Rivet setting device

Abstract

The present invention relates to a device for setting rivets in openings formed in a working structure, the device comprising at least: a rivet support module capable of holding a rivet; means for moving the module between at least one rivet loading station and a working station for setting the rivet; means for introducing a rivet into the module at the loading station; and means for expelling a rivet held in the module from the module at the working station so that the rivet is set in the opening.

Description

Technical Field

[0001] 1. Technical Field of the Invention The technical field of the present invention is the field of design and production of devices implemented in industry for setting rivets prior to their final crimping.

Background Art

[0002] 2. Prior Art Techniques are known in the industry, particularly in the aerospace industry, that enable automated rivet setting.

[0003] These techniques are generally not completely efficient, reliable, and safe, and are generally very difficult to handle.

[0004] Therefore, it is still possible to improve this type of device, and the improvement is the object pursued by the present invention.

[0005] 3. Object of the Invention One object of the present invention is to provide an effective solution, in particular, to at least some of these various problems.

[0006] In particular, according to at least one embodiment, the object of the present invention is to provide a rivet setting device capable of optimizing rivet setting.

[0007] According to at least one embodiment, it is an object of the present invention to provide such a device that is compact and / or lightweight and thus enables the task to be performed at the clamped location.

[0008] According to at least one embodiment, a further object of the present invention is to provide such a device with a simple design.

[0009] According to at least one embodiment, a further object of the present invention is to provide such a device that is easy to maintain.

[0010] According to at least one embodiment, a further object of the present invention is to provide such a device that is relatively inexpensive.

Summary of the Invention

[0011] 4. Disclosure of the Invention For this reason, the present invention provides a device for setting a rivet in a port provided in a work target structure, and the device includes at least - a rivet support module adapted to contain a rivet; - means for moving the module between at least one rivet loading station and a rivet working setting station; - means for introducing a rivet into the module at the loading station; - means for releasing the rivet contained in the module from the module at the working station for setting the rivet into the port and is provided with.

[0012] This implementation automates both the supply and setting of rivets by a single device. Therefore, the present invention provides a compact and optimized system.

[0013] According to one possible feature, the releasing means is movable over two consecutive strokes of partially pre-inserting the rivet into the port and then finally fully inserting it, and during the two consecutive strokes, the rivet end and then the rivet body are continuously inserted into the port.

[0014] This makes it possible to improve the reliability and safety of the setting by first ensuring the pre-insertion of the rivet and then completing the final installation of the rivet, so as to fully integrate the rivet with the structure where the rivet is to be fixed.

[0015] According to one possible feature, the module comprises a sleeve for accommodating a piston, and the piston is arranged inside the sleeve, at least - a retracted position where the piston extends inside the sleeve, and - a deployed position where the piston extends at least partially outside the sleeve and is mounted so as to be movable in a translational motion between them, The module comprises means for holding the rivet at the end of the piston.

[0016] According to one possible feature, the ejection means comprises a telescopic spindle mounted so as to be movable in a translational motion along the axis of the module, the telescopic spindle having an end for contacting the rivet arranged inside the module, and the device comprises means for driving the spindle translationally.

[0017] The use of the telescopic spindle provides a compact system and makes it possible to integrate the system into a multi-task system.

[0018] According to one possible feature, the telescopic spindle - an outer main spindle, which is at least - a retracted position, and - a deployed position towards the module arranged at the work station and is mounted so as to be movable in a translational motion between them, and an outer main spindle, - an inner secondary spindle, which is inside the outer spindle, at least - a retracted position where the inner secondary spindle is accommodated inside the outer spindle, and - A deployment position in which the inner sub-spindle extends at least partially outside the outer spindle and is movably mounted between them by a translational movement, an inner sub-spindle and is provided.

[0019] According to one possible feature, the outer spindle comprises an end that can act on the piston when the outer spindle is translated to the deployment position and the inner spindle occupies its retracted position within the outer spindle, moving the piston to its deployment position and partially inserting the rivet integral with the module located at the work station into the port.

[0020] According to one possible feature, the device according to the invention comprises means for connecting the inner spindle to the outer spindle in translation, the translational connection means comprising at least - An unlocked position in which the inner spindle slides freely inside the outer spindle, and - A locked position in which the inner spindle and the outer spindle are connected in translation can be taken.

[0021] According to one possible feature, the translational connection means comprises a locking ring, the locking ring - The locking position in which the locking ring cooperates with a complementary-shaped housing provided in the inner spindle, and - The unlocked position in which the locking ring does not cooperate with the housing is movable between.

[0022] According to one possible feature, the housing provided in the inner spindle is an outer peripheral groove, and the locking ring is movable in translation along an axis substantially perpendicular to the axis of the inner spindle.

[0023] According to one possible feature, the device according to the invention comprises elastic return means for returning the connecting means to the locked position and unlocking means for placing the connecting means in their unlocked position.

[0024] According to one possible feature, the unlocking means comprise an unlocking ring provided with a frustoconical bore that widens towards a module arranged at the work station, and when the outer spindle is in the retracted position, the unlocking ring is rotatably connected to the outer spindle and received in the unlocking ring, and the wall of the frustoconical bore acts on the locking ring to place the locking ring in its unlocked position.

[0025] According to one possible feature, the device according to the invention comprises control means, and the control means continuously - move the outer spindle and the inner spindle to their retracted positions, - move the main spindle to its deployed position so as to move the piston of the module arranged at the work station to its deployed position in order to partially insert a rivet integral with the module into a port of the structure to be worked on, - move the main spindle to its retracted position in order to place the locking ring in its unlocked position, - move the secondary spindle to its deployed position where the end of the secondary spindle abuts against the head of the rivet partially inserted into the port, - move the locking means to the locked position and move the main spindle to its deployed position so as to connect the inner spindle and the outer spindle translationally, - release the rivet from the module and continue to move the outer spindle to its deployed position in order to complete the insertion of the rivet into the port is configured as follows.

[0026] According to one possible feature, the device according to the invention comprises means for translatably moving said outer spindle between its extended position and its retracted position, and means for translatably moving said inner spindle within said outer spindle between its retracted position and its deployed position.

[0027] According to one possible feature, said means for translatably moving said outer spindle comprise a threaded ring cooperating with the threaded portion of said main spindle, and a rotary motor capable of rotating said threaded ring in order to effect the translation of said main spindle.

[0028] According to one possible feature, said means for translatably moving said inner spindle comprise a pneumatic jack.

[0029] The invention also relates to a device for performing at least one task on a work object structure, said device comprising - means for fixing the device to motor-driven handling means capable of moving the device at least partially within a predetermined space relative to the work object structure, - means for fixing the device to the work object structure and said device comprises at least one rivet setting device according to any of the above alternatives.

[0030] The invention also relates to a method for setting a rivet, said method comprising the steps of partially pre-inserting the rivet into said port and then finally fully inserting it, during both steps the rivet end and then the rivet body being continuously inserted into said port.

[0031] According to one possible feature, such an invention comprises the following successive steps - moving said main spindle and said secondary spindle to their retracted positions, - Moving the main spindle to its deployed position so as to move the piston of the module disposed at the work station to its deployed position in order to partially insert a rivet integral with the module into a port of the work target structure; - Moving the main spindle to its retracted position in order to place the lock ring at its unlocked position; - Moving the sub-spindle to its deployed position where the end of the sub-spindle abuts against the head of the rivet partially inserted into the hole; - Moving the main spindle to its deployed position to cause movement of the locking means to its locked position and to connect the inner spindle and the outer spindle translationally; - Continuing to move the outer spindle to its deployed position to release the rivet from the module and complete insertion of the rivet into the port including.

[0032] 5. Description of the Drawings Further features and advantages of the present invention will become apparent from the following description of specific embodiments and the accompanying drawings, which are given by way of illustration only and are not limiting.

Brief Description of the Drawings

[0033]

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Best Mode for Carrying Out the Invention

[0034] 6. Description of Specific Embodiments Examples of the multi-task device according to the present invention are described in relation to FIGS. 1 to 50.

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

[0036] This frame 2 includes means 3 for fixing to a motor-driven handling device (not shown), and the frame 2 is fixed so as to be movable with respect to a work target structure (not shown).

[0037] These motor-driven handling means are - a robotic arm, - a mobile robot, - a digital gate belong to the group comprising.

[0038] In the illustrated example, these are means 3 for fixing to the robotic arm. These fixing means comprise a plate 31 having a plurality of holes 32 passing through the plate 31, enabling fixing bolts at the end of the robotic arm to pass through the holes 32. Other fixing means, such as quick-fixing means for a collar, clamps, or cam types... etc. can also be used.

[0039] In the case of a digital gate, the fixing means will comprise, for example, bolts, clamps, or other means for fixing to a cradle comprising rollers that can be guided on the rails of the digital gate.

[0040] Means for fixing to the work target structure The device comprises means 4 for fixing to the work target structure.

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

[0042] The fixing means can, for example, be integral with the frame 2 and comprise suction cups 41 that can be connected to vacuum means such as a vacuum pump to improve the fixing to the surface of the work target structure.

[0043] The suction cups are fixed in groups to the support and can form suction pads. Two suction pads are shown in FIGS. 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 (to be described in detail later), or can be distributed around the spindle 51 (see FIG. 17).

[0045] Alternatively, the suction pads can comprise a C-clamp known in the state of the art as shown in FIG. 19.

[0046] The means for fixing to the work target structure can be permanently fixed to the frame. Alternatively, the means for fixing can be fixed to the frame by means of a universal reversible fastener means 100.

[0047] Universal reversible fastener means for the means for fixing to the work target structure The universal reversible fastener means 100 comprises a fastening plate 101.

