Coating Device

Abstract

The present invention relates to a device for coating a fastener (216) with a coating material, said device comprising: - means for dispensing said coating material having at least one dispensing nozzle (1050); - holding means for holding said fastener; - drive means for providing relative movement of said fastener and said dispensing nozzle relative to each other; and - control means for controlling the synchronized operation of said dispensing means and said drive means to apply at least one line of coating material onto said fastener.

Description

[Technical field]

[0001] 1. Technical field of the invention The technical field of the invention is that of the design and manufacture of devices used in industry for coating fasteners with sealants. [Background technology]

[0002] 2. Conventional Technology In various industries, such as aeronautics, some assemblies must be made strong. These are in particular riveted assemblies.

[0003] For this reason, it is known to deposit a sealant in the hole before inserting the rivet into the hole.

[0004] Such techniques are not very practical and can be optimized.

[0005] It is therefore still possible to improve this type of device, and this improvement is the aim of the present invention.

[0006] 3. Purpose of the invention The present invention has in particular the object of providing an effective solution to at least some of these different problems.

[0007] In particular, according to at least one embodiment, it is an object of the present invention to provide a sealant application device that is capable of optimizing the settings of the sealant for sealing an assembly.

[0008] According to at least one embodiment, it is an object of the present invention to provide such a device which is compact and / or lightweight, thus allowing tasks to be performed at the clamped location.

[0009] It is a further object of the present invention, in accordance with at least one embodiment, to provide such a device that is simple in design.

[0010] It is a further object of the present invention, in accordance with at least one embodiment, to provide such a device that is simple to maintain.

[0011] It is a further object of the present invention, in accordance with at least one embodiment, to provide such a device that is relatively inexpensive. Summary of the Invention

[0012] 4. Disclosure of the Invention Thus, the present invention provides a device for coating a fastener with a coating material, said device comprising: - means for dispensing said coating material, said means having at least one dispensing nozzle; - means for retaining said fastener; - drive means for providing relative movement of the fastener and the delivery nozzle with respect to each other; - depositing at least one bead of coating material on said fastener; In order to means for controlling the operation of said drive means to synchronize said operation of said drive means; Equipped with.

[0013] Therefore, the present invention provides a device-integrated means for depositing the encapsulant directly onto the fastener prior to introducing the fastener into the hole in which it will be installed.

[0014] This technique optimizes and simplifies the sealing of the assembly.

[0015] According to one possible feature, the fastener comprises a body, a head and a connection zone between the body and the head, The control In order to The means are: - an annular bead of coating material at the end of the body opposite the head, an annular bead in a connection zone, and The annular bead of coating material at the end of the body opposite the head and the annular bead of coating material at the connection zoneHelical bead with bonded beads, or - an annular bead in the connection zone, or - a plurality of annular beads along said body; The fastener is securely coated with the coating.

[0016] According to one possible feature, the device according to the invention comprises Notes A means is provided for assessing the length of the fastener.

[0017] According to one possible feature, Notes The means for assessing the length of the fastener comprises a sensor and means for actuating the sensor capable of contacting the sensor against an end of the body opposite the head of the fastener.

[0018] According to one possible feature, the drive means comprises means for rotatably driving the fastener along an axis.

[0019] According to one possible feature, the drive means comprise means for driving the dispensing nozzle translationally along the axis.

[0020] According to one possible feature, said control In order to The means are: - relative movement of the fastener and the nozzle to place the nozzle at the end of the body opposite the head or at the connection zone; - rotating the fastener through at least one revolution and simultaneously applying pressure to the distributor to deposit at least one bead of coating material at the end of the body opposite the head or at the connection zone. In order to activating the means; - rotating the fastener and translating the nozzle to the connection zone or to the end of the body opposite the head, while simultaneously applying the dispenser to deposit a helical bead of coating material between the end of the body opposite the head and the connection zone. In order to activating the means; - rotating the fastener through at least one revolution and simultaneously applying the dispensing force to deposit at least one bead of coating material in the connection zone or at an end of the body opposite the head. In order to Activating the means The control circuit is configured to continuously control the

[0021] According to one possible feature, said control In order to The means are: - relative movement of the fastener and the nozzle to position the nozzle in the connection zone; - rotating said fastener through at least one revolution while simultaneously applying said dispensing pressure to deposit at least one bead of coating material in said connection zone. In order to Activating the means The control circuit is configured to continuously control the

[0022] According to one possible feature, the means for translationally driving the nozzle comprises a lead screw, a means for rotationally driving the lead screw, and a shoe engageable with the lead screw, the dispensing nozzle being integral with the shoe along the axis of rotation of the lead screw.

[0023] According to one possible feature, the sensor forms a stop for the nozzle defining a coating material dispensing position at an end of the body opposite the head of the fastener.

[0024] According to one possible feature, the device according to the invention comprises a jack for translationally driving the nozzle towards the sensor, the translational stroke of the nozzle being defined by the sensor at the end of the body opposite the head of the fastener.

[0025] According to one possible feature, the nozzle comprises: - a block comprising a bore defining a chamber and a plurality of channels for dispensing a coating material, said channels being in fluid communication with said chamber and opening through a dispensing port formed along an axis substantially parallel to an axis of the body of said fastener; - a spool translationally mounted within said chamber, the spool having on each side a blind longitudinal groove extending along said axis over a length thereof in fluid communication with all of said channels, said grooves being connected to a coating material supply means; - the sensor is translationally connected to the spool along the axis such that when the sensor is in contact with an end of the fastener opposite the head, one or more channels opening beyond the opposite end are not in communication with the groove.

[0026] According to one possible characteristic, the device according to the invention comprises: - a plurality of holding means adapted to hold a plurality of fasteners having different distances between the end of the head and the connection zone; - means for driving said holding means adapted to alternately bring said holding means into proximity with said nozzle for coating corresponding fasteners; Equipped with - each of said holding means comprises a support element for a fastener, said support element being mounted for translational movement relative to said nozzle along the axis of said body; - the device comprises means for translationally driving the support element, Target Drive In order tomeans for translatingly driving the support elements of the holding means brought into the vicinity of the nozzle by the drive means of the holding means to a single support element stroke end stop common to each of the holding means; - the length along the translation axis of each of the support elements is set according to the distance between the end of the head of the fastener which it is intended to hold and the connection zone, and the connection zone of the fastener held by the support element brought to the stroke end stop of the single support element is ,centre The fasteners are located at the same position regardless of the value of the distance.

[0027] According to one possible feature, said identical position of said connection zone corresponds to the extension of a distribution aperture of said block arranged opposite to a distribution aperture arranged on the side of the sensor.

[0028] According to one possible feature, the device according to the invention comprises a single translation stroke end stop for the nozzle, which defines a boundary of a fastener connection zone coating position, and said same position of the connection zone of the fastener held by the support element brought to said single stroke end stop of the support element corresponds to an extension of the nozzle arranged at the fastener connection zone coating position of the support element.

[0029] The invention also relates to a device for performing at least one task on a work structure, said device comprising: - means for fixing said device to a motorized handling means capable of moving said device at least partially in a given space relative to the structure to be worked on; - means for fastening said device to said workpiece structure; - at least one functional module capable of receiving at least one fastener necessary to perform said task; Said device comprises at least one coating device according to any one of the above alternatives, said functional module comprising said means for holding said fasteners.

[0030] According to one possible characteristic, the device according to the invention comprises at least a fastener loading station comprising means by which fasteners can be introduced into said functional module; a coating station in which said coating device is located; - a station for setting the fasteners into the work structure; - the device function Means are provided for moving modules from one of said stations to another.

[0031] According to one possible feature, the device according to the invention comprises a number of functional modules, each of which comprises a holding means capable of supporting fasteners having different diameters.

[0032] 5. Description of the diagram Further features and advantages of the invention will become apparent from the following description of particular embodiments and the accompanying drawings, given purely as illustrative and non-limiting examples. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 is a perspective view of a device according to the invention; [Diagram 2] 2 is a cross-sectional view of the device of FIG. 1 taken in a plane passing through the axis of the spindle. [Diagram 3] FIG. 2 is a partially enlarged view of FIG. [Figure 4] FIG. 4 is a view of the device of FIG. 1 along the plane AA of the device of FIG. 3. [Diagram 5] FIG. 2 shows a first alternative of a suction pad device for fixing the device according to the invention to a structure to be worked on; [Figure 6] FIG. 2 is a partial cross-sectional view taken along a plane passing through the spindle and carousel rotation guide shafts of a device according to the invention. [Figure 7] FIG. 2 is a perspective view of a carousel rotation guide shaft of the device according to the invention. [Figure 8] FIG. 2 is a cross-sectional view of a rivet support module. [Figure 9] FIG. 13 is a cross-sectional view of another rivet support module. [Figure 10] FIG. 2 is a cross-sectional view of a drilling module. [Figure 11] FIG. 2 is a cross-sectional view of a temporary fastener support module. [Figure 12] FIG. 3 is a cross-sectional view along the plane DD of the device of FIG. 2; [Figure 13] FIG. 3 is a cross-sectional view along the plane EE of the device of FIG. 2. [Figure 14] FIG. 3 is a cross-sectional view of the device of FIG. 2 along plane BB. [Figure 15] FIG. 3 is a cross-sectional view along plane CC of the device of FIG. 2; [Figure 16] FIG. 2 is a partial perspective cross-sectional view in a plane passing through the axis of rotation of the carousel of the device according to the invention. [Figure 17] 2A-2C show the device of FIG. 1 from different viewing angles. [Figure 18] FIG. 18 shows the device of FIG. 17 with a different suction cup device. [Figure 19] 1 shows an example of a C-clamp implemented to secure the device according to the invention to a workpiece structure. [Figure 20] 20A-20C show the device of FIG. 19 from different viewing angles. [Figure 21] FIG. 21 is a cross-sectional view taken along axis HH in FIG. 20. [Figure 22] FIG. 22 is a diagram showing details of FIG. 21. [Figure 23] FIG. 2 is a partial view of a universal fixation device according to the present invention. [Figure 24] FIG. 2 is a detailed perspective view of the device of FIG. 1 in a sub-carousel. [Diagram 25] FIG. 2 is a cross-sectional view along axis II of the sub-carousel. [Figure 26] FIG. 1 is a cross-sectional view along the axis JJ of the sub-carousel. [Figure 27] FIG. 2 is a partial longitudinal cross-sectional view of a device in a rapid pairing means. [Figure 28] FIG. 28 is a cross-sectional view taken along axis KK of FIG. 27. [Figure 29] FIG. 5 is a cross-sectional view taken along axis HH in FIG. [Diagram 30] FIG. 2 is a cross-sectional view of the male member of the mating means. [Diagram 31] FIG. 31 is a cross-sectional view taken along a 90° cross-sectional plane in FIG. 30. [Diagram 32] FIG. [Diagram 33] FIG. 2 is a side view of the lock member 28. [Diagram 34] FIG. 2 is a partial cross-sectional view of a coating station. [Diagram 35] FIG. 35 is a partial cross-sectional view taken along axis MM of FIG. 34. [Diagram 36] FIG. 2 is a partial cross-sectional view of a rivet support module at a coating station. [Figure 37] FIG. 13 shows the lead screw and shoe of the coating station. [Figure 38] FIG. 2 is a detailed view of the coating station. [Figure 39] FIG. 13 illustrates an alternative coating station. [Diagram 40] FIG. 40 is a diagram showing details of FIG. 39. [Diagram 41] FIG. 40 shows further details of FIG. 39. [Diagram 42] FIG. 2 is a longitudinal cross-sectional view of a rivet-bearing module of a given size to be coated. [Diagram 43] 43A-43C are longitudinal cross-sectional views of rivet-supported modules of different sizes to those of FIG. 42 to be coated, the connection zones of the head and body being in the same relative position to the nozzle as in the module of FIG. 42. [Diagram 44]FIG. 2 is a longitudinal cross-sectional view of a temporary fastener loading station. [Diagram 45] FIG. [Figure 46] FIG. 45 is a diagram showing details of FIG. 44. [Figure 47] FIG. 2 is a partial longitudinal cross-sectional view of a work station. [Figure 48] FIG. 2 is a partial longitudinal sectional view of a work station in the rapid pairing means; [Figure 49] FIG. 4 is a partial longitudinal section through the translational connection means of the main and secondary spindles; [Figure 50] FIG. 13 illustrates telescoping. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] 6. Description of Specific Embodiments An example of a multitasking device according to the present invention is described in relation to FIGS.

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

[0036] This frame 2 is provided with means 3 for fastening to a motorised handling device (not shown) such that the frame 2 is fixed so as to be movable relative to a workpiece structure (not shown).

