Device for setting a temporary fastener

Abstract

The present invention relates to a device (1) for setting a temporary fastener (2000), the temporary fastener comprising a body (2002) having an extensible / retractable end and a rotating element (2003) that can be driven in rotation to extend / retract the extensible / retractable end, the device comprising a support module (300) capable of accommodating the temporary fastener, the module comprising means for retaining the temporary fastener inside the module, the retaining means being movable between at least: a locked position in which the retaining means is deployed inside the module to cooperate with a temporary fastener arranged in the module to prevent the temporary fastener from moving in a translational movement inside the module, and a rest position in which the retaining means is retracted to allow the temporary fastener to pass through the module.

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 used in industry to automatically set temporary fasteners.

Background Art

[0002] 2. Prior Art Automated devices that enable the installation of temporary fasteners are known. Such devices conventionally include a robotic arm (also called an end effector) that is capable of gripping a temporary fastener from a non-stationary storage zone and then placing the temporary fastener in a setting zone.

[0003] These devices are rather inconvenient and large in overall size in that the robotic arm is required to move back and forth between the temporary fastener storage zone and the setting zone.

[0004] This design makes these devices rather inflexible and, by implementing them, there is a possibility of leading to the risk of losing the temporary fastener during its movement.

[0005] Therefore, it is still possible to improve this type of device, and the improvement is the object of the present invention.

[0006] 3. Object of the Invention The present invention has as its object, in particular, to provide an effective solution to at least some of these different problems.

[0007] In particular, according to at least one embodiment, one object of the present invention is to provide a temporary fastener setting device that, in at least one embodiment, can enable an optimized setting of the temporary fastener.

[0008] According to at least one embodiment, it is an object of the present invention to provide such a device that is flexible and / or improves reliability.

[0009] A further object is to provide a device that is compact and / or lightweight and as a result enables the setting of a temporary fastener at the clamped location.

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

[0011] According to at least one embodiment, a further object of the present invention is to provide such a device that is easy to maintain.

[0012] 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

[0013] 4. Disclosure of the Invention For this reason, the present invention provides a device for setting a temporary fastener, the temporary fastener comprising a body having an extendable / retractable end and a rotary element capable of being rotationally driven to extend / retract the extendable / retractable end, the device comprising a support module capable of accommodating the temporary fastener, the module comprising means for holding the temporary fastener inside the module, the holding means comprising at least - a locking position in which the holding means is deployed inside the module to cooperate with the temporary fastener disposed within the module to prevent the temporary fastener from moving in a translational motion inside the module, and - a rest position in which the holding means retracts to enable the temporary fastener to pass through the module and is movable therebetween.

[0014] Therefore, the present invention provides a device that can insert a temporary fastener and integrates a support module in which the temporary fastener is held by a locking means adapted thereto.

[0015] This configuration ensures that the fastener is better held during movement and setting within a given space, thus improving reliability and ensuring the setting.

[0016] This configuration also makes it possible to integrate a temporary fastener supply system, for example, within a device of the cartridge belt type, rather than implementing a remote non-integrated storage zone.

[0017] Therefore, this configuration optimizes the automated setting of the temporary fastener.

[0018] According to one possible feature, the holding means comprises a locking element provided with a locking lug movably mounted in a translational movement along an axis substantially perpendicular to the axis of the module between the rest position and the locking position.

[0019] According to one possible feature, the locking lug is designed to be received in a locking position within a space provided therefor within a temporary fastener housed within the module.

[0020] According to one possible feature, the device according to the invention comprises means for actuating the locking element, the actuating means comprising a piston, the piston being - a locking position, and - a release position and is movably mounted in a translational movement within the interior of the module along the longitudinal axis of the piston between The piston comprises a portion inclined with respect to the axis, and the inclined portion acts on the locking element to move the locking element into the rest position when the piston moves to its release position.

[0021] According to one possible feature, the module comprises a chamber which houses the piston and forms a jack together with the piston.

[0022] According to one possible feature, the module comprises a pressurized gas inlet conduit in the chamber.

[0023] According to one possible feature, the device according to the invention comprises first return means for returning the piston to the locked position.

[0024] According to one possible feature, the device according to the invention comprises second elastic return means for returning the locking member to the locked position.

[0025] According to one possible feature, the device according to the invention comprises a rotary drive tube housed in the piston, the rotary drive tube being rotatably mounted in the piston, a bore passing through the rotary drive tube and allowing a temporary fastener to pass through the bore, the drive tube housing a first freewheel, the first freewheel being able to cooperate with the rotary element of the temporary fastener housed in the module in order to rotatably connect the drive tube and the rotary element.

[0026] According to one possible feature, the piston houses a second freewheel which can cooperate with the body of a temporary fastener housed in the module, the first and second freewheels having opposing functions.

[0027] According to one possible feature, the first elastic return means is inserted between the piston and the drive tube.

[0028] According to one possible feature, the device according to the invention comprises means for rotatably driving the drive tube, said driving means comprising a rotatable movable spindle having a longitudinally grooved portion that cooperates with a complementary-shaped grooved ring that can be rotationally driven by a rotary motor.

[0029] According to one possible feature, the drive tube and the piston are at least within the module, - a retracted position in which both extend inside the module, - and a deployed position in which both extend at least partially outside the module and are movably and translationally connected between them.

[0030] According to one possible feature, the device according to the invention comprises means for translationally driving the drive tube, said translational driving means comprising the spindle having a threaded portion that cooperates with a threaded ring that can be rotationally driven by a translational motor.

[0031] According to one possible feature, the device according to the invention - a station for loading a plurality of temporary fasteners into the module, - a working station for setting temporary fasteners on the structure to be worked on, - and means for moving the module between the loading station and the working station and comprises.

[0032] According to one possible feature, the loading station comprises means for introducing a plurality of temporary fasteners into the module.

[0033] According to one possible feature, the loading station comprises a holding fork, said holding fork being at least - A holding position where the holding fork extends as an extension of the module arranged at the load station on the side of the module opposite to the introduction means, and the fork forms a stop for holding a temporary fastener located inside the module at the holding position, and is shaped to arrange the lock lug facing the space provided therefor in the temporary fastener accommodated in the module, the holding position, - A release position where the fork is not arranged as an extension of the module to enable removal of the temporary fastener located inside the module from the module and is movably mounted therebetween.

[0034] According to one conceivable feature, the device according to the invention comprises control means which continuously - install the module at the load station, - arrange the fork in the holding position and the holding means in the rest position, - introduce a temporary fastener into the module until it hits and stops against the fork, - arrange the holding means in the locked position, - arrange the fork in the release position, - install the module at the work station is configured.

[0035] According to one conceivable feature, the device according to the invention comprises control means which continuously - install the module containing the temporary fastener at the work station, - move the temporary fastener inside the module to introduce the temporary fastener into a hole provided in a work target structure to which the temporary fastener is to be fixed, - arrange the holding means in the rest position, - rotatably drive a rotating element of the temporary fastener and extend and retract its extendable / retractable end to fix it to the work target structure, - To arrange the holding means at the rest position It is configured as follows.

[0036] The present invention also relates to a device for performing at least one task on a work target structure, the device comprising: - Means for fixing the device to motor-driven handling means capable of at least partially moving the device within a predetermined space with respect to the work target structure; - Means for fixing the device to the work target structure and comprising The device comprises at least one temporary fastener setting device according to any of the above alternatives.