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

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

[0050] This fastening plate 101 has a cross-section that is substantially rectangular in one plane and a cross-section having two transverse grooves 102 in another plane perpendicular to the one plane.

[0051] These transverse grooves 102 extend along the length of the fastening plate 101 and comprise inclined surfaces 103 such that the thickness of the grooved portion of the fastening plate 101 becomes thicker from the end of the plate towards the interior.

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

[0053] Therefore, each of these jaws 104 defines a housing 105 that can receive the corresponding grooved end of the fastening plate 101. Therefore, each of these housings 105 has two opposing surfaces, and one surface of the opposing surfaces is inclined with respect to the other surface by an angle that is substantially the same as the inclination angle of the corresponding groove of the fastening plate.

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

[0055] The jaw part 104 is at least - A non-fixed position where the jaw parts 104 move away from each other to enable the introduction of the grooved end of the fastening plate 101 in order to fix the means for fastening to the work target structure to the frame, and - A fixed position where the jaw parts 104 approach each other to clamp (capture with a vice) the grooved end of the fastening plate 101 in order to fix the means for fixing to the work target structure to the frame is movably mounted between them.

[0056] As the jaw part 104 moves from the non-fixed position to the fixed position, the inclined surface of the grooved end of the fastening plate 101 abuts against the inclined surface of the corresponding jaw part 104 and gradually slides, ensuring fixation by the wedge effect.

[0057] To fix the desired fastening means to the frame, the jack 109 is actuated to move the jaw part 104 to the release position.

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

[0059] The jack 109 is then actuated to place the jaw part 105 in the fixed position, and the grooved end of the fastening plate 101 is clamped by the jaw part 105.

[0060] By performing these in reverse, the fixing means is removed.

[0061] Functional module The device can incorporate a plurality of functional modules, which will be described in more detail below.

[0062] Each of these functional modules enables a specific task to be performed, such as, for example, punching and / or countersinking operations, rivet setting operations, temporary fastener (e.g., staple) setting operations, or operations 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] Punching and / or countersinking module The functional module 9 shown aligned with the spindle 51 of FIG. 2 is a punching module.

[0064] The punching module includes a sleeve 90.

[0065] This sleeve 90 is tubular in shape and has an annular cross-section throughout.

[0066] The sleeve 90 includes side fingers 900 protruding from its sidewall.

[0067] The sleeve 90 includes a transverse groove 901 that is diametrically opposite the finger 900 and offset along the longitudinal axis of the sleeve.

[0068] This punching module includes an output shaft 91 (i.e., a movable member), and at the end of the output shaft 91, a cutting tool such as a drill 92 (possibly stepped to enable countersinking) can be fixed by fastening means 93 known per se. The cutting tool can be, for example, a simple drill for performing simple punching, a stepped drill, a countersinking drill for performing mill-type punching, or a countersinking tool for countersinking a previously made hole.

[0069] The output shaft 91 is rotatably mounted in a bearing 94, and the bearing 94 is in turn slidably mounted along the sleeve 90 by a bushing 95.

[0070] The fingers 900 of the sleeve 90 of the perforation module accommodate the chamber 902 in which the piston 903 of the jack 904 is slidably mounted. The end 905 of the piston 903 can be accommodated within a complementary-shaped housing 950 provided for this purpose within the bushing 95.

[0071] The fingers 900 extend to the supply conduit 906 of the jack 904 that can communicate with the pressurized air intake conduit 907 provided within the device and are in a communicating state when at the working station of the device.

[0072] Elastic return means (not shown) return the piston 903 to a position where its end 905 is accommodated within the corresponding housing 950 of the bushing 95, preventing the piston 903 from moving in a translational motion inside the sleeve 90. As a result, unless the functional module is counter-formed against the spindle 51, the bushing 95, the bearing 94, the output shaft 91, and the tool 92 carried by the output shaft 91 are prevented from protruding from the sleeve 90.

[0073] The end 905 and the corresponding jack 904 constitute means for preventing the functional assembly of the functional module from translating inside its sleeve. The functional assembly comprises all components of the functional module that are slidably 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 beyond its position shown in FIGS. 5 or 6 inside the sleeve.

[0075] Furthermore (in both working alternatives for the jack 904 and the end 905), the sleeve accommodates, at each end, stop segments (not shown) each of which forms a stop for the functional assembly. Thus, the piercing module functional assembly can slide between these stop segment within the sleeve as long as the end 905 does not project into the housing 950 or directly into the sleeve.

[0076] The piercing module comprises a bell 160 which is integral with and movably connected to the output shaft 91. This bell is provided with radial holes 161.

[0077] The screwing module can be made with a structure substantially identical to that of the piercing module. In this case, the means 93 for fastening the cutting tool will be replaced by means for fixing the sleeve or the drive hole to the output shaft. This includes controlling the advancement of the spindle 51 such that the feed per revolution of the spindle is substantially equal to the pitch of the screw, so that the socket or drive hole advances in synchronism with the screw. Further telescoping may be required to enable screw insertion.

[0078] Rivet support module The rivet support module 200 holds the rivet and, like the piercing module, comprises a sleeve 90.

[0079] This sleeve 90 is tubular in shape and has an overall annular cross-section.

[0080] The sleeve 90 is provided with side fingers 900 projecting from its side wall.

[0081] The sleeve 90 includes a transverse groove 901 diametrically opposite the finger 900 and offset along the longitudinal axis of the sleeve.

[0082] The sleeve houses the tubular element 201, and at one end of the two ends of the tubular element 201, a shoulder 202 is provided which is designed to abut against a complementary-shaped shoulder 203 provided at one end of the sleeve 90.

[0083] The opposite end is close to the shoulder 204 in the lower part of the sleeve 90 but is not in contact with the shoulder 204, thereby enabling pressurized air to pass between the outer surface of the tubular element 201 and the inner surface of the sleeve 90. This will be described later.

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

[0085] The piston 205 has a flange 206 at one end that includes an outer peripheral groove 207 for housing 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 has an inner peripheral groove 209 for housing an O-ring 210 that provides a seal between the piston 205 and the sleeve 90.

[0087] The side fingers 900 of the sleeve 90 extend along the sleeve and house an air conduit that can communicate with a pressurized air intake conduit 907 provided within the device and are in a communicating state when at the working station of the device.

[0088] The end of the piston 205 located on the inner side surface of the shoulder 204 of the sleeve 90 has a demi-crabot 211. Its function will be described later.

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

[0090] This split ring 212 has a conical internal bore 213 that narrows in diameter from the inside of the piston 205 towards the outside of the piston 205. This 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. This groove 214 also opens into an internal conical portion 215 whose diameter narrows towards the outside of the split ring 212.

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

[0092] The split ring 212 has at least one outer peripheral groove 217 for accommodating an elastic return element such as an O-ring or a spring (not shown) that acts as a return means. The return means functions to return the ring from a released state where the inner diameter of the ring expands to a retained state where the inner diameter of the ring is restrained, as will be described in more detail later.

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

[0094] The piston has an internal bore through which the piston passes and allows the rivet to pass through the internal bore.

[0095] Some rivet support modules are provided with pistons of different internal bore diameters and different split ring sizes to allow the retention of rivets of different sizes.

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

[0097] The piston 205 is movable translationally within the tubular element 201 between a first end position where its shoulder 207 abuts against the circlip 218 and a second end position where its shoulder 207 abuts against the shoulder 204 of the sleeve, and for this purpose the circlip 218 is provided at the end of the tubular element 201 on the side opposite to 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 this case, the split ring will of course have a shape adapted to the shape of the screw head instead of the rivet head.

[0099] Temporary fastener support module The temporary fastener support module 300 comprises a sleeve 90.

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

[0101] The sleeve 90 comprises side fingers 900 protruding from its side walls.

[0102] The sleeve 90 comprises a transverse groove 901 located diametrically opposite the fingers 900 and offset along the longitudinal axis of the sleeve.

[0103] The fingers 900 extend along the length of the sleeve and accommodate an air duct 906 that can communicate with a pressurized air intake duct 907 provided within the device and is in a communicating state when at the working station of the device.

[0104] The sleeve 90 houses a tubular element 301. The tubular element 301 has, at one end, a shoulder 302 that abuts against a shoulder 303 provided at that end inside the sleeve 90.

[0105] The tubular element 301 has a second shoulder 304 located close to the air duct provided within the fingers. This shoulder defines the boundary of the smaller diameter portion of the tubular element.

[0106] The tubular element 301 has another end that extends inside the sleeve and is close to a second shoulder 305 provided 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 the boundary of a chamber that houses the piston 306. This piston 306 has a shoulder 307 at one of its two ends, which has an outer peripheral 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 has an inner peripheral groove 310 that houses an O-ring 311 that ensures a seal between the sleeve 90 and the piston 306.

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

[0110] The piston 306 has a first bore 312 inside the piston 306 that houses a drive tube 313 (movable member) that is movably mounted in translational and rotational motion.

[0111] This drive tube 313 has a flange 314 at one of its ends that defines a bell 160 through which a radial hole 161 passes.

[0112] Elastic return means 315 such as an elastic washer or a spring is inserted between the flange 314 of the drive tube 313 and the shoulder 307 of the piston 306. The return means serves to separate the flange and the shoulder from each other.

[0113] The drive tube and the piston are at least, - a retracted position where both extend inside the module, and - At least one of these elements is connected to be translatable within the module between a deployed position that at least partially extends outside the module, i.e., the sleeve and is connected to be translatable within the module.

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

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

[0116] The second bore 317 communicates with a third bore 320. The third bore 320 houses a locking element 321, and the locking element 321 is held within the third bore 320 by a circlip 322 housed within a groove 323 provided therefor within the drive tube 313 on one hand and within a groove 324 provided therefor within the locking element 321 on the other hand.

