, while being rotatably stationary along this axis. The intermediate element 63 is thus a means for translatingly guiding the first element 61.

[0090] The presser element comprises a ring 64, which is threaded, which is connected to the intermediate element by a pair of ball bearings 65, thereby mounting the ring rotatably movable but translationally stationary along the axis of the spindle.

[0091] The first tubular element 61 is provided with a threaded portion on its periphery which cooperates with a threaded portion of the ring, said threaded portion and said threaded portion forming a screw-nut system.

[0092] The device comprises means for driving the ring in rotation. These means for driving in rotation include a motor 8, the rotor of which comprises a shaft 81 connected to the ring 64 by a cascade of spur pinions 82, the ring carrying the pinions around its periphery. Other motor and transmission types can be implemented for driving the ring in rotation, for example a belt transmission.

[0093] The screw-nut system, the cascade of pinions and the motor constitute the means for driving the first tubular element 61 in translation.

[0094] The motor 8 includes an angle sensor 83 capable of measuring the rotation angle of the rotor relative to the stator.

[0095] (Measurement of the thrust exerted by the pressure element) In one embodiment, the device comprises means for measuring at least one piece of information representative of the thrust force along the axis of the spindle generated by the second element 62 of the presser element 6 on the surface of the structure to be processed.

[0096] In this embodiment, these measuring means include a force sensor 9 comprising a strain gauge disposed on the first element 61. Alternatively, other types of force sensors may be implemented.

[0097] The device is a contact value corresponding to the thrust value at the moment when the free end of the second element contacts the surface of the structure to be machined; -Pressure value of the structure to be processed and The thrust sensor further comprises means 10 for detecting the thrust reaching

[0098] The contact force value is the force value recorded as it changes from zero to a non-zero value.

[0099] The pushing force value is a predetermined value at which it is desired to apply the thrust force.

[0100] Possible uses of this data are discussed in more detail below.

[0101] (Determination of the deformation of the structure to be processed under the influence of the thrust applied by the clamping element) In one embodiment, the device comprises means 11 for measuring the deformation of the structure to be processed under said pressing force.

[0102] The deformations measured by these measuring means correspond to the translational movements of the first element 61 during several instants at which the means for detecting detect the transition of the thrust value from a contact value to a pressing value.

[0103] (Measurement of the inclination of the presser element) In one embodiment, the device comprises means 12 for measuring at least one piece of information representative of the tilt of the second element 62 relative to the axis of the spindle.

[0104] In this embodiment, the means for measuring at least one piece of information representative of the tilt include an inductive sensor 120. Alternatively, they may be laser sensors or the like.

[0105] These inductive sensors are carried by the frame, are evenly distributed around the second element 62 and are capable of measuring the radial movement of the second element 62 relative to the first element 61. The number of these sensors is preferably three. This radial movement is measured in a median plane PM of the sensors, which is spaced a value L from the pivot point CP of the first presser element 61. The radial movement is not necessarily in the plane of one of the sensors and is therefore calculated from the signals provided by two of the sensors and possibly correlated with a signal from a third sensor. Using said signals, the eccentricity of the section of the presser element located in the median plane of the sensors and the orientation of the movement of said section in the median plane are known.

[0106] It is therefore possible to know the value of the tilt and the orientation of the plane in which the tilt occurs. The calculation of the tilt is based on geometric rules known in the state of the art and will not be described in detail here.

[0107] By implementing these means for measuring the inclination of the presser element it is possible to determine whether the presser element is coaxial or inclined with respect to the spindle.

[0108] A maximum value for the tilt is predefined, and if the actual tilt is less than this value, the tilt is simply recorded and drilling continues, if the actual tilt is greater than the predefined value, the positioning of the end effector relative to the surface to be machined is corrected.

[0109] When the actual tilt is zero, the spindle is perpendicular to the surface of the structure being machined.

[0110] (Measurement of the output distance of the clamping element) In one embodiment, a reference frame is associated with the frame, one of its three axes being parallel to the axis of the spindle, and the origin can be located at the intersection between the axis of the spindle and a reference plane of the frame of the end effector that is perpendicular to the axis of the spindle.

[0111] In this case, the device comprises means 13 for measuring the translational movement of a first element 61 of the presser element 6 relative to the reference frame of the frame along the axis of the spindle.

[0112] In this embodiment, these means for measuring the translational movement of the first element relative to the reference frame of the frame include a sensor measuring the rotation angle of the rotor of a motor mounted to drive the ring 64 in rotation and thus the presser element 6 in translation.

[0113] Thus, using the angle value provided by the motor's angle sensor, the distance between the free end of the second element 62 of the presser element and the origin of the reference frame can be calculated according to the following formula: Distance surface / origin = measured angle x constant 1 + constant 2

[0114] Constants 1 and 2 are determined from the geometric characteristics of the end effector, including the pitch of the screw-nut system described above, the transmission ratio between the motor and the ring, the angular position of the motor's angle sensor corresponding to the zero angle, etc.