[0037] The present invention also relates to a method for installing a temporary fastener, the method comprising: - Installing the module including the temporary fastener at a work station; - Moving the temporary fastener inside the module to introduce the temporary fastener into a hole provided in a work target structure to which the temporary fastener is to be fixed; - Rotationally driving a rotating element of the temporary fastener and extending and retracting its extendable / retractable end to fix it to the work target structure; - Arranging the holding means at the rest position and including

[0038] According to one possible feature, such a method comprises: - A preliminary step of installing the module at a loading station; - A preliminary step of arranging the fork at the holding position and arranging the holding means at the rest position; - A preliminary step of introducing the temporary fastener into the module until the temporary fastener hits the fork and stops; - A preliminary step of arranging the holding means at the locked position; - A preliminary step of introducing a temporary fastener into the module; - A preliminary step of placing the holding means in the locked position; and the like.

[0039] 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

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Mode for Carrying Out the Invention

[0041] 6. Description of Specific Embodiments Examples of the multitask device according to the present invention are described in relation to FIGS. 1 to 50.

[0042] As shown in these figures, such a multitask device 1 includes a frame 2.

[0043] 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).

[0044] These motor-driven handling means are - a robotic arm, - a mobile robot, - a digital gate belong to the group comprising.

[0045] In the illustrated example, these are means 3 for fixing to a robotic arm. These fixing means include a plate 31 having a plurality of holes 32 through which fixing bolts at the end of the robotic arm can pass. Other fixing means, such as quick-fixing means for collars, clamps, or cam types... etc. can also be used.

[0046] 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 by the rails of the digital gate.

[0047] Means for fixing to the work target structure The device includes means 4 for fixing to the work target structure.

[0048] These fixing means can be of different types.

[0049] The fixing means can, for example, be integrated with the frame 2 and include a suction cup 41 that can be connected to a vacuum means such as a vacuum pump in order to improve the fixing to the surface of the work target structure.

[0050] The suction cups can be fixed to the support in groups to form suction pads. Two suction pads are shown in FIGS. 1, 17, and 18, but this number can be three or more.

[0051] The suction pads can be offset to one side of the spindle 51 (to be described in detail later) as shown in FIG. 18, or can be distributed around the spindle 51 (see FIG. 17).

[0052] Alternatively, the suction pads can include a C-clamp known in the state of the art as shown in FIG. 19.

[0053] 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 general-purpose reversible fastener means 100.

[0054] General-purpose reversible fastener means for the means for fixing to the work target structure The general-purpose reversible fastener means 100 includes a fastening plate 101.

[0055] In the case of the suction cup 41, the fastening plate 101 will be integral with the supporting structure that carries the suction cup.

[0056] 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.

[0057] This fastening plate 101 has a cross-section that is substantially rectangular in one plane and has two transverse grooves 102 in another plane perpendicular to the one plane.

[0058] These transverse grooves 102 extend along the length of the fastening plate 101 and are provided with inclined surfaces 103 such that the thickness of the grooved portion of the fastening plate 101 increases in thickness from the end of the plate towards the interior.

[0059] The general-purpose reversible fastening means comprises a pair of jaws 104 that are complementary in shape to the grooved end of the fastening plate 101.

[0060] Therefore, each of these jaws 104 defines a housing 105 that can accommodate the corresponding grooved end of the fastening plate 101. Therefore, each of these housings 105 has two opposing surfaces, and one of the opposing surfaces is inclined with respect to the other surface by an angle substantially the same as the inclination angle of the corresponding groove of the fastening plate.

[0061] Each jaw is integral with the cylinder 106 of the jack 109, and the rod 107 of the piston 108 of the cylinder 106 passes through the jaw 104 and is fixed to the frame.

[0062] The jaws 104 are at least - A non-fixed position where the jaws 104 move away from each other to allow the introduction of the grooved end of the fastening plate 101 in order to fix the means for fastening to the work structure to the frame, and - A fixed position where the jaws 104 move closer to each other to clamp (capture with a vice) the grooved end of the fastening plate 101 in order to fix the means for fastening to the work structure to the frame and are movably mounted therebetween.

[0063] As the jaws 104 move 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 104 and gradually slides, ensuring fixation by the wedge effect.

[0064] To fix the desired fastening means to the frame, the jack 109 is actuated to move the jaws 104 to the release position.

[0065] The fastening plate 101 of the fixing means is then inserted between the jaws 104.

[0066] The jack 109 is then actuated to position the jaw 105 in a fixed position, and the grooved end of the fastening plate 101 is clamped by the jaw 105.

[0067] By performing these steps in reverse, the fixing means is removed.

[0068] Functional module The device can incorporate a plurality of functional modules, which will be described in more detail below.

[0069] Each of these functional modules enables a specific task to be performed, such as, for example, drilling 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.

[0070] Drilling and / or countersinking module The functional module 9 shown aligned with the spindle 51 in FIG. 2 is a drilling module.

[0071] The drilling module comprises a sleeve 90.

[0072] This sleeve 90 is tubular in shape and has an annular cross-section throughout.

[0073] The sleeve 90 comprises side fingers 900 protruding from its side wall.

[0074] The sleeve 90 includes a transverse groove 901 that is diametrically opposite the fingers 900 and offset along the longitudinal axis of the sleeve.

[0075] This drilling module comprises 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 (presumably stepped to enable face milling) can be fixed by fastening means 93 known per se. The cutting tool can be, for example, a simple drill for performing simple drilling, a stepped drill, a face drill for performing face milling, or a face tool for facing a previously made hole.

[0076] The output shaft 91 is rotatably mounted in a bearing 94, and the bearing 94 is in turn slidably mounted along a sleeve 90 by a bushing 95.

[0077] The finger 900 of the sleeve 90 of the drilling module houses a chamber 902 in which the piston 903 of the jack 904 is slidably mounted. The end 905 of the piston 903 can be housed in a complementary-shaped housing 950 provided in the bushing 95 for this purpose.

[0078] The finger 900 extends to a supply conduit 906 of the jack 904 that can communicate with a pressurized air intake conduit 907 provided in the device and is in a communicating state when at the working station of the device.

[0079] Elastic return means (not shown) return the piston 903 to a position where its end 905 is housed in the corresponding housing 950 of the bushing 95, preventing the piston 903 from moving in a translational motion inside the sleeve 90, and as a result, preventing the bushing 95, the bearing 94, the output shaft 91, and the tool 92 carried by the output shaft 91 from protruding from the sleeve 90 unless the functional module is counter-formed with respect to the spindle 51.

[0080] 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 the components of the functional module that are slidably mounted within the sleeve.

[0081] Alternatively, the elastic return means can be implemented such that the end 905 projects inside the sleeve 90 to form a stop for the bearing 95, preventing the functional assembly from sliding inside the sleeve beyond its position shown in FIGS. 5 or 6.

[0082] Furthermore (in both working alternatives for the jack 904 and the end 905), the sleeve houses at each end a stop segment (not shown) which each forms a stop for the functional assembly. Thus, the piercing module functional assembly can slide between these stop segments inside the sleeve as long as the end 905 does not project into the housing 950 or directly into the sleeve.

[0083] 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.

[0084] 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.

[0085] Rivet support module The rivet support module 200 holds the rivet and, like the piercing module, comprises a sleeve 90.

[0086] This sleeve 90 is tubular in shape and has an overall annular cross-section.

[0087] The sleeve 90 includes side fingers 900 that project from its sidewall.