[0117] The module comprises means for holding a temporary fastener within the module. These holding means hold the locking element.

[0118] The locking element 321 is in the form of a ring having a bore 325 passing through the ring, and the offset portion 326 defines a protruding locking lug 327. The locking member 321 comprises a peripheral recess 328 for housing return means (not shown), such as a compression spring, inserted between the locking member 321 and the drive tube 313. The locking element 321 is at least in a direction perpendicular to the longitudinal axis of the drive tube 313 within the third bore 320 - between a rest position where the end of the locking lug 327 is remote (retracted) from the longitudinal axis of the drive tube 313 and - a locking position where the end of the locking lug 327 moves closer to the longitudinal axis of the drive tube 313 (deployed inside the module) and is laterally movable therebetween.

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

[0120] The first bore 312 of the piston 306 communicates with a second bore 329 having 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 free wheel 334 held in place by a circlip 335. An O-ring 336 provides a rotary drive between the third bore 333 and the second shaft wheel 334.

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

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

[0125] This drive and control assembly 5 includes a single drive spindle 51 called the main spindle. This spindle is mounted so as to be movable in a rotary motion and a translational motion along the same axis, that is, along its longitudinal axis. Therefore, the spindle is mounted so as to be movable in a translational motion in the direction of the work station between a retracted position and a deployed position.

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

[0127] In this embodiment, these motor means include a feed motor 510 and a rotation motor 511. These motor means also include a transmission T that enables the spindle 51 to be driven movably in a translational and / or rotational motion along its axis by the feed and / or rotation motor.

[0128] This transmission is of the type comprising a translational drive nut (noix d'entrainement en translation) 512 and a rotary drive ring 513.

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

[0130] The translational drive nut 512 has an internally threaded bore 5121 whose shape is complementary to a 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 herein.

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

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

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

[0135] As will be explained in more detail below, the device comprises means for mating at least one movable member of the drive spindle and of the functional module(s) formed in pairs with the spindle, alternately and movably integrally with each other.

[0136] A single drive and control assembly 5 typically comprises a controller 53 that includes all the components necessary to control the operation of the motors and all the actuators and other sensors of the device. Such a controller particularly includes all the memory, program(s), and processor(s) necessary to control the device and perform various tasks. The controller also includes communication means (transceiver) that enable the sending and receiving of data, either wired or wirelessly. The controller can also integrate the components necessary to power the motor (inverter type). The controller can also include means for inputting commands (keyboard, microphone, touch screen, mouse, or others), a display screen, means for emitting sound signals, etc. Such a controller can be completely or partially fixed to the frame or can be located remotely.

[0137] The single drive and control assembly 5 comprises means for measuring at least one physical parameter indicative of at least one operating characteristic of the functional module(s). These parameters are - The torque on at least one movable member of the module formed in opposition to the spindle, - The axial force on at least one movable member of the module formed in opposition to the spindle, - The angular position of at least one movable member of the module formed in opposition to the spindle, - The axial position of at least one movable member of the module formed in opposition to the spindle at least one of the quantities can be specifically indicated.

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

[0139] In an alternative method, the control means comprises one or more angular sensors 531 integrated into one or more of the motor(s). The angular sensor is a sensor for measuring the angular position of the rotor of the motor. The control means then comprises means for determining the angular position and / or axial position of the at least one movable member of the functional module formed in opposition to the spindle as a function of the measured angular position of the rotor. Such means for measuring a position and determining it as a function of the angular position of the rotor of the motor are known per se and will not be described in detail.

[0140] In the substitution method, the measuring means is integrated within the transmission T and enables the determination of the torque and / or axial force on the spindle, and / or the angle and / or axial position of the spindle, and thus enables the estimation 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 formed opposite to the spindle. It comprises at least one torque and / or force and / or position sensor 532. Such means for measuring and determining force or torque are known per se and will not be described in detail.

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

[0142] Means for carrying the module: carousel The device according to the invention comprises means for carrying a plurality of functional modules. These carrying means enable several functional modules to be loaded and moved. In the illustrated embodiment, the number of modules that can be loaded is equal to 7, but alternatively there can be different (fewer or more) possibilities. This number can be even or odd.

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

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

[0145] Functional station The device comprises several functional stations.

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

[0147] In this embodiment, the functional stations are - a functional module loading / unloading station P1, - a temporary fastener loading station P2 (in this embodiment, stations P1 and P2 are identical to form a multi-functional station, but may also be two separate stations), - a rivet loading station P3, - a rivet coating station P4, and - a working station P5 as an extension of the single spindle 51, depending on the module located at this station, - punching and / or disc taking, - rivet setting, - temporary fastener setting for the working station P5 which is.

[0148] Functional module loading / unloading station The functional module loading / unloading station P1 enables the functional modules to be introduced one by one into the cells of the carousel and removed therefrom.

[0149] In this station, the device comprises a jack 13, and the piston 11 of the jack 13 carrying the lug 10 is movable translationally within the 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 described later.

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

[0152] In this embodiment, the temporary fastener loading station is located at the functional module loading / unloading station. Therefore, these two stations constitute a single station with dual functions.

[0153] However, the temporary fastener loading station can also be located in another place.

[0154] This station P2 includes a temporary fastener feeding device 1000. This device includes a cartridge belt type actuator for translating the temporary fastener 1001 until the temporary fastener 1001 is disposed within the axis of the temporary fastener support module to which the temporary fastener 1001 is brought to the temporary fastener loading station P2.

[0155] This station P2 also includes a load jack 1002. This jack 1002 is disposed within the axis of a temporary fastener support module 300 installed at the temporary fastener loading station by a carousel 6.

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

[0157] When a temporary fastener is introduced into the temporary fastener support module 300 in the temporary fastener loading station P2, the temporary fastener loading station P2 also includes a device for holding the temporary fastener within the temporary fastener support module 300. This holding device substantially comprises an L-shaped fork 1003, and the end of the L-shaped fork 1003 is provided with two spaced fingers to form a space for accommodating the temporary fastener.

[0158] This fork 1003 is disposed at the outlet of the temporary fastener support module 300 arranged in the temporary fastener loading station P2, - a holding position where the end with fingers extends substantially perpendicular to the temporary fastener support module and forms a stop portion against which the temporary fastener can abut when introduced into the temporary fastener support module, and - a release position where the fork rotates about the axis along arrow C, the end with fingers is released from the module, and the fork can be rotatably driven by the carousel and is rotatably mounted around the axis 1004 between them.

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

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

[0161] This rivet loading station P3 comprises a load jack 1006. This jack 1006 is disposed within the axis of the rivet support module that is moved to the rivet loading station by the carousel.

[0162] This station P3 comprises a device for receiving a rivet (or other fastening element such as a screw or the like) from a rivet supply (or feed) zone 1007 and transferring it to a rivet distribution or rivet storage zone, such as the rivet support module 200 located at the rivet loading station P3 for example.

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

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

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

[0166] In particular, the carousel and its cells form means for receiving the fastening element. The carousel and its drive means enable the fastening element to move from the supply zone to the distribution zone.

[0167] Each cell 1009 has different diameters such that each socket can receive rivets 216 of different sizes.

[0168] Each cell 1009 comprises a receiving port 1090 and a fastening element distribution port 1091. The receiving port 1090 enables the fastening element to be inserted into the cell. The distribution port enables the fastening element to be released from the cell.

[0169] The device includes means for holding the fastening element introduced into the cell. These holding means prevent the removal of the fastening element located in the cell from the receiving port.

[0170] In this embodiment, the holding means includes a deformable member 1092 having a spear forming point 1093 located within each cell. The tip of each spear is shaped to allow introduction of a fastener element into the cell through its receiving port and to prevent removal of the fastener element through the cell receiving port. Thus, the tip of each spear is oriented towards the corresponding cell receiving port.

[0171] The carousel 1008 is rotatably mounted between a support plate 1011 and a rivet holding plate 1012 along an axis substantially parallel to the axis of the main spindle 51. The holding plate constitutes means for holding a fastener within the cell.

[0172] The support plate 1011 is integral with and fixed to the frame. The support plate 1011 is penetrated by the same number of holes 1013 as the cells 1009 provided in the carousel 1008. Each hole has a different diameter corresponding to the diameter of the cell. The support plate 1011 carries a shaft 1014 on which the carousel 1008 is movably mounted around.

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

[0174] The holding plate 1012 is provided with air discharge holes 1015 on the axis of each hole 1013 of the support plate 1011. However, on the axis of the jack 1006, instead of the air discharge holes 1015, there is a distribution opening 1080 passing through the holding plate 1012. The diameter of the distribution opening 1080 is such that the largest rivet that can be loaded into the sub-carousel can pass through.

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

[0176] The device comprises means for rotatably driving a carousel around a shaft.

[0177] These rotatable drive means - a first jack 1017 comprising a piston 1018 which is translatable within a chamber 1019, and - a second jack 1020 comprising a piston 1021 which is translatable within a chamber 1022 are provided.

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

[0179] The detent 1023 comprises a contact surface 1025 which is provided so as to contact a stop 1026 of the piston 1018 which defines a drive end position.

[0180] The detent 1023 is movable between two end positions, namely - a deployed position in which the contact surface 1025 contacts the stop 1026 of the piston 1018 and the end is spaced from the piston and at least partially received within a notch 1016 of the carousel (see Figure 14), and - a retracted position in which the contact surface 1025 does not contact the stop 1026 of the piston 1018 and the end is near the piston 1018 and not engaged with any notch 1016 of the carousel and is movable therebetween.

[0181] For example, it is also possible to implement return means (not shown), such as a spring, which acts on the detent 1023 so as to return the detent 1023 to its deployed position.