[0115] (Determination of the distance between the surface of the structure to be processed and the device) In one embodiment, the device has means 14 for determining the distance, in a direction parallel to the axis of the spindle, between a surface of the structure to be processed directed towards the device and a reference plane of a frame in a reference frame associated with said frame.

[0116] In this case, the aforementioned reference frame for measuring the output distance of the presser element can be used to determine the distance between the surface of the structure to be processed and the device.

[0117] These determining means are able to determine this distance when the device is fixed to the structure to be processed by the fixing means, for which purpose they determine this distance according to the following formula, taking into account the angle value provided by the angle sensor 83 at the moment when the means for detecting detect that the thrust has reached a contact value corresponding to the thrust value at the moment when the free end of the second element contacts the surface of the structure to be processed: Distance surface / frame = measured angle x constant 3 + constant 4

[0118] Constants 3 and 4 are determined from the geometric properties of the end effector, including the pitch of the screw-nut system described above, the transmission ratio between the motor and the ring, and the angular position of the motor angle sensor that corresponds to an angle of zero.

[0119] 6.2. Operation To perform a task on the structure to be processed, the handling means is first implemented to move the multitasking device to a location on the structure where the task has to be performed.

[0120] This first approach is based on the fact that the control means of the handling means know the geometry of the structure to be processed and are therefore able to position the end effector over the location where the hole has to be made.

[0121] At the end of this first procedure, the multitask machine is in a position such that the axis of the hole to be formed and the axis of the spindle are substantially coaxial, said machine remaining at a certain distance from the surface of the structure to be treated.

[0122] However, due to various inaccuracies of the handling means and the structure, the position of the end effector relative to the structure must be improved by using alignment elements that are pre-installed or disposed on the structure to be processed to identify the position (or positions) at which the task must be performed.

[0123] A means for controlling the orthogonality of the spindle axis with respect to the surface, for example a camera mounted coaxially with the spindle and linked to a laser projecting a pattern onto the surface of the structure, is implemented to check whether the spindle axis is orthogonal to the surface, and if not, the orientation of the device is changed by the handling means to compensate for the tilt of the spindle axis with respect to the surface.

[0124] Any misalignment of the axis of the spindle relative to the alignment element can also be determined by using the camera and corrected accordingly by moving the multitasking device parallel to the surface.

[0125] If the initial alignment element is an existing hole, the handling means first aligns the end effector spindle with the center of the hole and then moves the multitasking device relative to the hole to the location of the hole to be formed, the relative positioning of the holes being known to the control means of the handling means.

[0126] Once the position of the device and the orthogonality of the spindle are correct, the device is moved by the handling means in a direction perpendicular to the surface from its approach position to its docked position.

[0127] The fastening means, for example suction cups, are activated as required to secure the frame to the structure to be processed.

[0128] After fastening, the presser element is moved towards the surface of the structure to be processed in order to press it against the surface of the structure to be processed. For this purpose, the motor 8 is activated to drive the ring 64 in rotation. Under the influence of the rotation of the ring 64, the first element 61 of the presser element translates along the axis of the spindle towards the surface of the structure to be processed. The free end 620 of the second element 62 gradually comes into contact with the surface, so as to induce, by a ball-joint effect, a bias of the end 620 of the second element 62 towards the surface of the structure to be processed.

[0129] During deployment of the pressure element 6, the means for measuring the translational movement of the pressure element measure the rotation angle of the motor.

[0130] The force measuring means measures the force until it detects the moment when the value of the force exerted by the presser element on the surface reaches a contact value.

[0131] The means for determining the distance between the surface of the structure to be processed that is directed towards the apparatus and the reference plane of the frame in a direction parallel to the spindle axis determines this distance taking into account the angle value provided by the angle sensor at the moment when the means for detecting detects that the thrust has reached a contact value that corresponds to the thrust value at the moment when the free end of the second element contacts the surface.

[0132] By knowing the distance of the deployment of the presser elements and / or the distance between the surface of the structure to be processed and the reference plane of the frame, it is possible to ensure that the device is correctly positioned relative to the surface. If the deployment is too small or too large with respect to the theoretical relative position of the device relative to the surface, this may mean that the device is actually positioned incorrectly and that the position of the device has to be corrected after the fastening means have been deactivated. In this case, the controller controls the device to make the necessary position corrections.

[0133] The pressure elements continue to be deployed until the force measuring means detects that the thrust has reached a predetermined thrust value which corresponds to the desired pressure to be applied against the surface of the structure to be machined.

[0134] The tilt measuring means determines the tilt of the presser element relative to the axis of the spindle.

[0135] Alternatively, the inclination of the axis of the presser element relative to the axis of the spindle is measured, and - if the slope is less than a first predetermined value, drilling is performed and the value of the defect (i.e. the slope) is recorded; If the tilt is greater than a second predetermined value, the process of positioning the device is repeated.

[0136] The means for measuring the deformation of the structure to be processed determine the deformation occurring in the structure to be processed under the effect of the pressure exerted by the presser element when the thrust reaches the pressing value, which corresponds to the translational movement of the first element 61 during the several instants detected by the means for detecting the transition of the thrust value from the contact value to the pressing value. This deformation can be compared with a reference value to ensure that the deformation imparted to the structure to be processed is suitable.