[0088] The sleeve 90 includes a transverse groove 901 that is diametrically opposite the finger 900 and offset along the longitudinal axis of the sleeve.

[0089] The sleeve houses a tubular element 201, and one of the two ends of the tubular element 201 is provided with a shoulder 202 designed to abut against a complementary-shaped shoulder 203 provided at one end of the sleeve 90.

[0090] The opposite end is close to the shoulder 204 in the lower part of the sleeve 90 but not in contact with the shoulder 204, thereby allowing 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.

[0091] The tubular element 201 that forms the chamber houses a piston 205 that is mounted translationally within the chamber.

[0092] 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.

[0093] The shoulder 204 of the sleeve 90 also includes an inner peripheral groove 209 for housing an O-ring 210 that provides a seal between the piston 205 and the sleeve 90.

[0094] 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.

[0095] The end of the piston 205 located on the inner side of the shoulder 204 of the sleeve 90 is provided with a demi-crabot 211. Its function will be described later.

[0096] 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.

[0097] This split ring 212 has a conical inner bore 213 whose diameter narrows 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.

[0098] 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 later.

[0099] The split ring 212 has at least one outer peripheral groove 217 that houses 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 is enlarged to a holding state where the inner diameter of the ring is restrained, as will be described in more detail later.

[0100] The tubular element forms a support element for the fastener by means of the split ring.

[0101] The piston has an inner bore through which the piston passes, allowing the rivet to pass through the inner bore.

[0102] Some rivet support modules are provided with pistons of different inner bore diameters and different split ring sizes to allow the holding of rivets of different sizes.

[0103] The piston 205 is designed to be driven rotatably and / or translationally. Therefore, the piston 205 constitutes a movable member.

[0104] The piston 205 is translationally movable 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. For this purpose, the circlip 218 is provided at the end of the tubular element 201 opposite to the vicinity of the shoulder 204 of the sleeve.

[0105] 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.

[0106] Temporary fastener support module The temporary fastener support module 300 comprises a sleeve 90.

[0107] The sleeve 90 has a tubular shape and an overall annular cross-section.

[0108] The sleeve 90 comprises side fingers 900 protruding from its side walls.

[0109] The sleeve 90 comprises a transverse groove 901 opposite to the fingers 900 and offset along the longitudinal axis of the sleeve.

[0110] 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.

[0111] 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.

[0112] The tubular element 301 has a second shoulder 304 that is positioned close to an air duct provided within the finger. This shoulder defines the boundary of the smaller diameter portion of the tubular element.

[0113] The tubular element 301 has another end that extends within 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.

[0114] 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.

[0115] 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.

[0116] The piston 306 is movably and translationally mounted inside the tubular element 301 and the sleeve 90.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] The drive tube and the piston are at least - a retracted position in which both extend inside the module, - an extended position in which at least one of these elements extends at least partially outside the module, i.e., the sleeve and are connected to be translatable within the module between them.

[0121] The bell 160 of the drive tube 313 communicates with a first cylindrical bore 316 that communicates with a second bore 317.

[0122] This second bore houses a first freewheel 318.

[0123] 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 the one hand and within a groove 324 provided therefor within the locking element 321 on the other hand.

[0124] The module comprises means for holding a temporary fastener within the module. These holding means hold the locking element.

[0125] The locking element 321 is in the form of a ring having a bore 325 through which a ring passes, 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 - a rest position in which the end of the locking lug 327 is far (retracted) from the longitudinal axis of the drive tube 313, - a locking position in which the end of the locking lug 327 moves close to the longitudinal axis of the drive tube 313 (deployed inside the module) It is movable horizontally between them.

[0126] The compression spring helps to return the locking element 321 to its locking position.

[0127] 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.

[0128] The second bore 329 of the piston 306 communicates with a third through-bore 333.

[0129] 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.

[0130] As will become apparent later, the first and second sprockets have drive capabilities in opposite directions.

[0131] Single Drive and Control Assembly The device comprises a single assembly 5 for driving and controlling functional modules.

[0132] This drive and control assembly 5 comprises a single drive spindle 51 called the main spindle. This spindle is mounted so as to be movable in rotational and translational motions along the same axis, i.e., along its longitudinal axis. Therefore, the spindle is mounted so as to be movable in translational motion in the direction of the work station between a retracted position and a deployed position.

[0133] This assembly 5 also comprises motor means 52 capable of driving the drive spindle 51 movably.

[0134] 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 driving the spindle 51 to be movable in a translational and / or rotational motion along its axis by means of a feed and / or rotation motor.

[0135] This transmission is of the type that includes a translational drive nut (noix d'entrainement en translation) 512 and a rotational drive ring 513.

[0136] The rotational drive ring 513 has an inner bore, and the inner periphery of the inner bore includes a key 5131 having a shape complementary to a groove 510 provided along the spindle 51 along its longitudinal axis. In this way, the spindle 51 and the rotational drive ring 513 are rotatably connected along the axis of the spindle, but are free to translate along this axis.

[0137] The translational drive nut 512 has an internally threaded bore 5121 that is complementary in shape to a threaded portion 511 provided along the spindle, and they are connected by a helical connection.

[0138] This type of transmission is known per se and will not be described in further detail herein.

[0139] An example of such a transmission is particularly described 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.

[0140] Other transmission architectures that produce the same effect can also be contemplated.

[0141] This type of transmission allows the motor(s) to be offset laterally 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 operation 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.

[0142] As will be explained in more detail below, the device comprises mating means for alternately and movably integrating at least one movable member of the drive spindle and of a functional module formed in opposition to the spindle.

[0143] The single drive and control assembly 5 typically comprises a controller 53 that includes all the components necessary to control the operation of the device's motor and all actuators and other sensors. Such a controller particularly includes all the memory, programs, and processors (if any) necessary to control the device and perform various tasks. The controller also includes communication means (transceiver) that enable the transmission and reception of data, either wired or wirelessly. The controller can also integrate the components necessary to supply power to 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 fully or partially fixed to the frame or can be located remotely.

[0144] 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. These parameters are - The torque on at least one movable member of the module formed opposite to the spindle, - The axial force on at least one movable member of the module formed opposite to the spindle, - The angular position of at least one movable member of the module formed opposite to the spindle, - The axial position of at least one movable member of the module formed opposite to the spindle at least one of the quantities can be specifically indicated.

[0145] 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 opposite to the spindle as a function of the measured electrical intensity. This type of means for measuring 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.

[0146] 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 opposite to the spindle as a function of the measured angular position of the rotor. Such means for measuring 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.

[0147] 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.

[0148] Some of the different measuring means described above can of course be used in combination.

[0149] 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.

[0150] 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.

[0151] Each cell 61 constitutes a bore opening extending 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.

[0152] Functional station The device comprises several functional stations.

[0153] 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.

[0154] 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, - drilling and / or blanking, - rivet setting, - temporary fastener setting of the working station P5 which is.

[0155] 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.

[0156] 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.

[0157] The function of this jack will be described later.

[0158] Temporary fastener loading station The device comprises a temporary fastener loading station P2 for inserting a temporary fastener into a temporary fastener support module brought to this station by a carousel.

[0159] 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.

[0160] However, the temporary fastener loading station can also be located in another place.

[0161] This station P2 includes a temporary fastener feeding device 1000. This device comprises 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.

[0162] 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.

[0163] 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.

[0164] 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 for forming a space for accommodating the temporary fastener.