[0182] The piston 1018 is in two end positions, namely - The piston 1018 is in the left stop state of FIG. 14 (when the device can take any orientation in space, the left side is merely an illustration for understanding with reference to FIG. 14) start position, and - The piston 1018 is in the right stop state of FIG. 14, and the detent 1023 is in the deployed position between the two notches 1016 end position and is movable therebetween.

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

[0184] The device includes a block pin 8. The block pin 8 is movably mounted between a block position where it hits and stops against the carousel 1008 between two consecutive notches 1016 to prevent rotation around the axis of the carousel, and a release position where it disengages from the carousel to allow rotation. This block pin 8 is integral with the support plate 1011 by a spring plate 1027, and the spring plate 1027 serves to hold the block pin 8 in the block position. The block pin 8 constitutes means for locking and indexing the carousel 1008 at a position where the cell 1009 of the carousel 1008 is in alignment with the load jack 1006, i.e., in the dispensing zone. Preferably, at least one other cell is in the supply zone.

[0185] To rotatably drive the carousel 1008 in the clockwise direction, pressurized air is injected into the chamber 1019 to move the piston 1018 to its end position along the arrow G. During this movement, the abutting surface 1025 of the detent 1023 is in a stopped state by the stop portion 1026 of the piston 1018, and the clockwise rotation of the detent 1023 is blocked. Therefore, the carousel 1008 is rotationally driven in the clockwise direction until the piston 1018 stops at its end position. The new cell 1009 of the carousel 1008 then aligns with the load jack 1006. During the movement of the carousel 1008, the block pin 8 slides against the peripheral surface of the carousel 1008, gradually moves from the blocked position to the block release position against the action of the leaf spring 1027, and then returns to the blocked position under the action of the leaf spring 1027, and the carousel 1008 is maintained in a stationary state.

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

[0187] By repeating this process, the carousel 1008 can be rotationally driven clockwise again.

[0188] The piston 1021 of the second jack 1020 carries the detent 1028, and the detent 1028 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 detent 1028 is provided with an abutting surface 1030 for abutting against the stop portion 1031 of the piston 1021 that defines the drive end position.

[0190] The detent 1028 has two end positions, namely, - When the contact surface 1030 abuts against the stop portion 1031 of the piston 1021, the end is spaced apart from the piston 1021, and it is in a deployed position that is at least partially received within the notch 1016 of the carousel 1008 (see FIG. 15), and - When the contact surface 1030 does not abut against the stop portion 1031 of the piston 1021, the end is near the piston 1021 and is in a retracted position where it is not engaged with any of the notches 1016 of the carousel 1008, and it is movable between them.

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

[0192] The piston 1021 is movable between two end positions, namely, - A starting position where the piston 1021 is in the stopped state on the right side in FIG. 15 (when the device can take any orientation in space, the right side is merely an illustrative example with reference to FIG. 15 for understanding), and - An end position where the piston 1021 is in the stopped state on the left side in FIG. 15 and the detent 1028 is in the deployed position between the two notches 1016. it is movable between them.

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

[0194] To rotationally drive the carousel 1008 in the counterclockwise direction, pressurized air is injected into the chamber 1022 to move the piston 1021 to its end position along the arrow I. During this movement, the abutting surface 1030 of the detent 1028 is in a stopped state by the stop portion 1031 of the piston 1021, and the counterclockwise rotation of the detent 1028 is blocked. Therefore, the carousel 1008 is rotationally driven counterclockwise until the piston 1021 stops at the end position. The new cell 1009 of the carousel 1008 then becomes aligned with the load jack 1006. During the movement of the carousel 1008, the block pin 8 slides against the peripheral surface of the carousel 1008, gradually moves from the block position to the block release position against the action of the spring plate 1027, and then returns to the block position under the action of the spring plate 1027, and the carousel 1008 is maintained in a stationary state.

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

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

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

[0198] The first jack 1017 and the second jack 1020 and the corresponding detents 1023, 1028 move in the opposite direction so that the carousel 1008 can rotate in the opposite direction.

[0199] The implementation of the first jack 1017 and the second jack 1020 can align the desired cell 1009 more quickly with the main spindle 51 by selecting the rotation direction of the carousel 1008 that can be aligned most quickly. However, it is also possible to implement only one jack. This simplifies the device but leads to longer alignment times.

[0200] The means for rotatably driving the sub-carousel 1008 can be of the same type as the means of the main carousel 6, which will be described later. In this case, instead of implementing a single jack to drive the detent, it is also possible to implement a double jack, that is, an outer jack including an inner detent block jack.

[0201] Indexing the sub-carousel can also be achieved by a block pin controlled by a jack, similar to the case of the main carousel.

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

[0203] Rivet coating station The device includes a coating device located at the rivet coating station P4. This station enables a sealing compound to be applied to the rivets.

[0204] This coating station P4 is located in proximity to the working station P5.

[0205] The coating station P4 includes a first pulley 1032 that 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 drive pulley 1034 fastened to the main spindle 51 and a belt 1033 so as not to translate, for example, by grooves.

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

[0207] This piston 1035 is movably mounted inside the chamber 1037 along an axis parallel to the axis of the main spindle 51 with translational and rotational movements. The piston 1035 carries, at its end, a half - dog 1038 having a complementary shape with respect to the half - dog 211 of the rivet support module 200.

[0208] The 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 the third pulley 1041 by a belt 1040.

[0209] The third pulley 1041 is mounted on a shaft 1042 and rotatably connected thereto.

[0210] The shaft 1042 carries a male thread 1043 at the end opposite to the end where the pulley 1041 is fastened.

[0211] This male thread 1043 has a thread profile that includes a first flank 1044 for meshing with the shoe 1046 and a second flank 1045 inclined with respect to the axis of the male thread.

[0212] The first flank is inclined by a few degrees with respect to the perpendicular line to the axis of the male thread such that the shoe applied to this flank has a tendency to slide towards the lower part of the thread.

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

[0214] Therefore, the shoe 1046 is at least - an engagement position where the shoe 1046 meshes with the lead screw 1043, and - a non-engagement position where the shoe 1046 does not mesh with the lead screw 1043 and is movable therebetween.

[0215] This station comprises a sealant dispensing means having a nozzle 1050 connected to a sealant supply means (not shown), the sealant supply means comprising, for this purpose, a pipe provided for this purpose, on the one hand, to a sealant storage section and, on the other hand, a pump connected to the nozzle 1050.

[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 an axis perpendicular to the axis of the rivet support module 200). However, this end is preferably inclined or curved so that the nozzle 1050 can stop against the rivet while providing a port for dispensing the sealant onto the rivet 216. This solution is preferred as long 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 so as to be movable in a translational motion along an axis perpendicular to the axis of the rivet support module within the chamber 1052 of the jack 1053.

[0218] Shoe 1046, nozzle 1050, and their respective jacks 1049, 1053 are mounted within a block 1054 integral with a piston 1055 movably mounted in a translational motion along an axis parallel to the axis of the parent screw 1043 within the chamber 1056 of the jack 1057.

[0219] This station comprises means for determining (evaluating) the length of the rivet 216 moved to the coating station. These means include a sensor (palpeur) 1058. One end of the sensor is integral with a piston 1059 movably mounted in a translational motion along an axis parallel to the axis of the parent screw 1043 within a chamber (not shown) of the jack 1060. The other end of the sensor 1058 comprises a conical central tip 1061 oriented towards the rivet 216 supplied 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 then defines a stop against which the support 1062 of the nozzle 1050 can 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 on the side opposite the rivet head.

[0220] Figures 39 to 41 show an alternative coating station.

[0221] According to this alternative, the nozzle 3000 is fixed to the frame, - a block 3001 comprising a bore 3002 defining a chamber and a plurality of distribution channels 3003 for the coating material, these channels 3003 being in fluid communication with the chamber 3002 and opening through a distribution port 3004 provided along an axis substantially parallel to the axis of the body of the fastener to be coated, and - A spool 3005 movably mounted by translational movement inside the chamber 3002, the spool 3005 having longitudinal blind grooves 3006 provided along the shaft over a length such that it is arranged in fluid communication with all the channels 3003, the grooves 3006 being connected to coating material supply means which comprise, for example, a sealant pump whose outlet is connected to the grooves 3006 by a pipe, the spool 3005 and comprises.

[0222] The connection part 3011 enables sealant to be injected into one of the channels 3003 in communication with the grooves 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 the opposite end.

[0224] The sensor 3007 is further translationally connected to the 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 this side do not communicate with the grooves 3006.

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

[0227] Therefore, the nozzle enables the distribution 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] Workstation The working station P5 is positioned as an extension of the main spindle 51.

[0229] This station enables different operations, namely, - Drilling and / or blanking, - Rivet setting, - Setting of temporary fasteners to be carried out according to the functional modules arranged at that level.

[0230] In addition to the main spindle 51, this station is equipped with a sub-spindle 170 that is movably mounted in a translational motion inside the hollow main spindle 51.

[0231] This sub-spindle 170 is integrated with a piston 1047 that is movably mounted in a translational motion along the axis of the main spindle 51 within the chamber 171 of the jack 17. The sub-spindle constitutes the rod of this jack.

[0232] The working station is equipped with means 16 for forming pairs of functional modules.

[0233] The pairing means comprises means of the quick-connection type.