[0037] These motorized handling means are - Robotic arm, - Running robots, - Digital Gate It belongs to a group comprising:

[0038] In the example shown, these are means 3 for fixing relative to the robot arm. These fixing means comprise a plate 31 with a number of holes 32 passing through it, allowing the fixing bolts at the end of the robot arm to pass through the holes 32. Other fixing means can also be used, for example quick fixing means of collar, clamp or cam type...

[0039] In the case of a digital gate the fixing means will for example comprise bolts, clamps or other means for fixing to a cradle with rollers guidable on the rails of the digital gate.

[0040] Means for fastening to the work structure The device comprises means 4 for fixing relative to the structure to be worked on.

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

[0042] The fastening means may for example comprise suction cups 41 which are integral with the frame 2 and can be connected to vacuum means, such as a vacuum pump, in order to improve fastening to the surface of the structure to be worked on.

[0043] The suction cups can be fixed in groups to the support to form a suction pad. Two suction pads are shown in Figures 1, 17 and 18, but this number can be three or more.

[0044] The suction pads can be offset to one side of the spindle 51 as shown in FIG. 18 (explained in more detail later) or distributed around the spindle 51 (see FIG. 17).

[0045] Alternatively, the suction pad may comprise a C-clamp as known in the state of the art, as shown in FIG.

[0046] The means for fastening to the work structure may be permanently fastened to the frame. Alternatively, the means for fastening may be fastened to the frame by a universal reversible fastener means 100.

[0047] Universal reversible fastener means for fastening means to a workpiece structure The universal reversible fastener means 100 comprises a fastening plate 101 .

[0048] In the case of suction cups 41, the fastening plate 101 would be integral with the carrying structure which carries the suction cups.

[0049] In the case of the C-clamp 42, the fastening plate 101 would be integral with the distal end of the bar 420 of the C-clamp.

[0050] The fastening plate 101 has a substantially rectangular cross section in one plane and a cross section having two transverse grooves 102 in another plane perpendicular to said first plane.

[0051] These transverse grooves 102 extend along the length of the fastening plate 101 and are provided with sloping surfaces 103 such that the thickness of the grooved portion of the fastening plate 101 increases from the end of the plate towards the inside.

[0052] The universal reversible fastener means comprises a pair of jaws 104 which are complementary in shape to the grooved ends of the fastener plate 101 .

[0053] Each of these jaws 104 thus defines a housing 105 capable of receiving a corresponding grooved end of the fastening plate 101. Each of these housings 105 thus has two opposing surfaces, one of which is inclined relative to the other by substantially the same angle as the inclination angle of the corresponding groove of the fastening plate.

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

[0055] The jaw 104 includes at least an unlocked position in which the jaws 104 are separated from each other to allow the introduction of the grooved ends of the fastening plate 101 in order to secure to the frame a means for fastening to the work structure; a fixed position in which the jaws 104 approach each other so as to clamp the grooved end of the fastening plate 101 (capture it in a vice) in order to fix the means for fastening to the work target structure to the frame; The vehicle is mounted so as to be movable between the vehicle and the target vehicle.

[0056] As the jaws 104 move from the unlocked position to the locked position, the angled surfaces of the grooved ends of the fastening plate 101 slide gradually against the corresponding angled surfaces of the jaws 104 ensuring locking by a wedge effect.

[0057] To secure the desired fastener means to the frame, the jack 109 is actuated to move the jaws 104 to the release position.

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

[0059] The jack 109 is then actuated to place the jaws 105 in a fixed position, clamping the grooved end of the fastening plate 101 with the jaws 105 .

[0060] By carrying these out in reverse, the fastening means are removed.

[0061] Functional Module The device may incorporate several functional modules, which are described in more detail below.

[0062] Each of these functional modules allows a specific task to be performed, such as, for example, a drilling and / or countersinking operation, a rivet setting operation, a temporary fastener (e.g. staple) setting operation, or an operation for applying (or coating) a bead of sealing compound to a fastener element (rivet or screw). Other functions, such as screwing, can also be contemplated.

[0063] Drilling and / or countersinking module The functional module 9 shown aligned with the spindle 51 in FIG. 2 is a punching module.

[0064] The drilling module includes a sleeve 90 .

[0065] The sleeve 90 is tubular in shape and generally annular in cross section.

[0066] Sleeve 90 includes side fingers 900 projecting from its side walls.

[0067] Sleeve 90 includes a lateral groove 901 diametrically opposed from finger 900 and offset along the longitudinal axis of the sleeve.

[0068] The drilling module comprises an output shaft 91 (i.e. a movable member) to the end of which a cutting tool such as a drill 92 (possibly stepped to allow countersink cuts) can be fixed by fastening means 93 known per se. The cutting tool can for example be a simple drill for making simple drill holes, a stepped drill, a countersink drill for making mill-type drill holes or a countersink tool for countersinking previously made drill holes.

[0069] Output shaft 91 is rotatably mounted in bearings 94 which are in turn slidably mounted along sleeve 90 by bushings 95 .

[0070] The finger 900 of the sleeve 90 of the drilling module receives a chamber 902 in which a piston 903 of a jack 904 is slidably mounted. The end 905 of the piston 903 can be received in a complementary shaped housing 950 provided for this purpose in the bushing 95.

[0071] The finger 900 extends to a supply conduit 906 of the jack 904 which can communicate with a pressurized air intake conduit 907 provided within the device and is in communication with it when the device is in its work station.

[0072] Elastic return means (not shown) return the piston 903 to a position in which its end 905 is received in the corresponding housing 950 of the bushing 95, preventing the piston 903 from moving in a translational motion inside the sleeve 90, and thereby preventing the bushing 95, the bearing 94, the output shaft 91 and the tool 92 carried by the output shaft 91 from exiting the sleeve 90 unless the functional module is mated to the spindle 51.

[0073] The ends 905 and corresponding jacks 904 constitute a means for preventing a functional assembly of a functional module from translating inside its sleeve. The functional assembly comprises all components of the functional module that are translatably mounted within the sleeve.

[0074] Alternatively, the elastic return means can be implemented such that the end 905 protrudes inside the sleeve 90 to form a stop for the bearing 95, preventing the functional assembly from sliding inside the sleeve beyond its position shown in Figure 5 or 6.

[0075] Furthermore (in both working alternatives for the jack 904 and the end 905), the sleeve contains at each end stop segments (not shown) each forming a stop for a functional assembly, so that the drilling module functional assembly can slide between these stop segments inside the sleeve, as long as the end 905 does not protrude into the housing 950 or directly into the sleeve.

[0076] The drilling module comprises a bell 160 integral with and movably connected to the output shaft 91. The bell comprises a radial bore 161.

[0077] The threading module can be made with a structure substantially identical to that of the drilling module. In this case, the means for fastening the cutting tool 93 would be replaced by a means for fixing the sleeve or drive hole to the output shaft. This involves controlling the advancement of the spindle 51 so that the feed per revolution of the spindle is substantially equal to the pitch of the thread, so that the socket or drive hole advances synchronously with the thread. Additional telescoping may be required to allow thread insertion.

[0078] Rivet Support Module The rivet support module 200 holds the rivet and, like the piercing module, is provided with a sleeve 90 .

[0079] The sleeve 90 is tubular in shape and generally annular in cross section.

[0080] Sleeve 90 includes side fingers 900 projecting from its side walls.

[0081] Sleeve 90 includes a lateral groove 901 diametrically opposed from finger 900 and offset along the longitudinal axis of the sleeve.

[0082] The sleeve receives a tubular element 201, one of whose ends is provided with a shoulder 202 designed to abut a complementary shoulder 203 provided at one end of the sleeve 90.

[0083] Its opposite end is adjacent to, but not in contact with, shoulder 204 at the lower portion of sleeve 90, thereby allowing pressurized air to pass between the outer surface of tubular element 201 and the inner surface of sleeve 90, as will be described below.

[0084] The tubular element 201 which defines a chamber houses a piston 205 which is translationally mounted within the chamber.

[0085] The piston 205 comprises at one end a flange 206 with a circumferential groove 207 that receives an O-ring 208. This O-ring 208 provides a seal between the piston 205 and the tubular element 201.

[0086] The shoulder 204 of the sleeve 90 also includes an inner circumferential groove 209 that receives an O-ring 210 that provides a seal between the piston 205 and the sleeve 90 .

[0087] Side fingers 900 of sleeve 90 house air conduits which extend therealong and are communicable with a pressurized air intake conduit 907 provided within the device, and are in communication when the device is in its working station.

[0088] The end of the piston 205 which lies against the inner side of the shoulder 204 of the sleeve 90 is provided with a demi-crabot 211, the function of which will be explained below.

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

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

[0091] The ring 212 has a number of longitudinal grooves (not shown) to allow the ring 212 to deform during insertion and removal of the rivet, as will be described in more detail below.

[0092] The split ring 212 includes at least one outer peripheral groove 217 that accommodates a resilient return element, such as an O-ring or spring (not shown), which acts as a return means, which functions to return the ring from a released state in which the inner diameter of the ring expands to a retained state in which the inner diameter of the ring is constrained, as will be described in more detail below.

[0093] The tubular element forms a support element for the fastener by means of a split ring.

[0094] The piston has an internal bore that passes therethrough to allow the rivet to pass therethrough.

[0095] Some rivet support modules are equipped with pistons with different internal bore diameters and different split ring sizes to allow holding of different size rivets.

[0096] The piston 205 is designed to be rotatably and / or translationally driven, so that the piston 205 constitutes a movable member.

[0097] The piston 205 is translationally movable within the tubular element 201 between a first end position in which its shoulder 207 rests against a circlip 218 and a second end position in which its shoulder 207 rests against a shoulder 204 of the sleeve, the circlip 218 being provided for this purpose at the end of the tubular element 201 opposite the vicinity of the shoulder 204 of the sleeve.

[0098] The rivet support type module can be implemented to support another type of fastener, such as a screw, in which case the split ring would of course have a shape that matches the shape of a screw head rather than a rivet head.

[0099] Temporary Fastener Support Module The temporary fastener support module 300 includes a sleeve 90 .

[0100] Sleeve 90 has a tubular shape and a generally circular cross-section.

[0101] Sleeve 90 includes side fingers 900 projecting from its side walls.

[0102] Sleeve 90 includes a lateral groove 901 diametrically opposed from finger 900 and offset along the longitudinal axis of the sleeve.

[0103] The finger 900 contains an air conduit 906 which extends along the length of the sleeve and can communicate with a pressurized air intake conduit 907 provided within the device and is in communication when the device is in its working station.

[0104] The sleeve 90 receives a tubular element 301. The tubular element 301 has at one end a shoulder 302 which abuts inside the sleeve 90 against a shoulder 303 provided at one end of the tubular element 301.

[0105] The tubular element 301 has a second shoulder 304 located adjacent to the air conduit provided in the finger, which defines a smaller diameter portion of the tubular element.

[0106] The tubular element 301 has another end that extends inside the sleeve adjacent a second shoulder 305 at the other end of the sleeve. However, a gap is provided between the tubular element 301 and the sleeve to allow air to pass through.

[0107] The tubular element 301 defines a chamber that houses a piston 306. This piston 306 is provided at one of its ends with a shoulder 307 having a circumferential groove 308 that houses an O-ring 309 that provides a seal between the piston 306 and the tubular element 301.

[0108] The shoulder 305 of the sleeve 90 is provided with an internal circumferential groove 310 which receives an O-ring 311 which ensures a seal between the sleeve 90 and the piston 306 .

[0109] A piston 306 is movably and translationally mounted within the tubular element 301 and sleeve 90 .

[0110] The piston 306 includes a first bore 312 that receives a drive tube 313 (a moveable member) that is mounted for translational and rotational movement within the piston 306 .

[0111] The drive tube 313 includes a flange 314 at one of its ends that defines a bell 160 with a radial bore 161 extending therethrough.

[0112] A resilient return means 315, such as a resilient washer or spring, is interposed between the flange 314 of the drive tube 313 and the shoulder 307 of the piston 306. The return means serves to urge the flange and shoulder away from each other.

[0113] The drive tube and piston are at least - a retracted position in which both extend into the interior of said module; - at least one of these elements has a deployed position in which it extends at least partially outside the module, i.e. the sleeve; are connected translationally within the module.

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

[0115] The second bore accommodates the first freewheel 318 .

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

[0117] The module includes means for retaining the temporary fasteners within the module. These retaining means retain the locking elements.

[0118] The locking element 321 is in the form of a ring having a bore 325 passing therethrough and an off-centre portion 326 defining a protruding locking lug 327. The locking member 321 includes a peripheral recess 328 for accommodating a return means (not shown), such as a compression spring, interposed between the locking member 321 and the drive tube 313. The locking element 321 is adapted to extend within the third bore 320 in a direction perpendicular to the longitudinal axis of the drive tube 313 at least a rest position in which the end of the locking lug 327 is remote (retracted) from the longitudinal axis of the drive tube 313; a locked position in which the end of the locking lug 327 moves closer to the longitudinal axis of the drive tube 313 (deployed inside the module); It is movable laterally between

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

[0120] The first bore 312 of the piston 306 communicates with a second bore 329 that includes a conical portion 331 that tapers to a cylindrical portion 332 .