[0165] This fork 1003 is arranged at the outlet of the temporary fastener support module 300 arranged in the temporary fastener loading station P2, - A holding position in which the end with fingers extends substantially perpendicularly 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 in which the fork rotates around 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.

[0166] The movement of the fork 1003 is guaranteed by a jack 1005.

[0167] Rivet loading station The device comprises a rivet loading station P3.

[0168] This rivet loading station P3 is provided with a load jack 1006. This jack 1006 is arranged within the axis of the rivet support module that is moved to the rivet loading station by the carousel.

[0169] 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, for example, to a rivet distribution or rivet storage zone such as a rivet support module 200 located at the rivet loading station P3.

[0170] 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.

[0171] Each cell 1009 forms a bore opening extending on both sides and parallel to the axis of rotation of the carousel 1008. Preferably, the cells 1009 are substantially uniformly distributed around the axis of the carousel 1008.

[0172] In this embodiment, the number of cells is 6. The number may, of course, be more or less than 6.

[0173] In particular, the carousel and its cells form means for receiving a fastening element. The carousel and its drive means enable the fastener to move from the supply zone to the distribution zone.

[0174] Each cell 1009 has different diameters so that each socket can receive rivets 216 of different sizes.

[0175] Each cell 1009 comprises a receiving port 1090 and a fastener distribution port 1091. The receiving port 1090 enables a fastening element to be inserted into the cell. The distribution port enables the fastening element to be released from the cell.

[0176] 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.

[0177] In this embodiment, the holding means comprises 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.

[0178] The carousel 1008 is rotatably mounted along an axis substantially parallel to the axis of the main spindle 51 between a support plate 1011 and a rivet holding plate 1012. The holding plate constitutes means for holding fasteners within the cells.

[0179] The support plate 1011 is integral with and fixed to the frame. A number of holes 1013 equal to the number of cells 1009 provided in the carousel 1008 penetrate the support plate 1011. 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.

[0180] One of the holes 1013 in the support plate 1011 is on the axis of the load jack 1006.

[0181] 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.

[0182] 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.

[0183] The device comprises means for rotatably driving a carousel around a shaft.

[0184] These rotatable drive means - a first jack 1017 comprising a piston 1018 movable in translation within a chamber 1019, and - a second jack 1020 comprising a piston 1021 movable in translation within a chamber 1022 are provided.

[0185] 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 substantially parallel to the axis of rotation of the carousel 1008.

[0186] The detent 1023 comprises a contact surface 1025 provided so as to contact a stop 1026 of the piston 1018 defining a drive end position.

[0187] 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.

[0188] It is also possible to implement a return means (not shown), such as a spring, acting on the detent 1023 so as to return the detent 1023 to its extended position.

[0189] 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 just an exemplary reference to FIG. 14 for understanding) 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 between.

[0190] In the configuration shown in FIG. 14, the piston 1018 is in its start position and the detent 1023 is in its deployed position.

[0191] The device includes a block pin 8. The block pin 8 is movably mounted between a block position where it hits and stops 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 helps 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.

[0192] 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 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 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.

[0193] 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.

[0194] By repeating this process, the carousel 1008 can be rotationally driven clockwise again.

[0195] 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.

[0196] 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.

[0197] 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 is at least partially received within the notch 1016 of the carousel 1008 (see FIG. 15) in the deployed position, 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 not engaged with any of the notches 1016 of the carousel 1008 in the retracted position and is movable therebetween.

[0198] Return means (not shown), such as a spring, acting on the detent 1028 may be implemented to return the detent 1028 to its deployed position.

[0199] 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 of FIG. 15 (the right side is merely an example for reference to FIG. 15 for understanding when the device can take any orientation in space), and - An end position where the piston 1021 is in the stopped state on the left side of FIG. 15 and the detent 1028 is in the deployed position between the two notches 1016. is movable therebetween.

[0200] In the configuration shown in FIG. 15, the piston 1021 is at its end position and the detent 1028 is at its deployed position.

[0201] 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 relative to the peripheral surface of the carousel 1008, gradually moves from the blocked position to the block release position against the action of the spring plate 1027, and then returns to the blocked position under the action of the spring plate 1027, and the carousel 1008 is maintained in a stationary state.

[0202] The jack 1020 is actuated along the arrow J to return to the starting position. During this movement, the detent 2018 slides relative to 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.

[0203] By repeating this process, the carousel 1008 can be rotationally driven counterclockwise again.

[0204] The carousel 1008 and the detents 1023, 1028 form a ratchet wheel system.

[0205] 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.

[0206] The implementation of the first jack 1017 and the second jack 1020 can more quickly align the desired cell 1009 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 will simplify the device but will lead to longer alignment times.

[0207] 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 ratchet, it is also possible to implement a double jack, that is, an outer jack including an inner ratchet block jack.

[0208] Indexing the sub-carousel can also be achieved by the block pins controlled by the jack, similar to the case of the main carousel.

[0209] 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.

[0210] Rivet coating station The device comprises a coating device located at the rivet coating station P4. This station enables a sealing compound to be applied to the rivets.

[0211] This coating station P4 is located in proximity to the working station P5.

[0212] The coating station P4 comprises 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 means of grooves.

[0213] 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.

[0214] This piston 1035 is movably mounted within the chamber 1037 along an axis parallel to the axis of the main spindle 51 with translational and rotational movement. The piston 1035 carries, at its end, a half-dog 1038 having a complementary shape to the half-dog 211 of the rivet support module 200.

[0215] A second pulley 1039 is rotatably connected to the casing of the jack 1036 along an axis substantially parallel to the axis of the main spindle 51. This second pulley 1039 is rotatably connected to a third pulley 1041 by a belt 1040.

[0216] The third pulley 1041 is mounted on a shaft 1042 and rotatably connected thereto.

[0217] The shaft 1042 carries a male thread 1043 at the end opposite to the end to which the pulley 1041 is fastened.

[0218] This male thread 1043 has a thread, and the profile of the thread comprises 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.

[0219] The first flank is inclined by a few degrees with respect to the perpendicular 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.

[0220] This shoe 1046 is mounted on the end of a piston 1047 that is movably mounted 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.

[0221] 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.

[0222] This station comprises a sealant dispensing means having a nozzle 1050 connected to a sealant supply means (not shown), and the sealant supply means comprises a pipe provided therefor, on the one hand, to a sealant storage section and, on the other hand, a pump connected to the nozzle 1050.

[0223] 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 preferably as long as it is a simple and effective way to ensure the calibration of the bead(s) of sealant deposited on the rivet.

[0224] The nozzle 1050 is integral with the end of a piston 1047 that is movably mounted in a translational motion along an axis perpendicular to the axis of the rivet support module within the chamber 1052 of the jack 1053.

[0225] Shoe 1046, nozzle 1050, and their respective jacks 1049, 1053 are mounted in a block 1054 integral with a piston 1055 movably mounted in a chamber 1056 of a jack 1057 along an axis parallel to the axis of the male screw 1043.

[0226] This station is provided with 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 chamber (not shown) of a jack 1060 along an axis parallel to the axis of the male screw 1043. The other end of the sensor 1058 has 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 end of the rivet. The end of the rivet is defined as the end zone of the rivet body on the side opposite the rivet head.

[0227] Figures 39 to 41 show an alternative coating station.