[0234] In this embodiment, the pairing means comprises - the bells 160 of several functional modules with radial holes 161, and - a male element 162 that is integrated with the main drive spindle 51, is movably connected to the main drive spindle 51, and can be accommodated within the bell 160. - A locking element (ball or roller) 163 that is integral with the male element 162 and, when the male element 162 is received within the bell 160, is positioned as an extension of the radial hole 161. Preferably, these locking elements are designed to slide within the radial hole 1620 of the male element 162 such that the ends of the locking elements are received within the radial holes 161 of the bell 160, and a head formed as a portion of a sphere having a diameter larger than the cylindrical body of the locking element to prevent the locking element from being released from the male element by the locking key. The locking element (ball or roller) 163 - A locking key 164 movably mounted within the male element 162 in a translational motion, which moves the locking element within the male element 162 until the locking element 163 cooperates with the radial hole 162 of the bell 160, and has an outer peripheral ramp 165 that is operable on the locking element 163 (in particular, the cylindrical head) to rotate and translate the bell and the male element integrally. The locking key 164 Comprises.

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

[0236] The locking key 164 has at least two positions between which the locking key 164 can move by means of the jack 17, namely, - A mating position in which the outer peripheral ramp 165 of the locking key 164 acts on the locking element 163 to slide the locking element 163 within the radial hole so that the end of the locking element 163 forms a protrusion from the male element to be received within the radial hole 161 of the bell 160, if necessary. - A non-mating position in which the locking key 164 is remote from the locking element 163 and the end of the locking key 164 does not act on the locking element so that the end of the locking element 163 does not protrude from the male element to remove the end of the locking element 163 from the radial hole 161 of the bell 160, if necessary. It is movable between.

[0237] The elastic return means can optionally be implemented to return the locking member 163 to the non-forming 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 the air conduit 906 of the sleeve of the functional module located at the work station.

[0239] Telescoping The sub-spindle 170 can be used to implement a telescoping function for different functional modules, particularly for the rivet support module.

[0240] As will be described in more detail below, this telescoping function allows the sub-spindle 170, which is initially housed in a retracted position within the main spindle, to move out of the main spindle 51 to reach an extended position where it extends at least partially outside the main spindle, and then to be translationally connected so that the main spindle 51 moves with the sub-spindle 170, and the main spindle and the sub-spindle then form a single spindle having a considerable length.

[0241] For this purpose, the sub-spindle 170 is provided at an end opposite to the end of the locking key 164 with a piston 172 that is translatably movable within the interior of the main spindle 51 that constitutes the chamber 171 of the jack 17.

[0242] The sub-spindle 170 is provided with an outer peripheral groove 1063 downstream of the piston 172.

[0243] The device includes means for translationally connecting the inner spindle to the outer spindle.

[0244] More precisely, the main spindle 51 carries a release ring 1064.

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

[0246] This unlocking ring 1064 has a bore, which has a cylindrical portion 1065 followed by a frustoconical portion 1066, and the frustoconical portion 1066 widens towards an opening on the side of the spindle 51 oriented towards the functional module installed at the work station.

[0247] The main spindle 51 carries a locking member. This locking member includes a locking ring 1067 mounted on the male element 162.

[0248] This locking ring 1067 has a hole 1068 passing through it, and the diameter of the hole allows the locking key 164 and the sub-spindle 170 to pass through.

[0249] This locking ring 1067 includes a lateral operating portion 1069, and the lateral operating portion 1069 - a first outer peripheral groove portion 1070, and - an outer surface 1072 on which the unlocking ring 1064 can act is provided.

[0250] The locking ring 1067 has two opposing cutting edges 1073 and is mounted in a complementary 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 for accommodating an elastic return element such as an O-ring or a spring.

[0252] The locking ring 1067 is within the groove 1074 of the male element 162 along an axis perpendicular to the axis of the main spindle 51, - Due to 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 with the groove 1063 (or housing) formed in the secondary spindle in a locking position, and - The actuating part 1069 is spaced from the axis of the male element 162, and the peripheral end 1075 is in an unlocking position where it is disengaged from the groove 1063 formed in the secondary spindle and is movable translationally therebetween.

[0253] The movement to the unlocking position is achieved by introducing the part of the male member 162 carrying the lock ring 1067 into the conical part 1066 of the unlocking ring 1064 and then into the cylindrical part 1065, and the movement acts on the lock ring 1067 to move the lock ring 1067 relative to the male member 162 against the action of the compression spring.

[0254] And the secondary spindle 170 is in the main spindle 51 at least - A retracted position where the secondary spindle 170 is received in the outer spindle, and - An extended position where the secondary spindle 170 extends at least partially outside the outer spindle and is translatable therebetween.

[0255] The movement to the locking position is - After removing the male element 162 and the lock ring 1067 from the unlocking ring 1064, - Achieved when the outer peripheral groove 1063 of the secondary spindle 170 reaches the lock ring 1067, and the lock ring 1067 moves to the locking position under the action of the compression spring, whereby the locking end 1075 of the lock ring 1067 approaches the axis of the male member 162 and is received in the groove 1063 of the secondary spindle 170.

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

[0257] Rotational drive of the main carousel As described above, the carousel is rotatably mounted about an axis extending substantially parallel to the axis of the spindle.

[0258] The carousel has longitudinal notches 62 along an outer peripheral portion extending 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 rotational drive means are - a first jack 70 comprising a piston 700 movable translationally within a chamber 701, and - a second jack 71 comprising a piston 710 movable translationally within a chamber 711 and are provided with.

[0261] The piston 700 of the first jack 70 carries a detent 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 detent 702 comprises a contact surface 704 designed to abut against a stop 705 of the piston 700 defining a drive end position.

[0263] The detent 702 is movable between two end positions, namely - a deployed position (see Figure 12) where the contact surface 704 abuts against the stop 705 of the piston 700 and the end is at least partially received within a notch 62 of the carousel with the end spaced from the piston 700, and - a retracted position where the contact surface 704 does not abut against the stop 705 of the piston 700, the end is close to the piston 700, and is disengaged from any notch 62 of the carousel and is movable between.

[0264] For example, in order to return the brake to its deployed position, return means (not shown) such as a spring acting on the brake can also be used.

[0265] The piston 700 includes an internal chamber 706, and an inner piston 707 with an inclined end 708 is accommodated in the internal chamber 706.

[0266] This inner piston 707 is arranged in the chamber 706 to be - a block release position where the inclined end 708 is located away from the brake 702 so that the brake 702 can rotate freely around the shaft 703, and - a block position that the brake 702 is likely to take when in the deployed position, where the inclined end 708 abuts against the brake 702 to stop the brake 702 from rotating around the shaft 703 and is mounted so as to be movable in a translational motion between them.

[0267] The piston 700 is movable between two end positions, namely - a start position where the piston 700 is in the stopped state on the right side of FIG. 12 (the right side is merely an illustration for reference to FIG. 12 for understanding when the device can take any orientation in space), and - an end position where the piston 700 is in the stopped state on the left side of FIG. 12 and the brake 702 is in the deployed position between the two notches 62 and is movable between them.

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

[0269] The device is - a indexing position where the blocking pin 8 abuts against the carousel between two consecutive notches 62 to stop the rotation around the axis of the carousel, and - a release position where the blocking pin 8 is released from the carousel to enable the rotation of the carousel It is provided with a block pin 8 mounted movably between them.

[0270] Elastic return means such as a spring (not shown) acts on the pin 8 to return the pin 8 to the block position. The jack 800 is used to block the block pin 8 in the block position.

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

[0272] To drive the carousel to rotate counterclockwise, the jack 800 is exhausted so that the block pin 8 is held in the block position only by the spring effect.

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

[0274] The detent 702 is in the deployed position.

[0275] The inner piston 707 is in the locked position so that the detent 702 is held in the deployed position in a state where it cannot rotate around the shaft 703.

[0276] Pressurized air is then injected into the chamber 701 to move the piston 700 from the starting position to the end position along arrow B.

[0277] During this movement, the detent engages with the notch, and within the notch, the detent is positioned such that the carousel is also rotationally driven counterclockwise. The block pin 8 slides against the peripheral surface of the carousel, and the block pin 8 gradually moves from the indexing position to the release position and then, from the release position to the indexing position when the piston 700 is in the end position and stopped. The jack 800 is powered to block the block lug at the indexing position so that the carousel is held stationary. At least one cell 61 of the carousel is then at the functional station.

[0278] The inner piston 707 moves to the unblocked position, and the detent rotates freely around the shaft 703 (within the clearance allowed by its shape and peripheral surface).

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

[0280] During this movement, the detent 702 slides against the peripheral surface of the carousel until the piston reaches the starting position, and by pivoting around the shaft 703 in the clockwise direction, it gradually moves from the deployed position to the retracted position and then, from the retracted position to the deployed position. The detent is then received within another notch 62 of the carousel.

[0281] The carousel can be rotationally driven counterclockwise again by repeating this process many times.

[0282] The piston 710 of the second jack 71 carries the detent 712, and the detent 712 is rotatably mounted relative to the piston 710 around a shaft 713 that is substantially parallel to the axis of rotation of the carousel.

[0283] Therefore, the detent 712 is provided with a contact surface 714 for contacting the stop 715 of the piston 710 that defines the drive end position.

[0284] The detent 712 is movable between two end positions, namely, - a deployed position where the contact surface 714 abuts against the stop portion 715 of the piston 710 and the end is received within the notch 62 of the carousel (see FIG. 13), and - a retracted position where the end is near the piston 710 and is spaced apart from any notch 62 (not shown) of the carousel. It is movable therebetween.

[0285] For example, return means (not shown), such as a spring, acting on the detent to return the detent to the deployed position can also be implemented.

[0286] The piston 710 includes an internal chamber 716, and within the internal chamber 716, an inner piston (not shown) with an end inclined like the inner piston 707 is received.