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

[0122] This third bore 333 houses a second freewheel 334 which is held in place by a circlip 335. An O-ring 336 provides the rotational drive between the third bore 333 and the second shaft wheel 334.

[0123] As will become apparent, the first and second sprockets have drive capabilities in opposite directions.

[0124] Single Drive and Control Assembly The device comprises a single assembly 5 for driving and controlling the functional modules.

[0125] The drive and control assembly 5 comprises a single drive spindle 51, referred to as the main spindle, which is mounted for rotational and translational movement along the same axis, i.e., its longitudinal axis, such that the spindle is mounted for translational movement in the direction of the work station between a retracted position and an extended position.

[0126] The assembly 5 also comprises motor means 52 capable of movably driving the drive spindle 51 .

[0127] In this embodiment, these motor means comprise a feed motor 510 and a rotation motor 511. These motor means also comprise a transmission T enabling the feed and / or rotation motors to movably drive the spindle 51 in a translational and / or rotational motion along its axis.

[0128] The transmission is of the type having a translation drive nut 512 and a rotary drive ring 513 .

[0129] The rotary drive ring 513 has an internal bore the inner periphery of which is provided with a key 5131 of a shape complementary along its longitudinal axis to a groove 510 provided along the spindle 51. Thus, the spindle 51 and rotary drive ring 513 are connected for rotation along the axis of the spindle but are free to translate along this axis.

[0130] The translation drive nut 512 has an internal threaded bore 5121 that is complementary in shape to the threaded portion 511 provided along the spindle, and they are connected by a helical connection.

[0131] This type of transmission is known per se and will not be described in further detail here.

[0132] An example of such a transmission is notably described in European Patent 2754531 B1 and has the advantage of only making the spindle feed speed dependent on the rotational frequency of the feed motor.

[0133] Other transmission architectures can be envisaged that produce the same effect.

[0134] This type of transmission allows the motor(s) to be offset laterally from the spindle. In this case, the motor(s) is located next to the spindle, rather than as an extension of the spindle. This improves the compactness of the device and allows the distance to the center to be reduced, thus allowing the work to be performed closer to the wall and also reducing the overhang. In the example shown, the motor axis is substantially parallel to the spindle axis. In the alternative, one or both of the motors can have an axis that is inclined, in particular perpendicular, with respect to the axis of the spindle.

[0135] As will be explained in more detail below, the device comprises pairing means for alternately movably joining together the drive spindle and at least one movable member of a functional module paired to the spindle with one another.

[0136] The single drive and control assembly 5 typically comprises a controller 53 with all the components required to control the operation of the motors and all actuators and other sensors of the device. Such a controller notably comprises all the memory, program(s) and processor(s) required to control the device and perform the various tasks. The controller also comprises communication means (transceiver) allowing the transmission and reception of data by wire or wirelessly. The controller may also integrate the components required to power the motors (inverter type). The controller may also comprise command input means (keyboard, microphone, touch screen, mouse or other), a display screen, means for emitting sound signals, etc. Such a controller may be fully or partially fixed to the frame or located remotely.

[0137] The single drive and control assembly 5 comprises means for measuring at least one physical parameter indicative of at least one operational characteristic of the functional module. These parameters are: - a torque on at least one movable member of a module paired with the spindle, - an axial force on at least one movable member of a module paired with the spindle; - the angular position of at least one movable member of a paired module relative to the spindle, - the axial position of at least one movable member of a module paired with the spindle The amount of at least one of the following may be specifically indicated.

[0138] In an alternative method, the control In order to The means comprise means 530 for measuring the electrical intensity consumed by the motor(s) and for determining the torque and / or axial force on the spindle and thus on one or more output members of the functional module paired to the spindle as a function of the measured electrical intensity. Means of this type for measuring and determining a force or torque as a function of the current consumed by the motor are known per se and will not be described in detail.

[0139] In an alternative method, the control In order to The means comprises one or more angle sensors 531 integrated in one or more of the motors. The angle sensor is a sensor for measuring the angular position of the rotor of the motor. In order to The means then comprise means for determining the angular and / or axial position of said at least one movable member of a functional module paired with respect to the spindle as a function of the measured angular position of said rotor. Such means for measuring and determining a position as a function of the angular position of the rotor of a motor are known per se and will not be described in detail.

[0140] In an alternative, the measuring means are integrated in the transmission T and comprise at least one torque and / or force and / or position sensor 532 allowing the determination of the torque and / or axial force on the spindle and / or the angular and / or axial position of the spindle and thus the deduction of the torque and / or axial force and / or the angular position and / or axial position of at least one movable member of the module paired with respect to the spindle. Such means for measuring and determining forces or torques are known per se and will not be described in detail.

[0141] Some of the different measuring means mentioned above can of course be used in combination.

[0142] Means for carrying the modules: Carousel The device according to the invention comprises means for carrying a number of functional modules. These carrying means allow several functional modules to be loaded and moved. In the embodiment shown, the number of modules that can be loaded is equal to seven, but can alternatively be different (fewer or more). This number can be even or odd.

[0143] In this embodiment, these carrier means comprise a so-called main carousel 6. The main carousel 6 comprises, like a revolver cylinder, a number of cells 61, each of which can accommodate a functional module.

[0144] Each cell 61 defines a bore opening extending on both sides and parallel to the axis of rotation of the carousel. Preferably, the cells 61 are substantially uniformly distributed around the axis of the carousel.

[0145] Function Station The device comprises several functional stations.

[0146] The carousel not only allows several functional modules to be loaded, but also allows the functional modules to be moved from one station to another. To do this, the carousel is movably mounted about its axis, which extends substantially parallel to the axis of the main spindle, as will be explained in more detail below.

[0147] In this embodiment, the function station comprises: - Functional module load / unload station P1, - a temporary fastener loading station P2 (in this embodiment stations P1 and P2 are one and the same to form a multi-function station, but they could also be two separate stations); - Rivet Loading Station P3, - Rivet coating station P4, and - a work station P5 as an extension of the single spindle 51, depending on the modules located at this station, - Drilling and / or countersinking, - rivet settings, - Setting temporary fasteners Work station P5 for work It is.

[0148] Functional module load / unload station The functional module load / unload station P1 allows functional modules to be introduced into and removed from the cells of the carousel, one at a time.

[0149] At this station, the device is equipped with a jack 13, the piston 11 of which carrying a lug 10 is translationally movable in a chamber 12 along an axis perpendicular to the axis of the carousel cell brought to the loading / unloading station.

[0150] The function of this jack will be explained later.

[0151] Temporary Fastener Load Station The device comprises a temporary fastener loading station P2 for inserting temporary fasteners into the temporary fastener support modules brought to this station by the carousel.

[0152] In this embodiment, the temporary fastener loading station is located at the functional module load / unload station, so these two stations constitute a single station with dual functionality.

[0153] However, the temporary fastener loading station can be located elsewhere.

[0154] This station P2 includes a temporary fastener feeding device 1000. This device includes a cartridge belt type actuator for translating the temporary fasteners 1001 until they are positioned within the axes of the temporary fastener support modules brought to the temporary fastener loading station P2.

[0155] This station P2 also includes a load jack 1002. This jack 1002 is located in the shaft of the temporary fastener support module 300 which is mounted by the carousel 6 to the temporary fastener load station.

[0156] This jack 1002 is disposed upstream of the temporary fasteners 1001 positioned in the axis of the temporary fastener loading station P2 by the cartridge belt 1000, as will be described in more detail later, and operates to introduce the temporary fasteners into the support module 300.

[0157] The temporary fastener loading station P2 also includes a device for holding the temporary fasteners within the temporary fastener support module 300 once the temporary fasteners are introduced into the temporary fastener support module 300. The holding device substantially comprises an L-shaped fork 1003, the end of which comprises two spaced apart fingers to form a space for receiving the temporary fasteners.

[0158] This fork 1003 is arranged at the exit of the temporary fastener support module 300 arranged at the temporary fastener load station P2, - a retention position in which the end with the fingers extends substantially perpendicular to the temporary fastener support module and forms a stop against which the temporary fastener can abut when introduced into the temporary fastener support module; a release position in which the forks pivot about their axes along the arrow C so that the ends with the fingers are released from the module and the forks can be rotatably driven by the carousel; is rotatably mounted about an axis 1004 between

[0159] The movement of the fork 1003 is ensured by a jack 1005 .

[0160] Rivet Loading Station The device comprises a rivet loading station P3.

[0161] This rivet loading station P3 is equipped with a loading jack 1006. This jack 1006 is arranged in the shaft of a rivet support module which is moved to the rivet loading station by a carousel.

[0162] This station P3 is equipped with a device for receiving rivets (or other fastener elements such as screws or the like) from a rivet supply (or feed) zone 1007 and transporting them to a rivet distribution or rivet storage zone, such as a rivet support module 200 located at the rivet loading station P3.

[0163] The receiving and transport device comprises a so-called sub-carousel 1008. The carousel constitutes a support element. This carousel 1008 comprises a number of cells 1009, each for receiving a rivet, like a revolver cylinder.

[0164] Each cell 1009 defines a bore opening extending on both sides and parallel to the axis of rotation of the carousel 1008. Preferably, the cells 1009 are substantially uniformly distributed around the axis of the carousel 1008.

[0165] In this embodiment, the number of cells is 6. The number can, of course, be more or less than six.

[0166] In particular, the carousel and its cells form means for receiving the fastener elements. The carousel and its drive means enable the fasteners to move from the feed zone to the distribution zone.

[0167] Each cell 1009 has a different diameter so that each socket can accept a different size rivet 216 .

[0168] Each cell 1009 includes a receiving port 1090 and a fastener dispensing port 1091. The receiving port 1090 allows a fastener element to be inserted into the cell. The dispensing port allows a fastener element to be expelled from the cell.

[0169] The device includes means for retaining fastener elements introduced into the cells. These retention means prevent removal of the fastener elements located in the cells from the receiving port.

[0170] In this embodiment, the retaining means comprises a deformable member 1092 with a spear forming point 1093 located in each cell. The tip of each spear is shaped to allow introduction of a fastener element into the cell through its storage port and to prevent removal of the fastener element through the cell storage port, such that the tip of each spear is oriented towards the corresponding cell receiving port.

[0171] The carousel 1008 is rotatably mounted along an axis substantially parallel to the axis of the main spindle 51 between a support plate 1011 and a rivet retaining plate 1012. The retaining plates provide a means for retaining the fasteners in the cells.

[0172] The support plate 1011 is integral with the frame and fixed relative to it. Holes 1013 penetrate the support plate 1011, as many as there are cells 1009 in the carousel 1008. Each hole has a different diameter corresponding to the diameter of the cells. The support plate 1011 carries a shaft 1014 around which the carousel 1008 is movably mounted.

[0173] One of the holes 1013 in the support plate 1011 aligns with the axis of the load jack 1006 .

[0174] The retaining plate 1012 has air exhaust holes 1015 on the axis of each hole 1013 in the support plate 1011. However, on the axis of the jack 1006, instead of air exhaust holes 1015, it has a distribution opening 1080 through the retaining plate 1012. The diameter of the distribution opening 1080 is such that it can pass the largest rivet that can be loaded into the secondary carousel.

[0175] The carousel 1008 includes longitudinal notches 1016 along its outer peripheral contour that extend substantially parallel to the axis of the carousel 1008. These notches form drive teeth, as will become apparent below.

[0176] The device comprises means for rotatably driving the carousel about the shaft.

[0177] These rotatable drive means include: - a first jack 1017 comprising a piston 1018 translatable in a chamber 1019; - a second jack 1020 having a piston 1021 translatable in a chamber 1022; Equipped with.

[0178] The piston 1018 of the first jack 1017 carries a pawl 1023 that is rotatably mounted relative to the piston about an axis 1024 substantially parallel to the axis of rotation of the carousel 1008 .

[0179] The pawl 1023 includes an abutment surface 1025 adapted to abut against a stop 1026 on the piston 1018 which defines the drive end position.

[0180] The pawl 1023 has two end positions, namely: a deployed position in which the abutment surface 1025 abuts against a stop 1026 of the piston 1018 and the end is spaced away from the piston and at least partially housed in the notch 1016 of the carousel (see FIG. 14 ); a retracted position in which the abutment surface 1025 is not abutting against the stop 1026 of the piston 1018 and the end is close to the piston 1018 and is not engaged with any notch 1016 of the carousel; It is possible to move between

[0181] For example, it is possible to implement a return means (not shown), such as a spring, that acts on the pawl 1023 to return it to its extended position.