[0228] According to this alternative, the nozzle 3000 is fixed to the frame, - a block 3001 having 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, - A spool 3005 movably mounted by translational movement inside the chamber 3002, the spool 3005 having longitudinal blind grooves 3006 provided along said shaft over a length arranged in fluid communication with all the channels 3003 on both sides, the grooves 3006 being connected to coating material supply means, the coating material supply means comprising, for example, a sealant pump whose outlet is connected to the grooves 3006 by a pipe, the spool 3005 and comprising.

[0229] The connection part 3011 enables a sealant to be injected into one of the channels 3003 in communication with the groove 3006.

[0230] According to this alternative, a sensor 3007 comprising 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.

[0231] 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.

[0232] Thus, when the sensor is in contact with the end of the fastener element, the channel(s) 3003 opening beyond the end on this side do not communicate with the groove 3006.

[0233] 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.

[0234] Therefore, the nozzle enables the distribution of the sealant in the form of parallel beads between the end and the connection zone between the body and the head on the body of the fastener element.

[0235] Workstation The work station P5 is located as an extension of the main spindle 51.

[0236] This station enables different operations, namely, - drilling and / or facing, - rivet setting, - setting of temporary fasteners to be carried out according to the functional modules arranged at its level.

[0237] In addition to the main spindle 51, this station is equipped with a sub-spindle 170 that is movably mounted in translation inside the hollow main spindle 51.

[0238] This sub-spindle 170 is integral with a piston 1047 that is movably mounted in translation 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.

[0239] The work station is equipped with means 16 for forming pairs of functional modules.

[0240] The pair-forming means comprise means of the quick-connection type.

[0241] In this embodiment, the pair-forming means are - the bells 160 of several functional modules with radial holes 161, and - a male element 162 that is integral 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 located 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 hole 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 a locking key. The locking element (ball or roller) 163 includes a cylindrical body and a head. - A locking key 164 movably mounted within the male element 162 in a translational motion. The locking key 164 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 includes an outer peripheral ramp 165 that is operable on the locking element 163 (particularly, the cylindrical head) to cause the bell and the male element to rotate and translate integrally. Comprising.

[0242] The locking key 164 is integral with the end of the sub-spindle 170.

[0243] The locking key 164 is movable by the jack 17 between at least two positions where the locking key 164 can move therebetween, namely, - A mating position where 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 as required. - A non-mating position where the locking key 164 is remote from the locking element 163 and the end of the locking element 163 does not protrude from the male element so that the end of the locking element 163 can be removed from the radial hole 161 of the bell 160 as required by not acting on the locking element with the locking key 164. It is movable between them.

[0244] 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.

[0245] 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.

[0246] Telescoping The sub-spindle 170 can be used to implement a telescoping function for different functional modules, particularly for the rivet support module.

[0247] As will be described in more detail below, this telescoping function allows the sub-spindle 170, which is initially housed in the 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.

[0248] 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 can move translationally within the interior of the main spindle 51 that constitutes the chamber 171 of the jack 17.

[0249] The sub-spindle 170 is provided with an outer peripheral groove 1063 downstream of the piston 172.

[0250] The device comprises means for translationally connecting the inner spindle to the outer spindle.

[0251] More precisely, the main spindle 51 carries a release ring 1064.

[0252] 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.

[0253] This unlocking ring 1064 has a bore, which has a cylindrical portion 1065 and a frustoconical portion 1066 following it, 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.

[0254] The main spindle 51 carries a locking member. This locking member includes a locking ring 1067 mounted on the male element 162.

[0255] 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.

[0256] 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.

[0257] The locking ring 1067 has two opposing cutting edges 1073 and is mounted in a complementary-shaped groove 1074 provided in the male member 162.

[0258] 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.

[0259] 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 disengaged from the groove 1063 formed in the secondary spindle in an unlocking position and is movable translationally therebetween.

[0260] 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.

[0261] 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 - a deployed position where the secondary spindle 170 extends at least partially outside the outer spindle and can be translated therebetween.

[0262] 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.

[0263] 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.

[0264] Rotational drive of the main carousel As described above, the carousel is rotatably mounted about an axis that extends substantially parallel to the axis of the spindle.

[0265] The carousel has longitudinal notches 62 along an outer peripheral portion that extends substantially parallel to the axis of the carousel. These notches form drive teeth, as will become apparent later.

[0266] The device comprises means for rotatably driving the carousel about an axis.

[0267] These rotational drive means are - a first jack 70 comprising a piston 700 that is translatably movable within a chamber 701, and - a second jack 71 comprising a piston 710 that is translatably movable within a chamber 711 and are provided with.

[0268] The piston 700 of the first jack 70 carries a detent 702, and the detent 702 is rotatably mounted relative to the piston 700 about an axis 703 that is substantially parallel to the axis of rotation of the carousel.

[0269] The detent 702 comprises a contact surface 704 that is designed to contact a stop portion 705 of the piston 700 that defines a drive end position.

[0270] The detent 702 is in two end positions, namely - a deployed position in which the contact surface 704 contacts the stop portion 705 of the piston 700 and the end is at least partially received within the notch 62 of the carousel with the end spaced from the piston 700 (see FIG. 12), and - a retracted position in which the contact surface 704 does not contact the stop portion 705 of the piston 700, the end is near the piston 700, and is disengaged from any notch 62 of the carousel and is movable between.

[0271] For example, in order to return the stopper to its extended position, return means (not shown) such as a spring acting on the stopper can also be used.

[0272] 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.

[0273] This inner piston 707 is, within the chamber 706, - a block release position where the inclined end 708 is located away from the stopper 702 so that the stopper 702 can rotate freely around the shaft 703, and - a block position that the stopper 702 is expected to take when in the deployed position, where the inclined end 708 abuts against the stopper 702 to hold the stopper 702 in a rotationally stationary state around the shaft 703 and is mounted so as to be movable in a translational motion between them.

[0274] 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 in FIG. 12 (the right side is merely an illustrative example for understanding with reference to FIG. 12 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 in FIG. 12 and the stopper 702 is in the deployed position between the two notches 62 and.

[0275] In the configuration shown in FIG. 12, the piston 700 is in the end position and the stopper is in the deployed position.

[0276] The device is - a indexing position where the block pin 8 abuts against the carousel and stops between two consecutive notches 62 to prevent rotation of the carousel around its axis, and - a release position where the block pin 8 is released from the carousel to enable rotation of the carousel It is provided with a block pin 8 mounted movably between them.

[0277] 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.

[0278] 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.

[0279] 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.

[0280] The piston 700 is in the starting position (stopped on the right side in FIG. 12).

[0281] The detent 702 is in the deployed position.

[0282] 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.

[0283] 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.

[0284] 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 in the counterclockwise direction. 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 700 is in the end position and stationary. The jack 800 is powered to block the block lug in the indexing position so that the carousel is held in a stationary state. At least one cell 61 of the carousel is then at the functional station.

[0285] 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).

[0286] The jack 70 is actuated so that the piston 700 moves along arrow A and returns to the starting position.

[0287] 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 back to the deployed position. The detent is then received within another notch 62 of the carousel.

[0288] The carousel can be rotationally driven counterclockwise again by repeating this process multiple times.

[0289] 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.

[0290] 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.

[0291] The brake 712 is movable between two end positions, namely, - a deployed position where the abutting surface 714 abuts against the stop portion 715 of the piston 710 and the end is received in 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 .

[0292] For example, return means (not shown), such as a spring, acting on the brake to return the brake to the deployed position can also be implemented.