[0287] This inner piston is mounted within the chamber for translational movement between - a release position where the end is away from the detent to allow the detent to freely rotate about the shaft 713, and - a lock position that the detent is expected to take when in the deployed position, where the inclined end abuts against the detent to hold the detent stationary against rotation about the shaft 713. It is mounted for translational movement therebetween.

[0288] The piston 710 is movable between two end positions, namely, - a starting position where the piston 710 is in the stopped state on the left side in FIG. 13 (when the device can take any orientation in space, the right side is merely an example for reference in understanding with reference to FIG. 12), and - an end position where the piston 710 is in the stopped state on the right side in FIG. 13 and the detent is in the deployed position between two notches 62. It is movable therebetween.

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

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

[0291] The piston 710 is in the starting position (stopped on the left in Figure 13).

[0292] The detent 712 is in the deployed position.

[0293] The inner piston is in the locked position so that the detent is held in the deployed position in a state where it cannot rotate around the shaft 713.

[0294] Pressurized air is then injected into the chamber 711 to move the piston 710 from the starting position to the end position along arrow A.

[0295] During this movement, the detent engages with the notch and within the notch, the detent is positioned so that the carousel is rotatably driven clockwise. The block pin 8 slides against the peripheral surface of the carousel and the block pin 8 gradually moves from the indexing position to the release position and then from the release position back to the indexing position when the piston 710 is stopped at the end position. The jack 800 is powered to block the block lug at the indexing position so that the carousel is held stationary. At least one new cell 61 of the carousel is then at the functional station.

[0296] The inner piston moves to the release position and the detent rotates freely around the shaft 713 (within the clearance allowed by its shape and surrounding surface).

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

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

[0299] By repeating this process, the carousel can be driven to rotate clockwise again.

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

[0301] The first jack 70 and the second jack 71 and the corresponding detents move in opposite directions so as to enable the carousel to rotate in opposite directions.

[0302] The implementation of the first jack 70 and the second jack 71 enables the module to be placed at the desired functional station as quickly as possible by selecting the direction of rotation of the carousel that guarantees the shortest route. However, it is also possible to implement only one jack. This will simplify the system but will result in a longer alignment time.

[0303] The means for driving the main carousel rotatably can be of the type used for the sub-carousel. In this case, instead of implementing a double jack, i.e., an outer jack including an inner detent lock jack, to drive the detent, a single jack can also be implemented.

[0304] Indexing the sub-carousel can also be achieved by a block lug that is not controlled by a jack as in the case of the sub-carousel.

[0305] The carousel 6 is in a rotatable motion state so as to be movable around the fixed shaft 8. On the fixed shaft 8, the carousel 6 is rotatably guided by a bearing 87 having needles, balls, or others.

[0306] The shaft 8 is hollow and has, at one of its ends, an enlarged portion that defines a chamber 81 in which the piston 82 of the jack 80 slides.

[0307] The shaft 8 has, at the other of its ends, an outer peripheral groove 83, and a transverse port 84 communicating with the hollow interior of the shaft penetrates the outer peripheral groove 83. The shaft further has, at this end, a flat portion 85 that opens into the groove 83.

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

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

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

[0311] The ends of the side fingers 900 of the sleeve 90 of each functional module are designed to be alternately received within the groove 83 of the shaft 8 and the groove 141 of the guide element 14 according to the angular position of the carousel 6. The sleeve is held integrally with the shaft 8 or the piston 82 along the axis of rotation of the carousel 6, and thus is held in a stationary state in a translational manner along the axis of the cavity in which the sleeve is located.

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

[0313] The groove 901 of each sleeve 90 can accommodate the lug 10 disposed at the end of the piston 11 that is translatably movable within the chamber 12 of the jack 13.

[0314] The jack 13 is positioned at the load / unload station of the carousel 6. This station is positioned such that one cell 61 of the carousel is at the working 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 flat portion 85 and the lug 10 extend along axes parallel and perpendicular to the axis of rotation of the carousel 6.

[0316] Loading and unloading of functional modules Loading the functional module 9 onto the carousel 6 is achieved in the following manner.

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

[0318] The jack 1005 is actuated to position the fork 1003 in the release position.

[0319] The module is introduced into the cell 61 at the load / unload station from the side of the carousel 6 where the shaft 8 on which the groove 84 is located is positioned at the end side.

[0320] The fingers 900 of the sleeve 90 are introduced into the groove 83 through the flat portion 85 that forms the introduction passage.

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

[0322] The shape of this 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 rotationally 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 7 cells, or more generally all cells, within the main carousel. However, only some cells can be loaded as needed. In other embodiments, it is also possible for the main carousel to comprise more or fewer than 7 cells.

[0325] Unloading the functional module 9 is achieved by operating the jack 13 after placing the corresponding cell at the load / unload station, disengaging the lug 10 from the groove 901, and causing the functional module 9 to slide out of the corresponding cell 61.

[0326] Presser element The device comprises a tubular presser element 15 as an extension of the spindle 51, which is movably mounted relative to the frame 2 in a translational movement along the axis of movement of the spindle 51. Such a presser element 15 can be used, for example, especially during a piercing operation to apply a compressive force to the structure to be pierced in order to ensure contact between the laminated plates and to avoid the formation of burrs between these plates during piercing.

[0327] Installation of the multitask device The robotic arm to which the device is fixed is actuated to position the multitask device such that the work station is positioned at a location on the work piece structure where the work is desired to be performed.

[0328] The robot applies the device to the work piece structure until the suction cup 41 abuts against the work piece structure. Thereafter, a vacuum is generated within the suction cup to ensure an effective connection between the multitask device and the work piece structure.

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

[0330] Piercing and / or dish removal work To perform the piercing and / or dish removal work, the main carousel is rotationally driven until the desired piercing module comes to the work station.

[0331] To repeat, the elastic return means serves to return the piston 903 of the jack to a position where its end 905 is received within the housing 950 or projects into the sleeve to prevent the functional assembly of the piercing module from sliding within the sleeve, and the end 905 of the piston 903 contacts the end 951 of the bushing 95.

[0332] The piercing and / or dish removal module 9 is then counter-formed with respect to the drive spindle 51 such that the spindle can drive the output shaft 91 which is the movable member of the module.

[0333] For this purpose, 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.

[0334] Pressurized air is injected into the chamber 171 of the jack 17 to move the inner spindle 170 along the arrow E. The lamp 165 of the lock key 164 then acts on the lock element 163 to position the lock element 163 in those mating positions where the lock element 163 cooperates with the radial hole 161 of the bell 160. The spindle 51 and the output shaft 9 are then connected to rotate and translate.

[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 be perfectly aligned with the radial hole of the bell. The spherical head of the locking element allows for a slight rotation of the bell relative to the male element, coaxializing the holes in the bell and in the male element, thereby allowing the locking element to penetrate into the hole in the bell.

[0336] The excessive hole in the bell compared to the hole in the male element facilitates this realignment.

[0337] However, if the locking element remained balanced between the two holes without penetrating into the two holes, the resistance torque resulting from the initial piercing operation would then induce a relative rotational movement of the male element and the bell, aligning the locking element with the radial hole and completing the mating.

[0338] The jack 904 is actuated to remove the end 905 of its 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 the chamber 81 of the jack 80 to move the piston 82 along the arrow E. As long as the movable device abuts against the stop ring on the side surface of the bell within the sleeve, the actuation of the jack 80 is ineffective. The main spindle 51 is then driven translationally along the arrow E. Thereby, 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 such that the functional piercing module 9 having fingers 900 that cooperate with the groove 141 of the drive element 14 is driven translationally along the axis of the spindle 51 along arrow E.

[0340] The presser element follows the same movement, whereby the presser element bears against the work structure and applies pressure to the work structure.

[0341] The force for pressing the presser element 15 against the work surface is held by the jack 80, while the translational movement of the spindle 51 along arrow E is accompanied by the movement of the movable device inside the sleeve, and the movable device then comes to rest translationally along arrow E.

[0342] The spindle 51 is then driven rotationally and translationally, and its movement is transmitted to the output shaft 91 of the functional module 9 that is formed to perform the desired piercing operation.

[0343] Forming the main spindle and the output shaft to mate constitutes a rotational and translational connection.

[0344] It is possible to perform screwing / unscrewing operations by fixing the screwing sleeve to the module instead of the cutting tool.

[0345] Rivet loading Regardless of whether or not the sealant coating operation is performed beforehand, it is necessary to load the rivet 216 into the rivet support module 200 prior to the rivet setting operation.

[0346] For this purpose, the main carousel 6 is rotationally driven to install the rivet support module 200 corresponding to the size of the rivet 216 for which setting is desired and coating is desired if necessary at the rivet loading station P3.

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

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

[0349] The sub carousel 1008 is then rotationally driven to place the cell 1009 containing the 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 end position where it stops against the circlip 218 on the opposite side of 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 positioned within the split ring 213. During this movement, the head 219 of the rivet 216 acts on the split ring 213, causing the head 219 to expand so as to be received within 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 within the rivet support module 100, and its body 220 projects beyond the split ring 213 from the module 200.

[0352] Rivet coating operation To carry out the rivet coating operation, the rivet support module 200 pre - loaded with the rivets 216 to be coated with a sealant is installed at the coating station P4 by rotating the main carousel 6.

[0353] During this movement, the piston 205 of the rivet support module remains stationary with respect to the circlip 218 under the frictional action of the O-ring that ensures the sealing of the chamber.

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

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

[0356] This is achieved as follows.

[0357] Prior to reaching the coating station of the rivet support module, - The jack 1053 is actuated to hold the end of the nozzle 1050 at the end position furthest from the body 220 of the rivet 216, - The jack 1047 is actuated to hold the shoe 1046 in the disengaged position, - The jack 1060 is actuated so that the sensor 1058 is at the end position on the side of the end 221 of the rivet 216, - The jack 1057 operates so that the block 1054 carrying the shoe 1046 and the nozzle 1050 is at the end position on the side of the end 221 of the rivet 216.