[0182] The piston 1018 has two end positions: a starting position with the piston 1018 at rest on the left side of FIG. 14 (the left side is merely an example, with reference to FIG. 14 for understanding, in that the device can have any orientation in space); - an end position in which the piston 1018 is at rest on the right side of FIG. 14 and the pawl 1023 is in its deployed position between the two notches 1016; It is possible to move between

[0183] In the configuration shown in FIG. 14, the piston 1018 is in its starting position and the pawl 1023 is in its deployed position.

[0184] The device comprises a blocking pin 8 which is movably mounted between a blocking position where it stops against the carousel 1008 between two successive notches 1016 to prevent rotation of the carousel about its axis, and a release position where it does not engage the carousel to allow rotation. This blocking pin 8 is integral with the support plate 1011 by means of a spring plate 1027 which serves to hold the blocking pin 8 in the blocking position. The blocking pin 8 constitutes a means for locking and indexing the carousel 1008 in a position where the cells 1009 of the carousel 1008 are in alignment with the load jacks 1006, i.e. in the distribution zone. Preferably, at least one other cell is in the supply zone.

[0185] To rotatably drive the carousel 1008 in a clockwise direction, pressurized air is injected into the chamber 1019, which moves the piston 1018 along the arrow G to its end position. During this movement, the abutment surface 1025 of the pawl 1023 is stopped by the stop 1026 of the piston 1018, blocking the clockwise rotation of the pawl 1023. The carousel 1008 is thus driven in rotation in a clockwise direction until the piston 1018 is stopped in its end position. The new cell 1009 of the carousel 1008 is then aligned with the load jack 1006. During the movement of the carousel 1008, the blocking pin 8 slides against the peripheral surface of the carousel 1008, gradually moving from the blocking position to the blocking release position against the action of the spring plate 1027, and then returning to the blocking position under the action of the spring plate 1027, keeping the carousel 1008 stationary.

[0186] The jack 1017 is actuated along arrow H to return to the starting position. During this movement, the pawl 1023 slides against the peripheral surface of the carousel 1008 and moves gradually, by rotation about an axis, from the deployed position to the retracted position and then back to the deployed position.

[0187] The carousel 1008 can again be driven to rotate clockwise by repeating this process.

[0188] A piston 1021 of the second jack 1020 carries a pawl 1028 that is rotatably mounted relative to the piston 1021 about an axis 1029 substantially parallel to the axis of rotation of the carousel 1008 .

[0189] The pawl 1028 comprises an abutment surface 1030 arranged to abut against a stop 1031 of the piston 1021 which defines the drive end position.

[0190] The pawl 1028 has two end positions: a deployed position in which the abutment surface 1030 abuts against a stop 1031 of the piston 1021 and the end is spaced away from the piston 1021 and at least partially accommodated in a notch 1016 of the carousel 1008 (see FIG. 15 ); a retracted position in which the abutment surface 1030 is not abutting against the stop 1031 of the piston 1021 and the end is close to the piston 1021 and is not engaged with any of the notches 1016 of the carousel 1008; It is possible to move between

[0191] A return means (not shown), such as a spring, may be implemented that acts on the pawl 1028 to return it to its deployed position.

[0192] The piston 1021 has two end positions, namely: - a starting position with the piston 1021 at rest on the right side of FIG. 15 (the right side is merely an example, with reference to FIG. 15 for understanding, in that the device can have any orientation in space); - an end position in which the piston 1021 is at rest on the left side of FIG. 15 and the pawl 1028 is in its deployed position between the two notches 1016; It is possible to move between

[0193] In the configuration shown in FIG. 15, the piston 1021 is in its end position and the pawl 1028 is in its deployed position.

[0194] To drive the carousel 1008 in rotation in the counterclockwise direction, pressurized air is injected into the chamber 1022, which moves the piston 1021 along the arrow I to its end position. During this movement, the abutment surface 1030 of the pawl 1028 is stopped by the stop 1031 of the piston 1021, blocking the counterclockwise rotation of the pawl 1028. The carousel 1008 is then driven in rotation counterclockwise until the piston 1021 is stopped in its end position. The new cell 1009 of the carousel 1008 is then aligned with the load jack 1006. During the movement of the carousel 1008, the blocking pin 8 slides against the peripheral surface of the carousel 1008 and moves gradually from the blocking position to the blocking release position against the action of the spring plate 1027, and then returns to the blocking position under the action of the spring plate 1027, keeping the carousel 1008 stationary.

[0195] The jack 1020 is actuated along arrow J to return to the starting position. During this movement, the pawl 2018 slides against the peripheral surface of the carousel 1008 and moves incrementally from the deployed position to the retracted position and then back to the deployed position by rotation about an axis.

[0196] The carousel 1008 can again be driven to rotate counterclockwise by repeating this process.

[0197] The carousel 1008 and the pawls 1023, 1028 form a ratchet wheel system.

[0198] A first jack 1017 and a second jack 1020 and corresponding pawls 1023, 1028 move in opposite directions to allow the carousel 1008 to rotate in opposite directions.

[0199] The implementation of a first jack 1017 and a second jack 1020 allows for faster alignment of the desired cell 1009 with the main spindle 51 by selecting the rotation direction of the carousel 1008 that allows for the fastest alignment. However, it is also possible to implement only one jack, which would simplify the device but would lead to longer alignment times.

[0200] The means for rotatably driving the secondary carousel 1008 can be of the type of those of the main carousel 6 described later. In this case, instead of implementing a single jack for driving the pawl, it is also possible to implement a double jack, i.e. an outer jack including an inner pawl block jack.

[0201] Indexing of the secondary carousel may also be accomplished by a blocking pin controlled by a jack, as in the case of the primary carousel.

[0202] The device includes means for supplying rivets to the carousel. The rivets are fed through a flexible tube and forced into the tube by pressurized gas.

[0203] Rivet Coating Station The apparatus comprises a coating device located at a rivet coating station P4, which enables a sealing compound to be applied to the rivets.

[0204] This coating station P4 is located adjacent to the work station P5.

[0205] The coating station P4 comprises a first pulley 1032 which is rotatably movable about an axis substantially parallel to the axis of the main spindle 51. The first pulley 1032 is rotatably connected to the main spindle 51 along its axis of rotation but is rotatably connected by a belt 1033 to a drive pulley 1034 fastened to the main spindle 51 such that it cannot move in translation, e.g. by a groove.

[0206] This first pulley 1032 is rotatably connected to a casing of a jack 1036 along an axis substantially parallel to the axis of the main spindle 51. This casing is rotatably mounted relative to the frame along the same axis. A rod of a piston 1035 of the jack 1036 is rotatably connected to the casing.

[0207] The piston 1035 is mounted for movement within a chamber 1037 in translational and rotational motion along an axis parallel to the axis of the main spindle 51. The piston 1035 carries at its end a half dog 1038 of complementary shape to the half dog 211 of the rivet support module 200.

[0208] A second pulley 1039 is rotatably connected to the casing of the jack 1036 along an axis substantially parallel to the axis of the main spindle 51. This second pulley 1039 is rotatably connected to a third pulley 1041 by a belt 1040.

[0209] A third pulley 1041 is mounted to and rotatably connected to a shaft 1042 .

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

[0211] The lead screw 1043 is provided with a thread whose profile includes a first flanc 1044 for mating with a shoe 1046 and a second flanc 1045 inclined relative to the axis of the lead screw.

[0212] The first side is inclined a few degrees relative to a perpendicular to the axis of the lead screw so that a shoe applied to this side will tend to slide toward the bottom of the threads.

[0213] This shoe 1046 is mounted on the end of a piston 1047 which is mounted for translational movement along an axis substantially perpendicular to the axis of the main spindle 51 in a chamber 1048 of a jack 1049 .

[0214] Therefore, shoe 1046 is at least - an engagement position where the shoe 1046 engages with the lead screw 1043; - a non-engaged position in which the shoe 1046 does not engage with the lead screw 1043; It is possible to move between

[0215] This station comprises a sealant dispensing means with a nozzle 1050 connected to a sealant supply means (not shown), which comprises a pump connected on the one hand to a sealant reservoir and on the other hand to the nozzle 1050 by pipes provided for this purpose.

[0216] The nozzle 1050 comprises a dispensing end 1051 intended to be close to the rivet 216 carried for the rivet support module 200 moved to the coating station P4. This end may be straight (extending in a plane perpendicular to the axis of the rivet support module 200). However, this end is preferably angled or curved so that the nozzle 1050 can stop on the rivet while providing a port for dispensing the sealant on the rivet 216. This solution is preferred as it is a simple and effective way to ensure the calibration of the bead(s) of sealant deposited on the rivet.

[0217] The nozzle 1050 is integral with the end of a piston 1047 which is mounted for translational movement along an axis perpendicular to the axis of the rivet support module in a chamber 1052 of a jack 1053 .

[0218] The shoe 1046 , nozzle 1050 and their respective jacks 1049 , 1053 are mounted in a block 1054 integral with a piston 1055 which is mounted for translational movement along an axis parallel to the axis of the lead screw 1043 within a chamber 1056 of a jack 1057 .

[0219] This station comprises means for determining (assessing) the length of the rivet 216 transferred to the coating station. These means include a sensor (palpeur) 1058. One end of the sensor is integral with a piston 1059 mounted in a chamber (not shown) of a jack 1060 so as to be movable in translation along an axis parallel to the axis of the lead screw 1043. The other end of the sensor 1058 comprises a conical central tip 1061 oriented towards the rivet 216 fed to the coating station. The jack 1060 enables the conical tip 1061 to move towards and away from the rivet 216 in order to sense the end of the rivet 216 and determine its length. The sensor 1058 defines a stop against which the support 1062 of the nozzle 1050 can then abut in order to determine the coating limit at the rivet end. The end of the rivet is defined as the end zone of the rivet body opposite the rivet head.

[0220] 39-41 show an alternative coating station.

[0221] According to this alternative, the nozzle 3000 is fixed relative to the frame, - a block 3001 comprising a bore 3002 defining a chamber and a number of distribution channels 3003 for the coating material, said channels 3003 being in fluid communication with the chamber 3002 and opening through distribution ports 3004 arranged along an axis substantially parallel to the axis of the body of the fastener to be coated; a spool 3005 mounted so as to be movable in translation inside the chamber 3002, said spool 3005 having on both sides longitudinal blind grooves 3006 arranged along said axis over a length thereof so as to be placed in fluid communication with all the channels 3003, said grooves 3006 being connected to coating material supply means, comprising for example a sealant pump whose outlet is connected to the grooves 3006 by a pipe; Equipped with.

[0222] The connection 3011 allows a sealant to be injected into the one of the channels 3003 that is in communication with the groove 3006 .

[0223] According to this alternative, a sensor 3007 with an end 3008 designed to be in contact with the end (foot) of the fastener element is translationally connected to the spool 3005 at its opposite end.

[0224] The sensor 3007 is further translationally connected to a piston 3009 of a jack 3010 whose axis extends substantially parallel to the axis of the main spindle 51 .

[0225] Thus, when the sensor is in contact with the end of the fastener element, the channel(s) 3003 opening beyond this end on the side of the range do not communicate with the groove 3006 .

[0226] The channel 3003 opposite the channel located at the end side of the fastener element to be coated extends to the connection zone between the body and the head of the fastener.

[0227] The nozzle thus allows the dispensing of the sealant in the form of parallel beads on the body of the fastener element between the end and the connection zone between the body and the head.

[0228] Work Station The work station P5 is located as an extension of the main spindle 51.

[0229] This station can perform different tasks depending on the functional modules placed on its level, i.e. - Drilling and / or countersinking, - rivet settings, - Setting temporary fasteners This enables the above to be carried out.

[0230] In addition to the main spindle 51, this station comprises a secondary spindle 170 mounted for translational movement inside the main spindle 51, which is hollow.

[0231] This secondary spindle 170 is integral with a piston 1047 mounted so as to be movable in translation along the axis of the main spindle 51 in a chamber 171 of the jack 17. The secondary spindle constitutes the rod of this jack.

[0232] The work station comprises means 16 for pairing the functional modules.

[0233] The pairing means comprises quick connect type means.

[0234] In this embodiment, the pairing means comprises: - several functional module bells 160 with radial holes 161; a male element 162 integral with and movably connected to the main drive spindle 51 and receivable within the bell 160; - locking elements (balls or rollers) 163 that are integral with the male element 162 and that are positioned as an extension of the radial hole 161 when the male element 162 is received in the bell 160, preferably with a cylindrical body designed to slide in the radial hole 1620 of the male element 162 so that the end of the locking element is received in the radial hole 161 of the bell 160, and a head formed as a portion of a sphere with a larger diameter than the cylindrical body so as to prevent the locking element from being released from the male element by the locking key; a locking key 164 mounted translationally within the male element 162, the locking key 164 comprising a peripheral ramp 165 operable against the locking element 163 (in particular the cylindrical head) to move the locking element 163 within the male element 162 until the locking element 163 cooperates with the radial bore 162 of the bell 160, and to rotate and translate the bell and the male element together; Equipped with.