[0293] The piston 710 has an internal chamber 716, and an inner piston (not shown) with an end inclined like the inner piston 707 is received in the internal chamber 716.

[0294] This inner piston is mounted in the chamber so as to be movable in a translational motion between - a release position where the end is away from the brake so that the brake can rotate freely around the shaft 713, and - a lock position that is expected to be taken when the brake is in the deployed position, where the inclined end abuts against the brake to stop the brake from rotating around the shaft 713 .

[0295] 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 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 brake is in the deployed position between two notches 62 .

[0296] In the configuration shown in FIG. 12, the piston 710 is in its starting position and the brake 712 is in its deployed position.

[0297] 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.

[0298] The piston 710 is in the starting position (stopped on the left in FIG. 12).

[0299] The detent 712 is in the deployed position.

[0300] 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.

[0301] 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.

[0302] During this movement, the detent engages with the notch and within the notch, the detent is positioned such 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.

[0303] 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).

[0304] The jack 71 is actuated along arrow B so that the piston 710 moves back to the starting position.

[0305] During this movement, the detent 712 slides relative to the peripheral surface of the carousel until the piston reaches the starting position, and rotates counterclockwise about the axis 713, gradually moving from the deployed position to the retracted position, and then from the retracted position back to the deployed position. The detent is then received within another notch 62 of the carousel.

[0306] By repeating this process, the carousel can be driven to rotate clockwise again.

[0307] The carousel and the detent form a ratchet wheel system.

[0308] 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.

[0309] 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 lead to longer alignment times.

[0310] The means for rotatably driving the main carousel 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.

[0311] 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.

[0312] 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.

[0313] 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.

[0314] The shaft 8 has, at the other of its ends, an outer peripheral groove 83, and a lateral 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.

[0315] The guide element 14 is fixed to the end of the rod 820 of the piston 82.

[0316] 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.

[0317] The sleeve 90 of each functional module is intended to be slidably mounted within the cell 61 of the carousel 6.

[0318] 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, and 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.

[0319] 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.

[0320] The groove 901 of each sleeve 90 can accommodate the lug 10 disposed at the end of the piston 11 that is movable translationally within the chamber 12 of the jack 13.

[0321] The jack 13 is located 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.

[0322] The flat portion 85 and the lug 10 extend along axes parallel and perpendicular to the axis of rotation of the carousel 6.

[0323] Loading and unloading of functional modules Loading the functional module 9 onto the carousel 6 is achieved in the following manner.

[0324] 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 inside the cell 61 located at the load / unload station.

[0325] The jack 1005 is actuated to position the fork 1003 in the release position.

[0326] 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 terminates.

[0327] The fingers 900 of the sleeve 90 are introduced into the groove 83 through the flat portion 85 that forms the introduction passage.

[0328] 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, is held within the cell 61 along the axis of the cell 61, and the functional module 9 is blocked from translating.

[0329] 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.

[0330] The carousel 6 can then be driven rotatably to place the next cell at the load / unload station, and the process is repeated to load a new functional module 9.

[0331] It is possible to load all seven 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 seven cells.

[0332] Unloading the functional module 9 is achieved by operating the jack 13 after placing the corresponding cell at the load / unload station so that the lug 10 disengages from the groove 901 and the functional module 9 slides out of the corresponding cell 61.

[0333] Presser element The device comprises a tubular presser element 15 as an extension of the spindle 51, which is mounted movably relative to the frame 2 in a translational motion along the axis of movement of the spindle 51. Such a presser element 15 can be used, for example, especially during a punching operation to apply a compressive force to the structure to be punched in order to ensure contact between the stacked plates and to avoid the formation of burrs between these plates during punching.

[0334] Installation of a multi-task device The robotic arm to which the device is fixed is actuated to position the multi-task device so that the work station is positioned at a location on the work target structure where work is desired to be performed.

[0335] The robot applies the device to the work target structure until the suction cup 41 abuts against the work target structure. Thereafter, a vacuum is generated within the suction cup to ensure an effective connection between the multi-task device and the work target structure.

[0336] Alternatively, the C-clamp 42 can be used as an alternative to the suction cup.

[0337] Punching and / or dish-taking operation To perform the punching and / or dish-taking operation, the main carousel is rotationally driven until the desired punching module comes to the work station.

[0338] To repeat, the elastic return means serves to return the piston 903 of the jack to a position where its end 905 is housed within the housing 950 or protrudes into the sleeve to prevent the functional assembly of the punching module from sliding within the sleeve, and the end 905 of the piston 903 contacts the end 951 of the bushing 95.

[0339] The punching and / or dish-taking module 9 is then counter-formed with respect to the drive spindle 51, and the spindle can drive the output shaft 91 which is a movable member of the module.

[0340] 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 housed within the bell 160.

[0341] 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 and move in rotational and translational motions.

[0342] The angular position of the male element 162 relative to the bell 160 is random, and as a result, the lock element may not be perfectly aligned with the radial hole of the bell. The spherical head of the lock element allows for a slight rotation of the bell relative to the male element, coaxializing the holes in the bell and the male element, thereby enabling the lock element to penetrate into the hole in the bell.

[0343] The excessive hole in the bell compared to the hole in the male element facilitates this realignment.

[0344] However, if the lock element remained balanced between the two holes without penetrating the two holes, the resistance torque resulting from the initial drilling operation would then induce a relative rotational movement of the male element and the bell, aligning the lock element with the radial hole and completing the mating.

[0345] 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.

[0346] 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, - the movable device and the sleeve are translated along the arrow E, - The drive element 14 follows the same movement so 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.

[0347] The presser element follows the same movement, whereby the presser element bears against the work target structure and applies pressure to the work target structure.

[0348] The force for pressing the presser element 15 against the work target surface is held by the jack 80, while the translational movement of the spindle 51 along arrow E involves the movement of the movable device inside the sleeve, and the movable device then comes to rest translationally along arrow E.

[0349] 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.

[0350] Forming the main spindle and the output shaft to mate constitutes a rotational and translational connection.

[0351] By fixing the screwing sleeve to the module instead of the cutting tool, it is possible to perform screwing / unscrewing operations.

[0352] 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.

[0353] 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.

[0354] When the rivet support module 200 is installed at the rivet loading station P3, the rivet loading operation is carried out.

[0355] Prior to this, in the cell 1009 of the sub carousel 1008 corresponding to the size of this rivet 216, the rivet is supplied by the rivet supply means of the carousel 1008. The rivet is brought into this tube by pressurized gas through a flexible tube.

[0356] The sub carousel 1008 is then rotationally driven to place the cell 1009 containing the rivet at the rivet loading station P3.

[0357] 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.

[0358] The jack 1006 is then actuated to push the rivet 216 contained in the cell 1009 into the rivet support module 200 until the head 219 of the rivet 216 is located 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.

[0359] Rivet coating operation To carry out the rivet coating operation, the rivet support module 200 pre - loaded with the rivet 216 to be coated with a sealant is installed at the coating station P4 by rotating the main carousel 6.

[0360] During this movement, the piston 205 of the rivet support module remains stationary relative to the circlip 218 under the frictional action of the O-ring that ensures the sealing of the chamber.

[0361] It is possible to implement a helical type coating or a ring type coating or a parallel annular bead coating.

[0362] Helical coating The helical type coating consists of 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.

[0363] This is achieved as follows.

[0364] 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 non-engaged 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.