[0137] The module corresponding to the desired task to be performed is placed on the axis of the spindle and aligned therewith.

[0138] The spindle is then moved to perform the desired operation, such as drilling and / or milling, setting coated or uncoated rivets, setting temporary fasteners, etc.

[0139] Once the operation is completed, the spindle is disengaged from the functional module and the functional module is moved so that it is no longer within the axis of the spindle.

[0140] Another task (eg, placing a rivet in a hole) can then be performed at the same location or at another location on the structure being machined.

Claims

1. 1. An apparatus for performing at least one task on a structure to be machined, comprising: The frame and means for fastening the frame to motor-driven handling means capable of moving the apparatus at least partially in space relative to the structure to be machined; means for positioning and / or securing said frame to said structure to be machined; a spindle that can be driven in rotation or translation along the same axis to perform said at least one task; a presser element coaxial with the spindle and capable of applying a pressure force to the surface of the structure to be processed when the device is fixed to the structure by the fastening means; It is equipped with the presser element comprises a first element and a second element connected by a ball-and-socket joint, the second element having a free end capable of contacting the surface, the first element being translatable along the axis of the spindle such that when pressed against the surface, the second element is oriented perpendicular to the surface.

2. The apparatus of claim 1 , further comprising means for translating the first element.

3. 3. The apparatus of claim 2, wherein the means for translating comprises a screw-nut system.

4. 4. The apparatus of claim 3, wherein the screw-nut system comprises a threaded portion provided around the periphery of the first element and a complementary shaped, rotatably movable threaded ring, and the translational driving means comprises means for rotationally driving the ring relative to the rotatably fixed first element, the ring being translationally fixed relative to the frame along the axis.

5. 5. The apparatus of claim 4, wherein said rotational driving means includes a motor connected to said ring by a cascade of pinions.

6. 2. The apparatus of claim 1, further comprising means for measuring at least one piece of information representative of a thrust force along the axis of the spindle generated by the second element against the surface.

7. The thrust is a contact value corresponding to a thrust value at the moment the free end of the second element contacts the surface; and The pressing force of the structure to be processed; 7. The apparatus of claim 6, further comprising means for detecting when

8. 2. The apparatus of claim 1, further comprising means for measuring at least one piece of information representative of tilt of said second element relative to said axis of said spindle.

9. 9. The apparatus of claim 8, wherein the means for measuring at least one piece of information representative of the tilt include distance sensors carried by the frame and distributed evenly around the second element, the sensors being capable of measuring radial movement of the second element relative to the frame.

10. The device of claim 1 , wherein the first element and the second element are tubular.

11. 2. The apparatus of claim 1, wherein a reference frame is associated with said frame, said apparatus comprising means for measuring translation of said first element relative to said reference frame of said frame along said axis of said spindle.

12. An apparatus as described in claim 6, comprising a reference frame associated with the frame, the apparatus comprising means for measuring translational movement of the first element relative to the reference frame of the frame along the axis of the spindle, the means for measuring the translational movement of the first element relative to the reference frame of the frame including a sensor for measuring the rotational angle of the rotor of the motor.

13. An apparatus as described in claim 6, comprising a reference frame associated with the frame, the apparatus comprising means for measuring the translational movement of the first element relative to the reference frame of the frame along the axis of the spindle, the means for measuring the translational movement of the first element relative to the reference frame of the frame including a sensor for measuring the rotation angle of the rotor of the motor, the apparatus comprising means for determining a distance between a surface of the structure to be machined facing the apparatus along a direction parallel to the axis of the spindle and a reference surface of the frame in the reference frame associated with the frame, the determining means determining the distance when the apparatus is fixed to the structure to be machined by the fixing means by taking into account the angle value provided by the angle sensor at the moment when the detecting means detects that the thrust has reached a contact value corresponding to the thrust value at the moment the free end of the second element contacts the surface.

14. 7. The apparatus according to claim 6, further comprising means for measuring deformation of the structure to be machined under a pressing force, the deformation corresponding to the translational movement of the first element between several instants detected by the means for detecting a transition of the thrust force value from a contact value to a pressing value.

15. the device is of a multitasking type; at least two functional modules, each of said functional modules comprising at least one movable member capable of enabling the performance of a given task; a single drive spindle that is rotatable and / or translatable along the same axis and that can individually cooperate with said movable member to impart rotational and / or translational motion to said movable member to enable said movable member to perform said given task; The apparatus of claim 1 , comprising:

16. The functional module includes at least a drilling module; a module for installing sealant-coated rivets; A module for installing temporary fasteners and 16. The device according to claim 15, which belongs to the group comprising:

17. A method of performing at least one task on a structure to be machined by an apparatus according to any one of claims 1 to 16, comprising a presser element having a first element and a second element connected by a ball-and-socket joint, the method comprising a step of translating the first element along the axis of the spindle so that the second element is oriented perpendicular to the surface when pressed against the surface.

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