[0235] The locking key 164 is integral with the end of the secondary spindle 170 .

[0236] The lock key 164 has at least two positions between which the lock key 164 can be moved by the jack 17, namely: a mating position in which the locking key 164 approaches the locking element 163 such that the peripheral ramp 165 of the locking key 164 acts on the locking element 163 to slide the locking element 163 inside the radial hole 161 of the bell 160, forming a protrusion from the male element so that the end of the locking element 163 can be received in the radial hole 161 of the bell 160, if necessary; a non-paired position in which the locking key 164 is remote from the locking element 163 and does not act on the locking element 163 so that the end of the locking element 163 does not protrude from the male element, if necessary, in order to remove the end of the locking element 163 from the radial hole 161 of the bell 160; It is possible to move between

[0237] A resilient return means may optionally be implemented to return the locking member 163 to the unpaired position when the locking key is not acting on the locking element 163 .

[0238] The device includes a pressurized air intake conduit 907 which opens at the work station so as to communicate with an air conduit 906 in the sleeve of a functional module located at the work station.

[0239] Telescoping The secondary spindle 170 can be used to perform a telescoping function for the different functional modules, in particular the rivet support module.

[0240] As will be explained in more detail below, this telescoping function enables the secondary spindle 170, which is initially accommodated in a retracted position within the main spindle, to move out of the main spindle 51 to reach a deployed position extending at least partially outwardly from the main spindle, and then to translationally connect the two so that the main spindle 51 moves with the secondary spindle 170, the main spindle and the secondary spindle then forming a single spindle of significant length.

[0241] For this purpose, the secondary spindle 170 is provided, at its end facing the end of the lock key 164 , with a piston 172 which is translationally movable inside the main spindle 51 which defines a chamber 171 of the jack 17 .

[0242] The secondary spindle 170 is provided with a circumferential groove 1063 downstream of the piston 172 .

[0243] The device comprises means for translationally connecting said inner spindle to said outer spindle.

[0244] More precisely, the main spindle 51 carries an unlocking ring 1064 .

[0245] The unlocking ring 1064 is translationally fixed to the frame. The unlocking ring 1064 is rotatably connected to the main spindle by a groove (not shown) that further allows the main spindle to translate within the locking ring 1064. The locking ring 1064 is rotatably connected to the drive pulley 1034.

[0246] This unlocking ring 1064 comprises a bore having a cylindrical portion 1065 followed by a frusto-conical portion 1066 which widens towards an opening on the side of the spindle 51 oriented towards the functional module installed in the work station.

[0247] The main spindle 51 carries a locking member which comprises a locking ring 1067 mounted on a male element 162.

[0248] The lock ring 1067 has a hole 1068 extending therethrough that has a diameter that allows the lock key 164 and secondary spindle 170 to pass therethrough.

[0249] The lock ring 1067 includes a lateral actuation portion 1069. The lateral actuation portion 1069 includes: - a first circumferential groove portion 1070, and - an outer surface 1072 against which the unlocking ring 1064 can act; Equipped with.

[0250] The locking ring 1067 has two opposing cut edges 1073 and is mounted within a complementarily shaped groove 1074 provided in the male member 162 .

[0251] The first groove portion 1070, together with a second peripheral groove portion 1070' provided on the male member, forms a peripheral groove which accommodates a resilient return element, such as an O-ring or a spring.

[0252] The locking ring 1067 fits within the groove 1074 of the male element 162 along an axis perpendicular to the axis of the main spindle 51. a locked position in which, under the action of the elastic return element, the actuating part 1069 approaches the axis of the male element 162 and the peripheral end 1075 engages in the groove 1063 (or housing) made in the secondary spindle; an unlocked position in which the actuating portion 1069 is spaced from the axis of the male element 162 and the peripheral end 1075 is disengaged from the groove 1063 made in the secondary spindle; It is translationally movable between

[0253] Movement to the unlocked position is achieved by introducing the portion of the male member 162 carrying the locking ring 1067 into the conical portion 1066 and then into the cylindrical portion 1065 of the unlocking ring 1064, which movement acts on the locking ring 1067, thereby moving it relative to the male member 162 against the action of the compression spring.

[0254] The sub-spindle 170 is then inserted into the main spindle 51 at least as follows: a retracted position in which the secondary spindle 170 is housed within said outer spindle; a deployed position in which the secondary spindle 170 extends at least partially outside the outer spindle; It is possible to translate between

[0255] To move to the locked position, - after removal of the male element 162 and the locking ring 1067 from the unlocking ring 1064, - this is achieved when the peripheral groove 1063 of the secondary spindle 170 reaches the locking ring 1067, which moves into the locked position under the action of the compression spring, so that the locking end 1075 of the locking ring 1067 is accommodated in the groove 1063 of the secondary spindle 170, approaching the axis of the male member 162.

[0256] The secondary spindle 170 is then translationally connected to the main spindle 51 such that translational movement of the main spindle 51 accompanies translational movement of the secondary spindle 170, both spindles together forming a single spindle of considerable length.

[0257] Rotational drive of the main carousel As mentioned above, the carousel is mounted for rotation about an axis that extends substantially parallel to the axis of the spindle.

[0258] The carousel has longitudinal notches 62 along its outer periphery that extend substantially parallel to the axis of the carousel. These notches form drive teeth, as will become apparent later.

[0259] The device comprises means for rotatably driving the carousel about an axis.

[0260] These rotation drive means are a first jack 70 comprising a piston 700 translationally movable in a chamber 701; a second jack 71 comprising a piston 710 translationally movable in a chamber 711; Equipped with.

[0261] A piston 700 of the first jack 70 carries a pawl 702 which is rotatably mounted relative to the piston 700 about an axis 703 substantially parallel to the axis of rotation of the carousel.

[0262] The pawl 702 comprises an abutment surface 704 designed to abut against a stop 705 of the piston 700 which defines the drive end position.

[0263] The pawl 702 has two end positions: a deployed position in which the abutment surface 704 abuts against a stop 705 of the piston 700 and the end is spaced away from the piston 700 and at least partially accommodated in the notch 62 of the carousel (see FIG. 12 ); a retracted position in which the abutment surface 704 does not abut against the stop 705 of the piston 700 and the end is close to the piston 700 and disengaged from any notches 62 of the carousel; It is possible to move between

[0264] For example, a return means (not shown), such as a spring, acting on the pawl to return it to its extended position may be used.

[0265] The piston 700 includes an internal chamber 706 within which is housed an inner piston 707 having a tapered end 708 .

[0266] The inner piston 707 is disposed within the chamber 706. an unblocked position in which the bevelled end 708 is positioned away from the pawl 702 to allow the pawl 702 to rotate freely about the axis 703; a possible blocking position of the pawl 702 when in the deployed position, in which the inclined end 708 abuts the pawl 702, rendering the pawl 702 rotationally stationary about the axis 703; The actuator is mounted so as to be movable in translation between the actuators.

[0267] The piston 700 has two end positions: a starting position with the piston 700 at rest on the right side of FIG. 12 (the right side is merely an example, with reference to FIG. 12 for understanding, in that the device can have any orientation in space); - an end position in which the piston 700 is at rest on the left side of FIG. 12 and the pawl 702 is in the deployed position between the two notches 62; It is possible to move between

[0268] In the configuration shown in FIG. 12, the piston 700 is in an end position and the pawl is in the deployed position.

[0269] The device is - an indexing position in which the block pin 8 comes to rest against the carousel between two successive notches 62 to prevent rotation of the carousel about its axis; - release position, in which the blocking pin 8 is released from the carousel to allow rotation of the carousel; A block pin 8 is movably mounted between the

[0270] A resilient return means, such as a spring (not shown), acts on the pin 8 to return it to the blocking position. A jack 800 is used to block the blocking pin 8 in the blocking position.

[0271] The blocking pin 8 provides a means for locking and indexing the carousel in a position where at least one cell 61 of the carousel is in a functional position. In this embodiment, when the blocking pin 8 is in a blocking position in a notch between two consecutive cells, some cells are in alignment with different functional stations. - One cell is located in the module load / unload station, - one cell is located in the temporary fastener loading station, - One cell is located at the rivet loading station, - One cell is located at the rivet coating station, One cell is located in the work station as an extension of a single spindle 51.

[0272] To drive the carousel into rotation in the counterclockwise direction, the jack 800 is exhausted so that the blocking pin 8 is held in the blocking position by spring effect alone.

[0273] The piston 700 is in a starting position (at rest on the right side in FIG. 12).

[0274] Pawl 702 is in the deployed position.

[0275] The inner piston 707 is in a locked position such that the pawl 702 is held in the deployed position without being able to rotate about the axis 703 .

[0276] Pressurized air is then injected into chamber 701 causing piston 700 to move along arrow B from a start position to a finish position.

[0277] During this movement, the pawl engages with a notch in which it is located such that the carousel is also driven in rotation in a counterclockwise direction. The blocking pin 8 slides against the peripheral surface of the carousel, which moves gradually from the indexing position to the release position and then from the release position to the indexing position when the piston 700 is at rest in the end position. The jack 800 is powered to block the blocking lug in the indexing position so that the carousel is held stationary. At least one cell 61 of the carousel is then in the functioning station.

[0278] The inner piston 707 moves to an unblocked position and the pawl is free to rotate about axis 703 (within the clearance allowed by its shape and surrounding surfaces).

[0279] The jack 70 is actuated such that the piston 700 moves along arrow A back to the starting position.

[0280] During this movement, the pawl 702 slides against the peripheral surface of the carousel until the piston is in a starting position, gradually moving from the deployed position to the retracted position and then from the retracted position to the deployed position by pivoting in a clockwise direction about axis 703. The pawl is then received within another notch 62 in the carousel.

[0281] The carousel can again be driven in a counterclockwise rotation by repeating this process over and over.

[0282] The piston 710 of the second jack 71 carries a pawl 712 which is rotatably mounted relative to the piston 710 about an axis 713 substantially parallel to the axis of rotation of the carousel.

[0283] To this end, the pawl 712 comprises an abutment surface 714 arranged to abut against a stop 715 of the piston 710 which defines the drive end position.

[0284] The pawl 712 has two end positions: a deployed position in which the abutment surface 714 abuts against the stop 715 of the piston 710 and the end is accommodated in the notch 62 of the carousel (see FIG. 13 ); a retracted position in which the end is near the piston 710 and away from any notches 62 (not shown) in the carousel; It is possible to move between

[0285] For example, a return means (not shown), such as a spring, may be implemented which acts on the pawl to return it to the deployed position.

[0286] Piston 710 includes an internal chamber 716 that houses an inner piston (not shown) with a tapered end like inner piston 707 .

[0287] This inner piston, in the chamber, an unblocked position in which the end is away from the pawl to allow the pawl to rotate freely about the axis 713; the locking position which the pawl may assume when in the deployed position, in which the inclined end abuts against the pawl, rendering the pawl rotationally stationary about the axis 713; The actuator is mounted so as to be movable in translation between the actuators.

[0288] The piston 710 has two end positions: - a starting position with the piston 710 at rest on the left side of FIG. 13 (the right side is merely illustrative, with reference to FIG. 12 for understanding, if the device can have any orientation in space); - an end position in which the piston 710 is at rest on the right side of FIG. 13 and the pawl is in the deployed position between the two notches 62; It is possible to move between

[0289] In the configuration shown in FIG. 13, the piston 710 is in its starting position and the pawl 712 is in its deployed position.

[0290] To rotatably drive the carousel clockwise, the jack 800 is vented so that the blocking pin 8 is held in its blocking position by spring effect alone.

[0291] The piston 710 is in a starting position (at rest, left in FIG. 13).

[0292] Pawl 712 is in the deployed position.

[0293] The inner piston is in a locked position such that the pawl is held in the deployed position without being able to rotate about axis 713.

[0294] Pressurized air is then injected into chamber 711 causing piston 710 to move along arrow A from a start position to a finish position.

[0295] During this movement, the pawl engages with a notch in which it is located so that the carousel is driven rotatably in a clockwise direction. The blocking pin 8 slides against the peripheral surface of the carousel, which moves gradually from the indexing position to the release position and then from the release position to the indexing position when the piston 710 is at rest in the end position. The jack 800 is powered to block the blocking lug in the indexing position so that the carousel is held stationary. At least one new cell 61 of the carousel is then in the functioning station.