[0365] The support 1062 of the nozzle 1050 is stationary relative to the sensor 1058.

[0366] The chamber of the jack 1057 carrying the block 1054 is exhausted.

[0367] 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 pair formation is a rotary connection.

[0368] 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 it is intended to support, 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.

[0369] 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.

[0370] Therefore, the sensor 1058, against which the nozzle 1050 abuts and is in a stopped state, moves the nozzle to the end of the rivet 221 (at a predetermined distance from the rivet end).

[0371] Jack 1053 moves the nozzle 1050 towards the rivet body until the end of the nozzle 1050 contacts the rivet body.

[0372] 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.

[0373] At the same time, the sealant pump is operated so that the nozzle 1050 delivers the sealant to the end 221 of the rivet.

[0374] 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.

[0375] 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 random relative position is achieved such that a gap remains between the shoe and the flank of the thread. 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.

[0376] At this stage, a bead of sealant of 1 + X rotations has been deposited at the end 221 of the rivet.

[0377] 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.

[0378] 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.

[0379] The rotation of the single spindle 51 stops after the elapsed time from t0 that enables the rotation speed of the 3+Y parent screw, 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 enables knowing the distance Z between the end bead and the head bead, and Y = Z / parent screw pitch (assuming here that the rivet to be coated and the parent screw rotate at the same frequency).

[0380] 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 at least 1 rotation of deposition under the head.

[0381] Simultaneously with the rotation stop of the main spindle 51, the sealant deposition is stopped by depressurizing the sealant pump.

[0382] 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)).

[0383] The shoe 1046 is moved into the non-engaging position by the jack 1049.

[0384] The nozzle 1050 is moved away from the rivet body 220 by the jack 1053.

[0385] The nozzle 1050 and the sensor 1058 are moved to the end positions on the side of the rivet end 221 by the extension of the jacks 1057 and 1060 respectively.

[0386] 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.

[0387] Annular coating The annular type coating consists of depositing at least one annular bead of sealant under the rivet head 219.

[0388] Therefore, the following is implemented.

[0389] Prior to the arrival of the rivet support module 100 at the coating station, - 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.

[0390] The jack 1036 is actuated to engage the half dog 1038 it carries with the half dog 211 of the rivet support module 100 disposed at the coating station.

[0391] The half dog 1038 moves the piston 205 of the rivet support module 100 toward 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 can support a rivet of a given size. The length along the axis of the piston spindle of each rivet support module is determined according to the size of the rivet 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.

[0392] The jack 1060 is actuated to move the sensor 1058 in the direction of 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.

[0393] 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.

[0394] The jack 1053 moves the nozzle 1050 towards the rivet body 220 until the end of the nozzle 1050 contacts the rivet body 220.

[0395] 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.

[0396] 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.

[0397] 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.

[0398] At the same time, the deposition of the sealant is stopped by depressurizing the sealant pump.

[0399] The nozzle 1050 moves away from the rivet body 220 by the retraction of the jack 1053.

[0400] The nozzle 1050 and the sensor 1058 are brought to the end positions on the side of the rivet end 221 by the extension of the jacks 1057 and 1060, respectively.

[0401] The main carousel 6 is rotated to place the sealant-coated rivet at the working station for setting the rivet.

[0402] 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.

[0403] Jack 3010 is actuated to move the sensor 3008 along arrow E to its end position.

[0404] The rivet support module carrying the rivet to be coated is installed at the coating station.

[0405] The half dog 1038 is moved to its stop by the corresponding jack and engages with the half dog 211 of the module, moving the piston of the module to a position where the connection zone of the carried rivet is aligned with the channel 3003 of the nozzle facing the rivet end side.

[0406] Jack 3010 is actuated along arrow F so that the end 3008 of the sensor contacts the rivet end.

[0407] The spool 3005 slides inside the chamber 3002 to seal the channel extending beyond the rivet end.

[0408] 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 the sealant to be simultaneously and parallelly deposited on the rivet body between the end and the rivet connection zone.

[0409] 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.

[0410] Rivet setting operation The device can be actuated to install rivets that are pre-coated or uncoated with sealant as appropriate. Thus, the device comprises a rivet setting device.

[0411] 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.

[0412] The main spindle 51 is driven translationally along its axis by a feed motor.

[0413] 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. 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).

[0414] 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.

[0415] The feed motor is then controlled to move the main spindle 51 in the opposite direction.

[0416] During this movement of the main spindle, the piston 205 of the rivet support module remains stationary inside its chamber due to friction.

[0417] The main spindle 51 is translated until it reaches an end position. At the end position, the part of the male element 162 carrying the lock ring 1067 is received inside the cylindrical part 1065 of the unlocking ring 1064 and acts on the unlocking ring 1067 to move it to the unlocked position.

[0418] 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.

[0419] When the sub-spindle thus comes out, the outer peripheral groove 1063 passes through the unlocking ring 1064.

[0420] 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.

[0421] 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.

[0422] The lock key 164 then pushes the rivet head 219 out of the clamp and fully into the hole.

[0423] 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. In this embodiment, in particular, it comprises a main spindle and a sub-spindle.

[0424] By reading the current of the feed motor, which drives the main spindle, the propulsion effect on the rivet is determined, and when the propulsion effect becomes greater than a predetermined threshold corresponding to the full insertion of the rivet into the hole, the advancement of the main spindle is stopped.

[0425] This approach ensures that the rivet is installed efficiently with a greater force compared to the case where it is 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.

[0426] 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 towards the unlocking position.

[0427] The sub-spindle 170 is then retracted into the main spindle 51 by actuating the jack 17.

[0428] 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.

[0429] Temporary fastener load The device according to the present invention can be implemented to perform the setting of temporary fasteners.

[0430] The temporary fastener 2000 conventionally includes a body 2001, a deformable (extendable 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 the hole in the two metal sheets, the spear spreads from the opposite side of the sheet against 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.

[0431] 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 them to be locked in place, as will be further described in more detail.

[0432] Prior to performing the temporary fastener setting operation, it is necessary to load the temporary fastener into the temporary fastener support module 300.

[0433] For this purpose, the main carousel 6 is rotationally driven to install the temporary fastener support module at the loading station P2.

[0434] When the temporary fastener support module is installed at the temporary fastener loading station, the temporary fastener loading operation is implemented.

[0435] The jack 1005 is actuated to move the fork 1003 within its holding position.

[0436] The cartridge belt 1000 is implemented to dispose the temporary fastener 2000 within the shaft of the temporary fastener support module.

[0437] 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.

[0438] The loading 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.

[0439] The rotating element 2003 of the temporary fastener then engages the first freewheel 318 while the body 2001 engages the second freewheel 33'.

[0440] The chamber of the temporary fastener support module is evacuated so that the piston 306 moves 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.

[0441] The load jack 1002 retracts to the starting position, and then the jack 1005 is actuated to return the fork 1003 to the release position.

[0442] Temporary fastener setting operation The device enables the setting of the temporary fastener and thus comprises a temporary fastener setting device.

[0443] To perform 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.

[0444] The temporary fastener support module then needs to be paired with the main spindle.

[0445] For this purpose, the spindle 51 moves 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.

[0446] A slight air pressure is introduced into the module so that the piston 306 applies an opposing force along the longitudinal axis of the module against the mating force.

[0447] 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 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.