[0358] The support 1062 of the nozzle 1050 is stationary with respect to the sensor 1058.

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

[0360] Jack 1036 is actuated to engage the half - dog 1038 it carries with the half - dog 211 of the piston of the rivet support module 100 disposed 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. Here, the mating is a rotary 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 positioned such 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 rivets of a given size. The length along the axis of the spindle 51 of the piston 205 of each rivet support module is determined as a function of the size of the rivet intended to be supported, and 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] Jack 1060 is actuated to move the sensor 1058 towards the rivet head 219 until the conical tip 1061 abuts against the rivet end 221, and then the stroke of the jack 1060 is stopped.

[0363] Therefore, the sensor 1058 in contact and in a stationary state with the nozzle 1050 moves the nozzle to the end of the rivet 221 (at a predetermined distance from the rivet end).

[0364] 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 by both a pulley and a belt to rotatably drive the piston 205 of the module, the rivet carried by the piston 205, and further the lead screw 1043 at time t0.

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

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

[0368] The 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 rotation of the lead screw 1043. This portion of one rotation is necessary because when the shoe comes into contact with the thread, a gap remains between the shoe and the side surface of the thread in a random relative position. Therefore, the translational drive of the shoe by the lead screw is effective only after this gap is closed by the random portion X of one rotation.

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

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

[0371] When the piston 1055 of the jack 1057 carrying the block 1054 moves from the end 221 towards the rivet head 219 and stops, the nozzle 1050 reaches the connection height between the rivet body 220 and the rivet head 219.

[0372] The rotation of the single spindle 51 stops after the elapsed time from t0 that enables the rotation speed of the 3 + Y parent thread, and Y is the number of rotations of the spiral between the bead on the end of the rivet and the bead under the head. Knowing the rivet length makes it possible to know the distance Z between the end bead and the head bead, and Y = Z / parent thread pitch (assuming here that the rivet to be coated and the parent thread rotate at the same frequency).

[0373] Since the length of the bead deposited at the end is at most 2 rotations, the total number of rotations of 3 + Y will result in a deposit of at least 1 rotation under the head.

[0374] Simultaneously with the rotation stop of the main spindle 51, the sealant deposition is stopped by depressurizing the sealant pump.

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

[0376] The shoe 1046 is moved into the non - meshing position by the jack 1049.

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

[0378] The nozzle 1050 and the sensor 1058 are each moved to the end position on the side of the rivet end 221 by the extension of the jacks 1057 and 1060.

[0379] The main carousel 6 is rotationally driven to install the sealant - coated rivet at the rivet setting station where the rivet setting device is located.

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

[0381] Therefore, the following is implemented.

[0382] Prior to reaching the coating station of the rivet support module 100, - The jack 1053 is actuated to hold the end of the nozzle 1050 at the end position farthest from the rivet body 220, - The jack 1049 is actuated to hold the shoe 1046 in the disengaged position, - The jack 1060 is actuated so that the sensor 1058 is at the end position on the side of the rivet end 221.

[0383] The jack 1036 is actuated to engage the half dog 1038 it carries with the half dog 211 of the rivet support module 100 arranged 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 arranged 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 can support rivets 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 designed to be supported, and 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 against the rivet end 221, and 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 and stop 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 toward the rivet body 220 until the end of the nozzle 1050 contacts the rivet body 220.

[0388] The main spindle 51 is rotationally driven to rotationally drive the piston 205 of the module, and thus the rivet carried by the piston 205, by a pulley and a belt.

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

[0390] The rotation of the main spindle 51 stops after the rivet has rotated at least one full turn, at which point at least one turn of beads is 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 by the retraction of the jack 1053.

[0393] The nozzle 1050 and the sensor 1058 are each brought to the end position on the side of the rivet end 221 by the extension of the jacks 1057 and 1060.

[0394] The main carousel 6 is rotated to place the sealant-coated rivet at the working station for setting the rivet.

[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 the head is achieved as follows.

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

[0397] The rivet support module carrying the rivet to be coated is installed at the coating station.

[0398] The half dog 1038 is moved to its stop by the corresponding jack to engage with the half dog 211 of the module, and the piston of the module is moved to a position where the connection zone of the carried rivet 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 rivet end.

[0400] The spool 3005 slides inside the chamber 3002 to seal the channel extending beyond the rivet end.

[0401] The rivet is rotationally driven to rotate once when the sealant pump is actuated to dispense the sealant. This enables a plurality of annular beads of sealant to be deposited simultaneously and in parallel on the rivet body between the end and the rivet connection zone.

[0402] When the beads are deposited, the rotation of the rivet stops, the pump stops, the jack is actuated along arrow E to separate the sensor from the rivet, and then the main carousel is actuated to move the module carrying the coated rivet to the working station to set the rivet.

[0403] Rivet setting operation The device can be actuated to install rivets that are pre-coated or uncoated with sealant as appropriate. Accordingly, the device comprises a rivet setting device.

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

[0405] The main spindle 51 is driven translationally 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 where the piston extends inside the sleeve to an extended position where the piston extends at least partially outside the sleeve until the piston stops at the lower part of the sleeve, and the sleeve translates into the cell of the carousel over a distance sufficient to engage the end 221 of the rivet in the corresponding hole (in the case of a rivet with a threaded end, insertion of the threaded part is sufficient).

[0407] The piston of the module is a movable member, and the mating here is simply to bring the main spindle into contact with the movable member in order to drive the movable 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 it reaches an end position. At the end position, the portion of the male element 162 carrying the lock ring 1067 is received inside 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 sub-spindle 170 translates inside the main spindle 51 (until the sub-spindle 170 contacts the rivet head) by being supplied to the chamber of the jack 17.

[0412] When the sub-spindle thus emerges, the outer peripheral groove 1063 passes through the unlocking ring 1064.

[0413] Thereafter, as the main spindle 51 advances and the portion of the male element 162 exits from the cylindrical portion 1065, the unlocking ring abuts against the sub-spindle again, and when this ring reaches the level of the outer peripheral groove 1063 again, it is accommodated in the groove 1063 under the action of the elastic return element.

[0414] The sub-spindle 170 is translationally connected to the main spindle 51, and the translational movement of the main spindle 51 is accompanied by the translational movement of the sub-spindle 170, and both together form a long spindle.

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

[0416] Therefore, the rivet is released from the module by the release means, and the release means enables the rivet to be inserted into the hole, and in this embodiment, particularly includes the main spindle and the sub-spindle.

[0417] A motor that drives the main spindle, in this case, by reading the current of the feed motor, determines the propulsion effect on the rivet, and when the propulsion effect becomes greater than a predetermined threshold corresponding to the full insertion of the rivet into the hole, stops the advancement of the main spindle.

[0418] This approach ensures that the rivet is installed efficiently with a greater force compared to when installed by the central jack implemented to control the presser element 15, and with a higher accuracy if the propulsion force recorded by 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 where the portion of the male element 162 carrying the lock ring 1067 is received within the cylindrical portion 1065 of the unlocking ring 1064, and acts on the outer surface of the actuating side portion 1069 to move the lock ring 1067 relative to the male element 162 against the action of the compression spring to the unlocking position.

[0420] The sub-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 hits the circlip 218 and stops, and the sleeve 90 is retracted into the cell by the jack 80.

[0422] Temporary fastener load The device according to the present invention can be implemented to perform the setting of temporary fasteners.

[0423] The temporary fastener 2000 conventionally includes a body 2001, a deformable (extensible and retractable) spear point end 2002 having a longitudinal slot and a spacer element fixed to the body, and a rotating element 2003 that, when rotated relative to the body, extends the spear and then retracts it into the body. Thus, when the rotating member rotates and is tightened against the body after being introduced through two metal sheets into the hole, the spear spreads from the opposite side of the sheet relative to the body and then retracts into the body, pressing the sheets together. An illustrative and non-limiting example of a temporary fastener is described in US4548533.

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

[0425] Prior to performing the temporary fastener setting operation, it is necessary to load the temporary fastener into the temporary fastener support module 300.

[0426] For this purpose, the main carousel 6 is rotationally driven to install the temporary fastener support module at the loading station P2.

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

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

[0429] The cartridge belt 1000 is implemented to place the temporary fastener 2000 within the axis 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 the release position where the shoulder 307 is close to the flange 314 of the drive tube 313. In this position, the surface of the conical bore 331 of the piston 306 acts on the locking element 321 to hold the piston 306 in the rest position where the end of the locking lug 327 is away from the longitudinal axis of the drive tube.

[0431] The load jack 1002 is activated to introduce the temporary fastener into the temporary fastener support module until the end of the rod exits the chamber and presses the head of the rotating element 2003 of the temporary fastener, whereby the female part 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 so that the piston 306 is moved away from the flange 314 by the spring 315 until the piston 306 reaches the locked position. During this movement, the locking element 321 returns to the locked position under the action of a spring housed within the housing 328: the end of the locking lug 327 is then received within the space E between the head of the rotating element 2003 and the body of the temporary fastener, and the temporary fastener is blocked translationally within the module along its longitudinal axis.

[0434] The load jack 1002 retracts to the starting position, and the jack 1005 is then actuated to return the fork 1003 to the release position.

[0435] Temporary fastener setting operation The device enables the setting of the temporary fastener and thus comprises a temporary fastener setting device.

[0436] To carry out the temporary fastener setting, the temporary fastener support module into which the temporary fastener is introduced is installed at the working station by the main carousel.

[0437] The temporary fastener support module then needs to be paired with the main spindle.