[0296] The inner piston moves to a released position and the pawl is free to rotate about axis 713 (within the clearance allowed by its shape and surrounding surfaces).

[0297] The jack 71 is actuated along arrow B so as to move the piston 710 back to its starting position.

[0298] During this movement, the pawl 712 slides against the peripheral surface of the carousel until the piston is in a starting position, gradually moving from the deployed position to the retracted position and then from the retracted position to the deployed position by pivoting counterclockwise about axis 713. The pawl is then received within another notch 62 in the carousel.

[0299] The carousel can again be rotatably driven clockwise by repeating this process.

[0300] The carousel and the pawl form a ratchet wheel system.

[0301] A first jack 70 and a second jack 71 and corresponding pawls move in opposite directions to allow the carousel to rotate in opposite directions.

[0302] The implementation of a first jack 70 and a second jack 71 allows to place the modules at the desired functional station as quickly as possible by choosing the direction of rotation of the carousel that will ensure the shortest route. However, it is also possible to implement only one jack, which would simplify the system but would lead to longer alignment times.

[0303] The means for rotatably driving the main carousel may be of the type used for the secondary carousel, in which case, rather than implementing a double jack for driving the pawls, i.e. an outer jack with an inner pawl locking jack, a single jack may also be implemented.

[0304] Indexing of the secondary carousel can also be achieved by block lugs which are not controlled by jacks as in the secondary carousel.

[0305] The carousel 6 is in movably rotational motion about a fixed shaft 8 on which it is rotatably guided by bearings 87 having needles, balls or otherwise.

[0306] The shaft 8 is hollow and is provided at one of its ends with an enlarged portion defining a chamber 81 in which a piston 82 of a jack 80 slides.

[0307] The shaft 8 includes a circumferential groove 83 at the other of its ends and a transverse port 84 communicating with the hollow interior of the shaft passes through the circumferential groove 83. The shaft further includes a flat 85 at this end which opens into the groove 83.

[0308] The guide element 14 is fixed to the end of the rod 820 of the piston 82 .

[0309] The guide element 14 comprises a protruding portion 140 which extends into the port 84 of the shaft 8. A groove 141 is provided at the end of the protruding portion 140. The groove 141 extends as an extension of the shaft groove 83, with which the groove 141 forms a circular groove.

[0310] The sleeve 90 of each functional module is intended to be slidably mounted in a cell 61 of the carousel 6 .

[0311] The ends of the lateral fingers 900 of the sleeve 90 of each functional module are designed to be accommodated alternately in the grooves 83 of the shaft 8 and in the grooves 141 of the guide element 14 depending on the angular position of the carousel 6, so that the sleeve is held integrally with the shaft 8 or the piston 82 along the axis of rotation of the carousel 6 and is therefore held translationally stationary along the axis of the cavity in which it is located.

[0312] The protruding portion 140 and the grooves 141, 84 extend as an extension of the spindle 51 to an angular position corresponding to a finger 900 of a sleeve 90 of a functional module 9 located at the work station.

[0313] The groove 901 of each sleeve 90 is capable of receiving a lug 10 arranged at the end of a piston 11 which is translationally movable in a chamber 12 of a jack 13 .

[0314] The jack 13 is located at the load / unload station of the carousel 6. This station is located such that one cell 61 of the carousel is at the work station as an extension of the spindle 51, another cell is at the load / unload station (i.e. the staple load station in this embodiment), another cell is at the rivet load station and another cell is at the coating station.

[0315] The flats 85 and the lugs 10 extend along axes parallel and perpendicular to the axis of rotation of the carousel 6 .

[0316] Loading and unloading functional modules Loading the carousel 6 with functional modules 9 is accomplished in the following manner.

[0317] Pressurized air is injected into chamber 12 of jack 13 to move piston 11 along arrow C, thereby disengaging lug 10 from the interior of cell 61 located at the load / unload station.

[0318] The jack 1005 is actuated to place the forks 1003 in the released position.

[0319] The modules are introduced into the cells 61 at the load / unload station from the side of the carousel 6 located at the end side of the shaft 8 where the groove 84 is located.

[0320] The fingers 900 of the sleeve 90 are introduced into the grooves 83 through the flats 85 which form an introduction passage.

[0321] Air is then introduced into the chamber 12 of the jack 13, causing the piston 11 to move along the arrow D, thereby introducing the lug 10 into the groove 901 of the sleeve 90. The sleeve 90, and therefore the corresponding functional module 9, is thus held within the cell 61 along the axis of the cell 61, and the functional module 9 is translationally blocked.

[0322] The shape of the groove 901 allows the sleeve to reach and leave the load / unload station while the lug 10 protrudes into the groove 901 .

[0323] The carousel 6 can then be rotatably driven to place the next cell at the load / unload station and the process is repeated to load a new functional module 9 .

[0324] It is possible to load all seven cells, or more generally all cells, in the main carousel. However, only some cells can be loaded as needed. In other embodiments, the main carousel can comprise more or less than seven cells.

[0325] Unloading the functional module 9 is achieved by placing the corresponding cell in the load / unload station and then actuating the jack 13 to disengage the lug 10 from the groove 901 and slide the functional module 9 out of the corresponding cell 61.

[0326] Presser element The device comprises a tubular presser element 15 as an extension of the spindle 51, mounted so as to be movable in translational motion relative to the frame 2 along the motion axis of the spindle 51. Such a presser element 15 can be used during the drilling operation, for example, to apply a compressive force to the structure to be drilled, in particular to ensure contact between the stacked plates and to avoid the formation of burrs between these plates during drilling.

[0327] Setting up a multitasking device The robotic arm to which the device is secured is actuated to position the multi-tasking device such that a work station is positioned at a location on the work structure where work is desired to be performed.

[0328] The robot applies the device to the work structure until the suction cup 41 abuts the work structure, after which a vacuum is generated in the suction cup to ensure an effective connection between the multitasking device and the work structure.

[0329] Alternatively, the C-clamp 42 can be used as an alternative to the suction cup.

[0330] Drilling and / or countersinking To perform a drilling and / or dishing operation, the main carousel is rotated until the desired drilling module is at the work station.

[0331] Again, the elastic return means serves to return the jack's piston 903 to a position in which its end 905 is housed in the housing 950 or protrudes into the sleeve, preventing the functional assembly of the drilling module from sliding into the sleeve, and the end 905 of the piston 903 contacts the end 951 of the bushing 95.

[0332] The drilling and / or countersinking module 9 is then paired to a drive spindle 51, which can drive an output shaft 91 which is the movable member of the module.

[0333] For this reason, the spindle 51 moves translationally along its axis towards the functional module at the work station until the male element 162 is received within the bell 160 .

[0334] Pressurized air is injected into the chamber 171 of the jack 17 causing the inner spindle 170 to move along the arrow E. The ramp 165 of the locking key 164 then acts on the locking elements 163 to place them in their mated position in which they cooperate with the radial holes 161 of the bell 160. The spindle 51 and the output shaft 9 are then connected for rotational and translational movement.

[0335] The angular position of the male element 162 relative to the bell 160 is random, and as a result the locking element may not perfectly align with the radial hole in the bell. The spherical head of the locking element allows for slight rotation of the bell relative to the male element, causing the hole in the bell and the hole in the male element to be coaxial, thereby allowing the locking element to penetrate into the hole in the bell.

[0336] The extra holes in the bell compared to the holes in the male element facilitate this re-indexing.

[0337] However, if the locking element were to remain balanced between the two holes without penetrating into them, the resistive torque resulting from the initial drilling operation would then induce relative rotational movement of the male element and bell to align the locking element with the radial hole and terminate pairing.

[0338] The jack 904 is actuated to remove the end 905 of the piston 903 from the housing 950 of the bushing 95 or so that the end 905 no longer protrudes into the sleeve.

[0339] Pressurized air is then injected into chamber 81 of jack 80, causing piston 82 to move along arrow E. As long as the movable equipment is in the sleeve abutting against the stop ring on the side of the bell, actuation of jack 80 has no effect. Main spindle 51 is then driven translationally along arrow E. This causes Until the sleeve 90 abuts against the presser element 15. - translating the movable device and the sleeve along the arrow E; The drive element 14 follows the same movement so that the functional drilling module 9 having the finger 900 cooperating with the groove 141 of the drive element 14 is driven translationally along the axis of the spindle 51 along the arrow E.

[0340] The presser element follows the same movement, which causes it to lean against the workpiece structure and apply pressure to the workpiece structure.

[0341] The force for pressing the presser element 15 against the surface to be worked on is maintained by the jack 80, while the translational movement of the spindle 51 along the arrow E is accompanied by a movement of the movable equipment inside the sleeve, which then comes to a translational rest along the arrow E.

[0342] The spindle 51 is then rotationally and translationally driven and transmits its motion to the output shaft 91 of the functional module 9 with which it is paired in order to perform the desired drilling operation.

[0343] The mating main spindle and output shaft constitute a rotational and translational connection.

[0344] By fixing a threaded sleeve to the module instead of the cutting tool it is possible to carry out threading / non-threading operations.

[0345] Rivet Road Whether or not a sealant coating operation is performed prior to the rivet setting operation, the rivet support module 200 must be loaded with the rivet 216.

[0346] To this end, the main carousel 6 is rotationally driven to place at the rivet loading station P3 the rivet support module 200 corresponding to the size of rivet 216 desired to be set, and optionally coated.

[0347] Once the rivet support module 200 is installed at the rivet loading station P3, the rivet loading operation is carried out.

[0348] Prior to this, the cells 1009 of the sub-carousel 1008 corresponding to the size of this rivet 216 are supplied with rivets by a rivet supplying means of the carousel 1008. The rivets are brought into the tube by pressurized gas through a flexible tube.

[0349] The secondary carousel 1008 is then driven in rotation to place the cells 1009 containing rivets at the rivet loading station P3.

[0350] Pressurized air is injected into the air conduit 906 of the rivet support module 200, holding the piston 205 in a first extreme position where it comes to rest against the circlip 218 opposite the split ring.

[0351] The jack 1006 is then actuated to push the rivet 216 contained in the cell 1009 into the rivet support module 200 until the head 219 of the rivet 216 is located in the split ring 213. During this movement, the head 219 of the rivet 216 acts on the split ring 213, expanding it so that the head 219 is accommodated in the groove 214 and the conical bore 215 of the split ring 213. The ring 213 is then tightened around the head 219 of the rivet 216 by the action of the O-ring used for this purpose, so that the rivet 216 cannot exit the ring 213 by following the opposite path. The rivet 216 is then held in the rivet support module 100 and its body 220 projects from the module 200 beyond the split ring 213.

[0352] Rivet coating work To perform a rivet coating operation, a rivet support module 200 pre-loaded with a rivet 216 which is desired to be coated with sealant is placed at the coating station P4 by rotating the main carousel 6.

[0353] During this movement, the piston 205 of the rivet support module remains at rest against the circlip 218 under the frictional action of an O-ring which ensures the sealing of the chamber.

[0354] It is possible to carry out helical type coating or ring type coating or parallel annular bead coating.

[0355] Helical Coating The helical type coating consists in depositing (applying) at least one annular bead of sealant on the end 221 of the rivet, at least one annular bead of sealant under the head 219 of the rivet, and a helical bead along the body 220 of the rivet between the end and the head of the rivet.

[0356] This is accomplished as follows.

[0357] Prior to the arrival of the rivet-supported module at the coating station, - the jack 1053 is actuated to hold the end of the nozzle 1050 in its position furthest from the body 220 of the rivet 216; - the jack 1047 is actuated to hold the shoe 1046 in a non-engaged position; the jack 1060 is actuated so that the sensor 1058 is in an end position on the side of the end 221 of the rivet 216, the jack 1057 is operated so that the block 1054 carrying the shoe 1046 and the nozzle 1050 is in an end position on the side of the end 221 of the rivet 216 .

[0358] The support 1062 of the nozzle 1050 is at rest relative to the sensor 1058 .

[0359] The chamber of the jack 1057 carrying the block 1054 is evacuated.

[0360] The jack 1036 is actuated to bring the half dog 1038 which it carries into engagement with the half dog 211 of the piston of the rivet support module 100 arranged at the coating station. The piston is a movable member and both cooperating half dogs constitute an indirect connection between the main spindle and the movable member, where the pairing is a rotational connection.

[0361] The half dog 1038 carried by the jack 1036 moves the piston 205 of the rivet support module 100 towards the sensor 1058. When the jack 1036 reaches the end of its stroke, the piston 205 of the module is arranged so that the connection zone between the head 219 and the body 220 of the rivet carried by the module is in a given position. Note that each rivet support module is designed to support a rivet of a given size. The length of the piston 205 of each rivet support module along the axis of the spindle 51 is determined as a function of the size of the rivet it is intended to support, so that when the jack 1036 carrying the half dog 1038 reaches the end of its stroke, the connection zone between the head 219 and the body 220 of the rivet carried by the module is always in the same given position along the axis of the spindle 51.