[0448] 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 in order to continue sliding the drive tube 313 and thereby the piston 306 inside the module until the thrust force recorded at the main spindle 51 by the sensor for the current consumed by the feed motor reaches a predetermined threshold corresponding to the stop of the temporary fastener against the structure to be worked on. - 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 the deformable end is expanded 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 lock 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 accommodate the new temporary fasteners to be installed.

[0449] 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., the conversion of the translational motion of the spindle into the rotational motion of at least one movable member of the functional module).

[0450] 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.

[0451] The examples of functional modules described here include only one movable member, namely, the output shaft, the piston, the drive tube. However, it can be provided with several output members.

[0452] During the performance of the work, the sensors of the control and measurement assembly may be enabled to read out the parameters specific to the operation of the paired module.

[0453] 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.

[0454] 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.

[0455] 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.

[0456] 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.

[0457] 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.

[0458] This, of course, does not represent an exhaustive list of possible parameter measurements.

[0459] All sensors and other measuring means are integrated within the control and measurement assembly 5. Thus, the functional module preferably does not have sensors or has at least a very small number of sensors, thereby making the structure of the functional module particularly simple, robust, and economical.

[0460] 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.

[0461] 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.

[0462] The device according to the invention enables a plurality of functions, for example, fastener element setting, fastener element coating, punching, 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 punching device, a fastener element transfer device, etc. Each of these devices can be separated to form an independent device that implements its own function. Some of these devices (in particular at least two) can be arbitrarily combined.

Claims

1. A device for setting a temporary fastener on a work target structure, wherein the temporary fastener comprises a body having an extendable / retractable end portion, and a rotary element capable of being rotationally driven to extend / retract the extendable / retractable end portion, the device comprising a support module capable of accommodating the temporary fastener, the module comprising means for holding the temporary fastener inside the module, the holding means comprising at least, - a locking position in which the holding means is deployed inside the module to cooperate with the temporary fastener disposed in the module to prevent the temporary fastener from moving in a translational motion inside the module, and - a rest position in which the holding means retracts to enable the temporary fastener to pass through the module, and being movable between the two, the device comprising introducing means for introducing the temporary fastener into the support module, the introducing means being configured to introduce the temporary fastener into the support module from one side of the support module, and the temporary fastener being removed from the support module through the other side of the support module opposite to the one side after being attached to the work target structure.

2. The device according to claim 1, wherein the holding means comprises a locking element provided with a locking lug movably mounted along an axis substantially perpendicular to the axis of the module in a translational motion between the rest position and the locking position.

3. The device according to claim 2, wherein the locking lug is designed to be received in a locking position in a space provided therefor inside the temporary fastener accommodated in the module.

4. comprising means for actuating the locking element, the actuating means comprising a piston, and the piston, - being movably mounted in a translational motion inside the module along the longitudinal axis of the piston between a locking position and - a release position, the piston comprising an inclined portion with respect to the axis, and the inclined portion acting on the locking element to move the locking element into the rest position of the locking element when the piston moves to the release position of the piston. The device according to claim 2 or 3.

5. The device according to claim 4, wherein the module comprises a chamber that houses the piston and forms a jack together with the piston.

6. The device according to claim 5, wherein the module comprises a pressurized gas inlet conduit within the chamber.

7. The device according to claim 5 or 6, comprising first elastic return means for returning the piston to the locked position.

8. The device according to any one of claims 2 to 7, comprising second elastic return means for returning the locking element to the locked position.

9. Comprising a rotary drive tube housed within the piston, the rotary drive tube is rotatably mounted within the piston, a bore passes through the rotary drive tube, enabling a temporary fastener to pass through the bore, the drive tube houses a first freewheel, and the first freewheel can cooperate with the rotary element of the temporary fastener housed within the module to rotatably connect the drive tube and the rotary element. The device according to any one of claims 4 to 8.

10. The piston houses a second freewheel that can cooperate with the body of the temporary fastener housed within the module, and the first and second freewheels have opposing functions. The device according to claim 9.

11. The device according to claim 7, or any one of claims 8 to 10 dependent on claim 7, wherein the first elastic return means is inserted between the piston and the drive tube.

12. Comprising means for rotatably driving the drive tube, the driving means comprises a rotatable movable spindle having a longitudinally grooved portion that cooperates with a complementary shaped grooved ring that can be rotationally driven by a rotary motor. The device according to any one of claims 9 to 11.

13. The drive tube and the piston are at least within the module, - a retracted position where the drive tube and the piston extend inside the module, - an extended position where the drive tube and the piston extend at least partially outside the module The device according to any one of claims 9 to 12, which is movable between and is translationally connected.

14. The device according to claim 13, which depends on claim 12, and comprises means for translationally driving the drive tube, and the translational drive means comprises a spindle having a threaded portion that cooperates with a threaded ring that can be rotationally driven by a translational motor.

15. - A station for loading a plurality of temporary fasteners into the module, - A work station for setting temporary fasteners on the structure to be worked on, - And means for moving the module between the loading station and the work station The device according to any one of claims 1 to 14.

16. The device according to claim 15, wherein the loading station comprises means for introducing a plurality of temporary fasteners into the module.

17. The loading station comprises a holding fork, and the holding fork is at least - A holding position in which the holding fork extends as an extension of the module disposed at the loading station on the side of the module opposite to the introducing means, and the fork forms a stop for holding a temporary fastener located inside the module at the holding position, and is shaped to place the locking lug facing the space provided therefor in the temporary fastener accommodated in the module, the holding position, - A release position in which the fork is not disposed as an extension of the module to enable removal of a temporary fastener disposed in the module from the module The device according to claim 16, which is movably mounted between.

18. Comprising control means, and the control means continuously - Installs the module at the loading station, - Places the fork in the holding position and places the holding means in the rest position, - Introduces a temporary fastener into the module until it hits and stops against the fork, - Places the holding means in the locked position, - Places the fork in the release position, - Installs the module at the work station The device according to any one of claims 15 to 17, which is configured as such.

19. comprising control means, said control means continuously - installing said module including the temporary fastener at said work station, - moving said temporary fastener inside said module for introducing said temporary fastener into a hole provided in said work target structure where said temporary fastener is to be fixed, - rotationally driving said rotating element of said temporary fastener, extending / retracting the extendable / retractable end portion of said temporary fastener to fix it to said work target structure, - placing said holding means at a rest position The device according to any one of claims 15 to 18, configured as such.

20. A device for performing at least one task on a work target structure, comprising - means for fixing said device to motor-driven handling means capable of at least partially moving said device within a predetermined space relative to said work target structure, - means for fixing said device to said work target structure and comprising said device comprising at least one temporary fastener setting device according to any one of claims 1 to 19.

21. A method for installing a temporary fastener by the device according to claim 19, comprising - installing said module including the temporary fastener at said work station, - moving said temporary fastener inside said module for introducing it into a hole provided in said work target structure where said temporary fastener is to be fixed, - rotationally driving said rotating element of said temporary fastener, extending / retracting the extendable / retractable end portion of said temporary fastener to fix it to said work target structure, - placing said holding means at a rest position and including

22. said device is a device for setting a temporary fastener according to claim 17 or claim 18 dependent on claim 17 or claim 19 dependent on claim 18, said method comprising - a preliminary step of installing said module at said loading station, - a preliminary step of placing said fork in a holding position and placing said holding means at a rest position, - a preliminary step of introducing a temporary fastener into said module until it hits and stops against said fork, - a preliminary step of placing said holding means in a locked position The method according to claim 21, including.

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