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

[0439] A slight air pressure is introduced into the module so that the piston 306 applies a counterforce along the longitudinal axis of the module against the mating force.

[0440] Pressurized air is injected into the chamber 171 of the jack 17 to move the inner spindle 170 along the arrow E. The lamp 165 of the lock key 164 then acts on the lock element 163 to place the lock element 163 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 a movable member, and the mating of the drive tube and the main spindle is a rotational and translational connection.

[0441] To insert a temporary fastener into a hole in the structure to be worked on - The feed motor is actuated to translate the main spindle 51 in order 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 lowering of the spindle 51 allows the insertion of the temporary fastener into the housing of the part to be worked on. - The feed motor is actuated to translate the main spindle 51 until the thrust force recorded at the main spindle 51 by a sensor for the current consumed by the feed motor reaches a predetermined threshold corresponding to the stopping of the temporary fastener against the structure to be worked on, in order to continue sliding the drive tube 313 and thereby the piston 306 inside the module. - The main spindle 51 is rotationally driven by a rotation motor so that the drive tube drives the head of the male part of the temporary fastener. Due to the antagonistic functioning 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 is screwed in and expands the deformable end inside the hole, thus fixing the temporary fastener inside the hole of the structure to be worked on. - When the torque determined by the current sensor of the rotation motor reaches a predetermined threshold corresponding to the completion of the clamping of the temporary fastener, the rotation motor stops. - The rotary motor is rotatably driven in the other direction so as to rotationally drive the main spindle 51 to a certain extent in order to disengage the freewheel from the module. - Air is introduced into the conduit 906 to move the piston to the release position and place the locking lug in the rest position. - The feed motor is actuated 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 disconnect the main spindle 51 from the drive tube 313 of the module. - The feed motor is actuated again 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 store the new temporary fasteners to be installed.

[0442] Alternative method In the case of the piercing module, the pairing between the spindle and the movable member, i.e., the output shaft or the drive tube, is direct. In fact, the spindle and the output shaft or the 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 cannot induce a conversion of motion, or conversely, the intermediate transmission can induce a conversion of motion (e.g., conversion of the translational motion of the spindle into the rotational motion of at least one movable member of the functional module).

[0443] In the case of the rivet support module, the pairing between the movable member (the piston of the module) and the spindle is carried out indirectly at the coating station by means of pulleys, belts, and half dogs. The pairing is carried out directly by simple contact at the working station.

[0444] The example of the functional module described here includes only one movable member, namely, the output shaft, the piston, the drive tube. However, it can be provided with several output members.

[0445] During the performance of the work, the sensors of the control and measurement assembly may be able to read out the parameters specific to the operation of the paired module.

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

[0447] During the screwing operation, the following parameters, for example, - The screw stroke inferred, for example, from an angle sensor of the rotation motor, - The torque inferred, for example, from a torque sensor in the transmission or from the intensity of the rotation motor can be measured.

[0448] During the rivet setting operation, for example, - For example, the axial thrust force on the rivet inferred from a force sensor on the spindle or within the transmission, or from the intensity of the current supplied to the feed motor, - For example, the axial stroke of the rivet inferred from an angle sensor of the feed motor can be measured.

[0449] During the temporary fastener setting operation, for example, - For example, the axial thrust force on the temporary fastener inferred from a force sensor on the spindle or within the transmission, or from the intensity of the current supplied to the feed motor, - For example, the torque from a torque sensor within the transmission or from the intensity of the current of the rotation motor can be measured.

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

[0451] This, of course, does not represent an exhaustive list of possible parameter measurements.

[0452] All sensors and other measuring means are integrated within the control and measurement assembly 5. Thus, the functional module preferably has no sensors or at least very few sensors, thereby making the structure of the functional module particularly simple, robust and economical.

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

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

[0455] The device according to the present invention enables a plurality of functions, such as fastener element setting, fastener element coating, perforation, etc. to be carried out. In this sense, the device constitutes a multitask device. Therefore, the device 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 transfer device, etc. Each of these devices can be separated to form an independent device that performs its own function. Some of these devices (in particular at least two) can be arbitrarily combined.

Claims

1. A device for setting a rivet in a port provided within a work-piece structure, comprising at least: - a rivet support module adapted to contain a rivet; - means for moving the module between at least one rivet loading station and a rivet setting work station; - means for introducing a rivet into the module at the loading station; - means for releasing the rivet contained in the module at the work station for setting the rivet in the port. The device is characterized in that: the means for releasing comprises a spindle having an end for contacting a rivet disposed within the module, the spindle being mounted for translational movement along the axis of the module, and the device further comprises means for driving the spindle translationally; the module comprises a sleeve for receiving a piston, the piston being mounted for translational movement within the sleeve between at least: - a retracted position where the piston extends within the sleeve; and - an extended position where the piston extends at least partially outside the sleeve; the module further comprises means for holding the rivet at an end of the piston; the means for releasing comprises the spindle, and the spindle is a telescopic spindle.

2. The device according to claim 1, wherein the means for releasing is movable through two successive strokes of partially pre-inserting a rivet into the port and then finally fully inserting it, during which two successive strokes, the rivet end and then the rivet body are continuously inserted into the port.

3. The telescopic spindle comprises: - an outer main spindle mounted for translational movement between at least: - a retracted position; and - an extended position towards the module disposed at the work station; and - an inner sub-spindle mounted for translational movement within the outer main spindle between at least: - a retracted position where the inner sub-spindle is received within the outer main spindle; and - an extended position where the inner sub-spindle extends at least partially outside the outer main spindle. ​ ​ mounted so as to be movable in a translational movement between the inner secondary spindle and The device according to claim 1 or 2, comprising

4. The outer main spindle has an end that can act on the piston when the outer main spindle is translated to the deployment position and the inner secondary spindle occupies the retracted position within the outer main spindle, moving the piston to the deployment position, and partially inserting the rivet integral with the module located at the work station into the port. The device according to claim 3.

5. Means for connecting the inner secondary spindle to the outer main spindle in a translational manner, and the means for connecting in a translational manner includes at least - A release position where the inner secondary spindle slides freely inside the outer main spindle, and - A locked position where the inner secondary spindle and the outer main spindle are connected in a translational manner The device according to claim 3 or 4, which can take

6. The means for connecting in a translational manner includes a locking ring, and the locking ring - The locked position where the locking ring cooperates with a complementary-shaped housing provided in the inner secondary spindle, - And a release position where the locking ring does not cooperate with the housing The device according to claim 5, which is movable between

7. The housing provided in the inner secondary spindle is an outer peripheral groove, and the locking ring is movable in a translational manner along an axis substantially perpendicular to the axis of the inner secondary spindle. The device according to claim 6.

8. Elastic return means for returning the means for connecting in a translational manner to the locked position, and Release means for arranging the means for connecting in a translational manner in the release position. The device according to claim 6 or 7.

9. The release means includes a release ring provided with a frustoconical bore that widens towards the module arranged at the work station, The release ring is rotatably connected to the outer main spindle, and the locking ring is received in the release ring when the outer main spindle is in the retracted position, The wall of the frustoconical bore acts on the locking ring to arrange the locking ring in the release position. The device according to claim 8.

10. comprising control means, said control means continuously, - moving the outer main spindle and the inner sub-spindle to their respective retracted positions, - moving the outer main spindle to its deployed position so as to move the piston of the module disposed at the work station to its deployed position in order to partially insert the rivet integral with the module into the port of the work piece structure, - moving the outer main spindle to its retracted position in order to place the locking ring in its unlocked position, - moving the inner sub-spindle to its deployed position where the end of the inner sub-spindle abuts against the head of the rivet partially inserted into the port, - moving the locking means to its locked position and moving the outer main spindle to its deployed position so as to connect the inner sub-spindle and the outer main spindle translationally, - releasing the rivet from the module and continuing to move the outer main spindle to its deployed position to complete the insertion of the rivet into the port A device according to claim 9, configured as such.

11. means for translating the outer main spindle between an extended position and a retracted position, and means for translating the inner sub-spindle translationally between a retracted position and a deployed position inside the outer main spindle, a device according to any one of claims 3 to 10.

12. The means for translating the outer main spindle comprises a threaded ring cooperating with the threaded portion of the outer main spindle and a feed motor capable of rotating the threaded ring to effect the translation of the outer main spindle, a device according to claim 11.

13. The means for translating the inner sub-spindle comprises a pneumatic jack, a device according to claim 11 or 12.

14. A device for performing at least one task on a work piece structure, comprising - means for fixing the device to motor-driven handling means capable of moving the device at least partially within a predetermined space with respect to the work piece structure, and - means for fixing the device to the work piece structure and The device comprises at least one rivet setting device according to any one of claims 1 to 13.

15. A method for setting a rivet by means of a device according to any one of claims 2 to 14, comprising the steps of partially pre-inserting the rivet into the port and then finally fully inserting it, during which steps the rivet end and then the rivet body are continuously inserted into the port.

16. A method for setting a rivet by means of the device according to claim 10, comprising the following successive steps: - moving the outer main spindle and the inner secondary spindle to their respective retracted positions; - moving the outer main spindle to the deployed position so as to move the piston of the module arranged at the working station to the deployed position in order to partially insert a rivet integral with the module into a port of the structure to be worked on; - moving the outer main spindle to the retracted position in order to position the locking ring in the unlocked position; - moving the inner secondary spindle to the deployed position where the end of the inner secondary spindle abuts against the head of the rivet partially inserted into the port; - moving the locking means to the locked position and moving the outer main spindle to the deployed position so as to connect the inner secondary spindle and the outer main spindle translationally; - releasing the rivet from the module and continuing to move the outer main spindle to the deployed position in order to complete the insertion of the rivet into the port and including.

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