[0362] The jack 1060 is actuated to move the sensor 1058 toward the rivet head 219 until the conical tip 1061 abuts the rivet end 221, then the stroke of the jack 1060 is stopped.

[0363] Therefore, the sensor 1058 with the nozzle 1050 resting against it will move the nozzle to the end of the rivet 221 (a predetermined distance from the rivet end).

[0364] The jack 1053 moves the nozzle 1050 towards the rivet body until the end of the nozzle 1050 contacts the rivet body.

[0365] The main spindle 51 is rotatably driven and, by both the pulley and the belt, rotatably drives the modular piston 205, the rivet it carries, and also the lead screw 1043 at time t0.

[0366] At the same time, the sealant pump is activated so that the nozzle 1050 delivers sealant to the end 221 of the rivet.

[0367] After a period corresponding to one revolution of the lead screw 1043 , the shoe 1046 is moved by the jack 1049 into position where it engages the lead screw 1043 .

[0368] Contact between the shoe 1046 and the surface 1045 of the thread 1044 of the lead screw 1043 ends after a portion X of one revolution of the lead screw 1043. This portion of the revolution is necessary because when the shoe comes into contact with the screw, it is in a random relative position that leaves a gap between the shoe and the side of the thread. Thus, translational drive of the shoe by the lead screw is effective only after this gap has closed by a random portion X of one revolution.

[0369] At this stage, a bead of 1+X turns of sealant has been deposited on the end 221 of the rivet.

[0370] When the shoe 1046 is in the engaged position, i.e., after contact between the shoe and the lead screw is completed, the nozzle 1050 begins to move toward the rivet head 219 and the nozzle 1050 begins to deposit a spiral bead of sealant along the rivet body 220.

[0371] The nozzle 1050 reaches the connection height between the rivet body 220 and the rivet head 219 when the piston 1055 of the jack 1057 carrying the block 1054 comes to a stop by moving from the end 221 towards the rivet head 219 .

[0372] The rotation of the single spindle 51 is stopped after a time elapsed from t0 allowing 3+Y revolutions of the lead screw, where Y is the number of revolutions of the spiral between the bead on the end of the rivet and the bead under the head. Knowing the rivet length allows knowing the distance Z between the end bead and the head bead, where Y=Z / lead screw pitch (where it is assumed that the rivet to be coated and the lead screw rotate at the same frequency).

[0373] The length of the bead deposited on the end is a maximum of two revolutions, so that a total of 3+Y revolutions will have at least one revolution of deposition under the head.

[0374] As soon as the main spindle 51 stops rotating, sealant deposition is stopped by depressurizing the sealant pump.

[0375] When the single spindle 51 stops, 2-X revolutions of a bead of sealant have been deposited under the rivet head (3 revolutions minus (1+X)).

[0376] The shoe 1046 is moved into a disengaged position by a jack 1049 .

[0377] The nozzle 1050 is moved away from the rivet body 220 by a jack 1053 .

[0378] Nozzle 1050 and sensor 1058 are moved to an end position on the side of rivet end 221 by extension of jacks 1057 and 1060, respectively.

[0379] The main carousel 6 is driven in rotation to place the sealant coated rivets in a rivet setting station where a rivet setting device is located.

[0380] Annular Coating The annular type coating consists in depositing at least one annular bead of sealant under the rivet head 219 .

[0381] To this end, the following will be implemented:

[0382] Prior to the arrival of the rivet-bearing module 100 at the coating station, - the jack 1053 is actuated to hold the end of the nozzle 1050 in its end position furthest from the rivet body 220; - the jack 1049 is actuated to hold the shoe 1046 in a non-engaged position; The jack 1060 is actuated so that the sensor 1058 is in an end position on the side of the rivet end 221 .

[0383] The jack 1036 is actuated to bring the half dog 1038 it carries into engagement with the half dog 211 of the rivet support module 100 located at the coating station.

[0384] The half dog 1038 moves the piston 205 of the rivet support module 100 towards the sensor 1058. When the jack 1036 reaches the end of its stroke, the piston 205 of the module is positioned such that the connection zone between the head 219 and the body 220 of the rivet carried by the module 200 is in a given position. Note that each rivet support module is capable of supporting a rivet of a given size. The length along the axis of the piston spindle of each rivet support module is determined according to the size of the rivet it is designed to support, so that when the jack carrying the half dog reaches the end of its stroke, the connection zone between the head and the body of the rivet carried by the module is always in the same given position.

[0385] The jack 1060 is actuated to move the sensor 1058 towards the rivet head 219 until the conical tip 1061 abuts the rivet end 221, then the stroke of the jack 1060 is stopped.

[0386] The jack 1057 is actuated to stop at the end on the side of the rivet head 219 , stopping the nozzle 1050 at the level of the connection between the body 220 and the rivet head 219 .

[0387] The jack 1053 moves the nozzle 1050 towards the rivet body 220 until the end of the nozzle 1050 contacts the rivet body 220 .

[0388] The main spindle 51 is driven in rotation and, by means of pulleys and belts, drives in rotation the pistons 205 of the modules and thus the rivets which they carry.

[0389] At the same time, the sealant pump operates such that the nozzle 1050 delivers sealant to the connection zone between the head 219 and body 220 of the rivet.

[0390] Rotation of the main spindle 51 is stopped after the rivet has rotated at least one revolution, at which point at least one revolution of the bead has been deposited under the rivet head 219 .

[0391] At the same time, the deposition of the sealant is stopped by depressurizing the sealant pump.

[0392] The nozzle 1050 moves away from the rivet body 220 as the jack 1053 retracts.

[0393] Nozzle 1050 and sensor 1058 are brought into end position on the side of rivet end 221 by extension of jacks 1057 and 1060, respectively.

[0394] The main carousel 6 is rotated to place the sealant coated rivets at the work stations for setting the rivets.

[0395] Coating with parallel annular beads Coating of the rivet with parallel annular beads of sealant between the end of the rivet and the connection zone of the body and head is achieved as follows.

[0396] Jack 3010 is actuated to move sensor 3008 along arrow E to its end position.

[0397] A rivet support module carrying the rivet to be coated is placed in the coating station.

[0398] The half dog 1038 is moved to its stop by the corresponding jack and engages with the half dog 211 of the module, moving the piston of the module to a position where the connection zone of the rivet it carries is aligned with the channel 3003 of the nozzle facing the rivet end side.

[0399] The jack 3010 is actuated along arrow F so that the end 3008 of the sensor contacts the end of the rivet.

[0400] The spool 3005 slides inside the chamber 3002 and seals the channel that extends beyond the rivet end.

[0401] The rivet is rotationally driven through one revolution as the sealant pump operates to dispense sealant, allowing multiple annular beads of sealant to be simultaneously and side-by-side deposited on the rivet body between the end and the rivet connection zone.

[0402] Once the bead is deposited, rotation of the rivet stops, the pump is stopped, the jack is actuated along arrow E to move the sensor away from the rivet, and then the main carousel is actuated to move the module carrying the coated rivet to the work station for setting the rivet.

[0403] Rivet setting operation The device is operable to set rivets that are pre-coated with sealant or uncoated as the case may be, and thus the device comprises a rivet setting device.

[0404] After the rivet-carrying module 200 arrives at the work station P5, the rivet is set in a pre-made hole in the work piece structure in the following manner.

[0405] The main spindle 51 is translationally driven along its axis by a feed motor.

[0406] The main spindle 51 then abuts against the piston 205 of the rivet support module 200, and the piston 205 moves translationally inside the chamber from a retracted position in which the piston extends inside the sleeve, to a deployed position in which the piston extends at least partially outside the sleeve, until the piston stops at the bottom of the sleeve, and the sleeve translates into the cells of the carousel a distance sufficient to engage the ends 221 of the rivets in the corresponding holes (in the case of rivets with threaded ends, insertion of the threaded portion is sufficient).

[0407] The piston of the module is the moveable member, where pairing is simply the contact of the main spindle with the moveable member to drive the moveable member translationally in one direction.

[0408] The feed motor is then controlled to move the main spindle 51 in the opposite direction.

[0409] During this movement of the main spindle, the piston 205 of the rivet support module remains stationary inside its chamber due to friction.

[0410] The main spindle 51 is translated until an end position is reached, in which the portion of the male element 162 carrying the locking ring 1067 is received within the cylindrical portion 1065 of the unlocking ring 1064 and acts on the unlocking ring 1067 to move it to the unlocked position.

[0411] The secondary spindle 170 is translated inside the main spindle 51 by feeding into the chamber of the jack 17 (until the secondary spindle 170 contacts the rivet head).

[0412] When the secondary spindle comes out in this manner, the outer circumferential groove 1063 passes through the lock release ring 1064 .

[0413] Thereafter, the main spindle 51 moves forward and the portion of the male element 162 comes out of the cylindrical portion 1065, causing the unlocking ring to abut again against the secondary spindle, and when this ring again reaches the level of the peripheral groove 1063, it becomes accommodated in the groove 1063 under the action of the elastic return element.

[0414] The secondary spindle 170 is translationally connected to the primary spindle 51, such that translational movement of the primary spindle 51 is accompanied by translational movement of the secondary spindle 170, together forming a long spindle.

[0415] The locking key 164 then pushes the rivet head 219 out of the clamp and fully into the hole.

[0416] To that end, the rivets are ejected from the module by ejection means which enable the rivets to be inserted into the holes and which in this embodiment in particular comprise a main spindle and a counter spindle.

[0417] The thrust effect on the rivet is determined by reading the current of the motor that drives the main spindle, in this case the feed motor, and progress of the main spindle is stopped when the thrust effect is greater than a predetermined threshold, which corresponds to full insertion of the rivet into the hole.

[0418] This approach ensures that the rivet is efficiently set with greater force than would be possible if it were set by a central jack implemented to control the presser element 15, and with greater precision if the thrust force recorded at the main spindle is taken into account.

[0419] When the rivet is correctly inserted into the hole, the main spindle 51 moves to an end position in which the portion of the male element 162 carrying the locking ring 1067 is received within the cylindrical portion 1065 of the unlocking ring 1064, acting on the outer surface of the actuating side portion 1069 to move the locking ring 1067 relative to the male element 162 against the action of the compression spring to the unlocked position.

[0420] The secondary spindle 170 is then retracted into the main spindle 51 by actuating the jack 17 .

[0421] Finally, the piston 205 of the rivet support module is retracted into the sleeve by supplying compressed air to the chamber until it stops against the circlip 218 and the sleeve 90 is retracted into the cell by the jack 80 .

[0422] Temporary Fastener Load A device according to the invention can be implemented to perform the setting of temporary fasteners.

[0423] The temporary fastener 2000 conventionally comprises a body 2001, a deformable (extendable and retractable) spear point end 2002 having a longitudinal slot and including a spacer element fixed relative to the body, and a rotating element 2003 which when rotated relative to the body causes the spear to extend and then retract into the body. Thus, when the rotating member is rotated and tightened against the body after being introduced into a hole through two metal sheets, the spear spreads from the opposite side of the sheets relative to the body and then retracts into the body, forcing the sheets together. Illustrative and non-limiting examples of temporary fasteners are described in US4548533.

[0424] The temporary fastener according to the invention comprises a body and a rotating element having cylindrical cross-section, the same diameter and a smooth and uniform outer surface, the body and the rotating element being separated by a space (housing) allowing both to be locked in place, as will be further explained in more detail.

[0425] Prior to performing a temporary fastener setting operation, the temporary fastener support module 300 must be loaded with temporary fasteners.

[0426] To this end, the main carousel 6 is driven in rotation to place the temporary fastener support modules at the load station P2.

[0427] When the temporary fastener support module is installed in the temporary fastener loading station, a temporary fastener loading operation is implemented.

[0428] The jack 1005 is actuated to move the fork 1003 into its holding position.

[0429] The cartridge belt 1000 is implemented to position the temporary fasteners 2000 within the shaft of the temporary fastener support module.

[0430] The chamber of the temporary fastener support module is supplied with compressed air to hold the piston 306 in a released position with the shoulder 307 near the flange 314 of the drive tube 313. In this position, the surface of the conical bore 331 of the piston 306 acts on the locking element 321 to hold the piston 306 in a rest position with the end of the locking lug 327 away from the longitudinal axis of the drive tube.

[0431] The load jack 1002 is actuated so that the end of the rod exits the chamber and pushes against the head of the rotating element 2003 of the temporary fastener, thereby introducing the temporary fastener into the temporary fastener support module until the female portion 2001 hits the fork 1003 and stops.

[0432] The rotating element 2003 of the temporary fastener then engages the first freewheel 318 while the body 2001 engages the second freewheel 33'.

[0433] The chamber of the temporary fastener support module is evacuated such that the piston 306 is pushed away from the flange 314 by the spring 315 until it reaches the locked position. During this movement the locking element 321 returns to the locked position under the action of a spring contained in the housing 328: the end of the locking lug 327 is then received in the space E between the head of the rotating element 2003 and the body of the temporary fastener, and the temporary fastener is translationally blocked inside the module along its longitudinal axis.

[0434] The load jack 1002 is retracted to the starting position and the jack 1005 is then actuated to return the forks 1003 to the released position.

[0435] Temporary fastener setting operation The device allows for the setting of a temporary fastener and therefore comprises a temporary fastener setting device.

[0436] To perform the temporary fastener setting, the temporary fastener support module, in which the temporary fasteners are installed, is placed in the work station by the main carousel.

[0437] The temporary fastener support module must then be mated with the main spindle.

[0438] For this reason, the spindle 51 moves translationally along its axis in the direction of the functional module at the work station until the male element 162 is received within the bell 160 .

[0439] A slight air pressure is introduced into the module such that the piston 306 exerts a counter force along the longitudinal axis of the module against the opposing force.

[0440] Pressurized air is injected into the chamber 171 of the jack 17 causing the inner spindle 170 to move along the arrow E. The ramp 165 of the locking key 164 then acts on the locking element 163 to place it in a mating position cooperating with the radial hole 161 of the bell 160. The spindle 51 and the drive tube are then rotationally and translationally connected. The drive tube is the movable member and the mating of the drive tube with the main spindle is a rotational and translational connection.

[0441] To insert the temporary fastener into a hole in the structure to be worked on, - the feed motor is actuated to translate the main spindle 51 to slide the drive tube 313 and thereby the piston 306 inside the module; the jack 80 and the compressed gas supply to the temporary fastener support module by the conduit 906 are vented until the descent of the spindle 51 allows the insertion of the temporary fasteners into the housing of the part to be worked on; The feed motor is actuated to translate the main spindle 51 to keep the drive tube 313 and thus the piston 306 sliding inside the module until the thrust force recorded at the main spindle 51 by a sensor on the current consumed by the feed motor reaches a predefined threshold corresponding to the temporary fastener hitting the work structure and coming to a halt. - The main spindle 51 is driven in rotation by a rotary motor so that the drive tube drives the head of the male part of the temporary fastener. Due to the antagonistic function of the freewheel, the male part of the temporary fastener rotates and the female part is held rotationally stationary. As a result, the male part screws in and expands the deformable end in the hole, thus fixing the temporary fastener in the hole of the structure to be worked on. When the torque, determined by a current sensor in the rotary motor, reaches a predetermined threshold value corresponding to complete clamping of the temporary fastener, the rotary motor is stopped. The rotary motor is rotatably driven in the other direction to rotate the main spindle 51 to a certain extent to disengage the freewheel from the module. - Air is admitted into conduit 906 to move the piston to the release position and place the locking lug in the rest position. The feed motor is activated to move the spindle 51 to the initial position. - The main spindle stops when the drive tube is in the home position. - The jack 820 is activated to return the sleeve to the home position. The jack 17 is actuated to release the locking element 163 from the radial hole 161 of the bell 160 and to decouple the main spindle 51 from the drive tube 313 of the module. - The feed motor is re-activated to return the main spindle to the initial starting position. The temporary fastener support module can then return to the temporary fastener loading station to receive new temporary fasteners for installation.

[0442] alternative method In the case of the drilling module, the pairing between the spindle and the movable member, i.e. the output shaft or drive tube, is direct. In practice, the spindle and the output shaft or drive tube are directly interconnected by the pairing means 16 without an intermediate transmission. However, an intermediate transmission can be inserted between the movable member and the bell 160. Such an intermediate transmission may or may not function as a reduction gear. The intermediate transmission may not be able to induce a transformation of motion or, conversely, the intermediate transmission may induce a transformation of motion (for example, the transformation of a translational motion of the spindle into a rotational motion of at least one movable member of the functional module).

[0443] In the case of the rivet-bearing module, the mating between the movable member (the piston of the module) and the spindle is performed indirectly at the coating station by pulleys, belts and half dogs, whereas the mating is performed directly by simple contact at the work station.

[0444] The example functional module described here includes only one movable member, i.e., output shaft, piston, drive tube, however, it may have several output members.

[0445] In carrying out the operation, sensors of the control and measurement assembly may make it possible to read out parameters characteristic of the operation of the paired modules.

[0446] For example, during the drilling process, the following parameters: the axial thrust force on the drill bit, which is deduced, for example, from a force sensor on the spindle or in the transmission or from the intensity of the current supplied to the feed motor, the torque on the drill bit, for example inferred from a torque sensor on the spindle or in the transmission, or from the intensity of the current supplied to the rotary motor, - For example, the drill stroke inferred from the angle sensor of the feed motor can be measured.

[0447] During the screwing process, the following parameters, e.g. - For example, the screw stroke inferred from an angle sensor of a rotary motor, - Torque, for example, from a torque sensor in the transmission or inferred from the strength of a rotating motor can be measured.

[0448] During the rivet setting operation, e.g. the axial thrust force on the rivet, which is deduced, for example, from a force sensor on the spindle or in the transmission or from the strength of the current supplied to the feed motor, - Axial stroke of the rivet, e.g. as inferred from an angle sensor on the feed motor can be measured.

[0449] During the temporary fastener setting operation, e.g. the axial thrust force on the temporary fastener, which is inferred, for example, from a force sensor on the spindle or in the transmission or from the strength of the current supplied to the feed motor, - Torque, for example from a torque sensor in a transmission or from the current strength of a rotating motor can be measured.

[0450] The axial thrust measurement can also be used to detect the cooperation of the male element 162 and the bell 160 by pairing the functional modules.

[0451] This is, of course, not intended to be an exhaustive list of possible parameter measurements.

[0452] All sensors and other measuring means are integrated in the control and measuring assembly 5. The functional modules therefore preferably comprise no sensors or at least very few sensors, which makes the construction of the functional modules particularly simple, robust and economical.

[0453] The device also includes a set of pneumatic connectors 18 for connecting the pneumatic actuators to a pressurized fluid supply means and / or a vacuum means.

[0454] Some tasks can be implemented simultaneously in different stations. For example: - drilling or rivet setting operations or temporary fastener setting operations can be carried out at the work station, - The rivet loading operation can be carried out at the rivet loading station, The temporary fastener loading operation may be performed at a temporary fastener loading station.

[0455] The device according to the invention allows several functions to be performed, for example fastener element setting, fastener element coating, perforation, etc. In this sense, the device constitutes a multitask device. The device therefore comprises devices for providing each of these functions, in particular a coating device, a temporary fastener setting device, a fastener setting device, a perforation device, a fastener element transport device, etc. Each of these devices can be separated to form an independent device performing its own function. Several of these devices (in particular at least two) can be combined in any way.

Claims

1. A device for coating a fastener having a head and a body with a coating material, comprising: - means for dispensing said coating material, said means having at least one dispensing nozzle; - means for holding said fastener; - drive means for providing relative movement of said fastener and said dispensing nozzle with respect to each other; - means for controlling the synchronized operation of said dispensing means and said drive means to deposit at least one bead of coating material on said fastener; Equipped with The device comprises means for evaluating a length of the fastener, the means for evaluating the length of the fastener comprising a sensor and means for actuating the sensor capable of contacting the sensor against an end of the body opposite the head of the fastener.

2. The fastener comprises a connection zone between the body and the head, The means for controlling an annular bead of coating material at the end of the body opposite the head, an annular bead in the connection zone and a helical bead combining the annular bead of coating material at the end of the body opposite the head and the annular bead in the connection zone, or - an annular bead in said connection zone, or - a plurality of annular beads along said body The device of claim 1 , configured to reliably coat the fastener with

3. 3. The device of claim 1 or 2, wherein the drive means comprises means for rotatably driving the fastener along an axis.

4. The device of claim 3 , wherein the drive means comprises means for driving the dispensing nozzle translationally along the axis.

5. The means for controlling - a relative movement of the fastener and the dispensing nozzle to place the dispensing nozzle at the end of the body opposite the head or at the connection zone; - rotating the fastener through at least one revolution and simultaneously activating the means for distributing in order to deposit at least one bead of coating material at the end of the body opposite the head or at the connection zone; - rotating the fastener and translating the dispensing nozzle to the connection zone or to the end of the body opposite the head, while simultaneously activating the means for dispensing to deposit a helical bead of coating material between the end of the body opposite the head and the connection zone; - rotating the fastener through at least one revolution and simultaneously activating the means for dispensing in order to deposit at least one bead of coating material in the connection zone or at the end of the body opposite the head.

5. A device according to claim 2 or claim 3 or 4 depending on claim 2, configured for continuously controlling

6. The means for controlling - relative movement of the fastener and the dispensing nozzle to place the dispensing nozzle in the connection zone; rotating said fastener through at least one revolution and simultaneously activating said means for dispensing in order to deposit at least one bead of coating material in said connection zone; 5. A device according to claim 2 or claim 3 or 4 depending on claim 2, configured for continuously controlling

7. said means for translationally driving said dispensing nozzle comprising a lead screw, means for rotationally driving said lead screw, and a shoe engageable with said lead screw; 7. A device according to claim 4, wherein the dispensing nozzle is integral with the shoe along the axis of rotation of the lead screw.

8. 8. A device as claimed in claim 2 or any one of claims 4 to 7 dependent on claim 2, wherein the sensor forms a stop for the dispensing nozzle defining a coating material dispensing position at an end of the body opposite the head of the fastener.

9. a jack for translatingly driving the dispensing nozzle towards the sensor; The device of claim 8 , wherein the translational stroke of the dispensing nozzle is defined by the sensor at an end of the body opposite the head of the fastener.

10. The distribution nozzle comprises: a block comprising a bore defining a chamber and a plurality of channels for distributing a coating material, said channels being in fluid communication with said chamber and opening through a distribution aperture formed along an axis substantially parallel to the axis of the body of said fastener; a spool mounted translationally movable inside said chamber, the spool having on each side a longitudinal blind groove along said axis over a length in fluid communication with all of said channels, the longitudinal blind groove being connected to a coating material supply means; A device as claimed in claim 1 or 3, wherein the sensor is translationally connected to the spool along the axis such that when the sensor is in contact with the end of the fastener opposite the head, one or more channels opening beyond the opposite end are not in communication with the longitudinal blind groove.

11. a number of holding means adapted to hold a number of fasteners with different distances between the end of the head and the connection zone; - means for driving said holding means, capable of bringing said holding means alternately closer to said dispensing nozzle in order to coat the corresponding fasteners; Equipped with - each of said holding means comprises a support element for a fastener, said support element being mounted so as to be movable in translation relative to said dispensing nozzle along the axis of said body; said device comprises means for translationally driving said support elements, said means for translationally driving being capable of translating the support elements of the holding means brought into the vicinity of said dispensing nozzle by said means for driving said holding means up to a single stroke end stop for the support elements common to each of said holding means, - a device according to claim 2 or any one of claims 3 to 10 dependent on claim 2, wherein the length along the translation axis of each of the support elements is set depending on the distance between the end of the head and the connection zone of the fastener which it is intended to hold, and the connection zone of a fastener held by a support element brought to the single stroke end stop for said support element is located in the same position regardless of the value of said distance for said fastener.

12. 12. The device according to claim 11 depending on claim 10, wherein the same position of the connection zone corresponds to an extension of a distribution aperture of the block arranged opposite to a distribution aperture arranged on the side of the sensor.

13. a single translation stroke end stop for the dispensing nozzle, the stroke end stop for the dispensing nozzle defining a boundary for a fastener connection zone coating location; 12. The device according to claim 11, depending on any one of claims 4 to 9, wherein the same position of the connection zone of the fastener held by the support element brought to the single stroke end stop for the support element corresponds to an extension of the dispensing nozzle arranged at a fastener connection zone coating position of the support element.

14. 1. A device for performing at least one task on a workpiece structure, comprising: - means for fixing said device to motorized handling means capable of moving said device at least partially within a given space relative to the structure to be worked on; - means for fixing said device to the structure to be worked on; at least one functional module capable of receiving at least one fastener necessary to perform said task, The device comprises at least one coating device according to any one of claims 1 to 13, wherein the functional module comprises the means for holding the fastener.

15. at least, a fastener loading station comprising means by which fasteners can be introduced into said functional module; a coating station in which said coating device is located; - a station for setting said fasteners in said workpiece structure; Equipped with A device according to claim 14, characterized in that said device comprises means for moving said functional module from one of said stations to another.

16. 16. The device of claim 15, comprising a plurality of functional modules each comprising a retaining means capable of supporting fasteners having different diameters.

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