EP2359956A1 - Riveting method and device using a bucking tool movable during impulse stricking - Google Patents

Riveting method and device using a bucking tool movable during impulse stricking Download PDF

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Publication number
EP2359956A1
EP2359956A1 EP11154286A EP11154286A EP2359956A1 EP 2359956 A1 EP2359956 A1 EP 2359956A1 EP 11154286 A EP11154286 A EP 11154286A EP 11154286 A EP11154286 A EP 11154286A EP 2359956 A1 EP2359956 A1 EP 2359956A1
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EP
European Patent Office
Prior art keywords
rivet
counter
head
strike
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP11154286A
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German (de)
French (fr)
Inventor
Maxime Hardouin-Finez
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Sonaca SA
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Sonaca SA
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Publication of EP2359956A1 publication Critical patent/EP2359956A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B21J15/285—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups for controlling the rivet upset cycle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines

Definitions

  • the invention relates to the field of riveting by the technique of multi-keys.
  • the technique of riveting by multi-strikes is usually implemented using a device that solicits by repeated shocks the head of a rivet housed in an orifice made through the parts to be assembled, and a counter device. -frappe, also called “anvil”, bearing against the end of the rivet opposite to its head, also called rivet foot.
  • the multi-hit device therefore exerts repeated shocks using a so-called “rivet” head, which acts on the head of the rivet, while the counter-strike device remains fixed in position during the forming of the rivet.
  • the invention therefore aims to at least partially overcome the disadvantages mentioned above, relating to the achievements of the prior art.
  • the subject of the invention is a process for riveting superposed parts using a rivet with a head, comprising a step of multi-striking the rivet with the aid of a multi-striker device that solicits the rivet head, and a counter-strike device in abutment against the end of the rivet opposite to its head, a step during which the counter-strike device is moved in a controlled manner so that it applies a force of predetermined support against the end of the rivet.
  • the invention is therefore remarkable in that it provides, contrary to the embodiments of the prior art, a movement of the counter-strike device during the striking of the rivet.
  • This counter-strike device thus accompanies the deformation of the rivet foot, and limits or even completely eradicates the deformation of the parts to be assembled, without requiring the addition of a press-plate system.
  • the method can thus easily be implemented in areas difficult to access, since the required tooling remains compact.
  • the predetermined bearing force also called the target bearing force of the counter-strike device against the rivet foot, is preferably constant during the multi-hit step, but could alternatively be scalable, without departing from the scope of the invention. 'invention.
  • the multi-hit and counter-strike devices thus make it possible to perform the clamping of the parts to be assembled, before the multi-hit step.
  • the movement of the counter-striking device is performed so as to bring it into abutment against the end of the rivet opposite its head with a first support force of identical value to that of said predetermined bearing force.
  • the bearing force applied to the clamage could be different from the support force during the multi-hit step, without departing from the scope of the invention.
  • the ratio between the values of the first and second bearing forces is between 1.8 and 2.2.
  • this ratio of force values is retained during the multi-hit step, this makes it possible to obtain a satisfactory crushing of the rivet, making it perfectly flush. Indeed, tests have shown that the rivet head had only a protuberance of about 40 microns relative to the surface of the assembled parts.
  • the value of the first pressing force is between 100 and 200 N, and the value of the second pressing force is between 50 and 100 N.
  • the multi-hit step is performed at a frequency of between 30 and 60 Hz for a period of between 0.3 and 1 s.
  • This long period combined with relatively low bearing forces, provides a satisfactory deformation of the rivet foot, which turns into a "button" during the multi-hit step.
  • Tests have shown that this button could adopt a greater diameter than those encountered in the prior art, with an increase of the order of 0.1 mm, in favor of a decrease in the height of the button. the order of 0.06 mm.
  • the counter-strike device is mounted on a cylinder of a counter-strike system.
  • This cylinder preferably pneumatic, contributes to the damping of the impact effects and is quite suitable for the application of a constant bearing force, regardless of the output range of the piston cylinder.
  • the invention also relates to a counter-strike system for implementing a riveting method described above, comprising an arm carrying at one of its ends a connector for its connection to a terminal. robot, and carrying to the other of its ends, in an articulated manner, an assembly incorporating a jack and said counter-strike device mounted on the jack.
  • the cylinder carrying the counter-strike device is not directly carried by the robot, but by an arm itself mounted on the robot, its size can be reduced, and, advantageously, its increased accuracy.
  • This installation mainly comprises a frame 4 defining a rail on which slides a support structure 6 of the movable flap 2.
  • two robots 8, 10 respectively intended to come from both sides. other parts to rivet.
  • Control means 12 for the robots and the translation of the support structure 6 also equip the installation 1.
  • the process is initiated by setting up a rivet 20 with a head 22 in the orifice 14 defined by the two superposed pieces 2a, 2b.
  • This installation is carried out so that the head 22, having a section widened relative to the cylindrical body of the rivet ending in a foot 24, is positioned in abutment against a shoulder 26 provided in the orifice 14, at one end of it.
  • the head 22 and its shoulder 26 have complementary frustoconical shapes.
  • the step of placing the rivet is performed after it has been coated with a sealant, known in itself. It is the robot 8 provided with a suitable interchangeable tool that is used to perform this step of setting up the rivet. Once this is complete, the rivet head 22 protrudes a very small distance from the outer surface of the upper part 2a, while the foot 24 projects from the outer surface of the lower part 2b over a distance much more important.
  • the robot 8 performs a tool change so as to carry a multi-hit device whose design makes it possible to carry out repeated shocks on the head of the rivet, according to a given frequency.
  • This multi-hit device removably carried by a wrist of the robot, is also called effector.
  • this multi-hit device 30 is moved by the same robot so that its striking surface of the rivet, corresponding to the end of the effector, is located opposite and at a distance given the head 22, for example a distance of about 15 mm, considered in the direction of the axis 16 of the orifice.
  • the other robot 10 carries on a wrist a counter-strike system 34 provided at its free end, that is to say the one opposite the end for connection to the wrist of the robot, a device counter-striker 36 also called anvil.
  • This robot 10 is controlled so as to bring the counter-strike system 34 to the foot 24 of the rivet 20, so that the anvil is at a given distance from this foot, for example 5 mm, still in the direction of axis 16.
  • the installation is in the schematic configuration shown on the diagram. figure 2a . From this moment, and during all the implementation of the process until the end of the multi-hit step, the robots are held in position, only the multi-hit device 30 and the counter-strike system 34 being actuated by the control means 12.
  • Clamming parts 2a, 2b is first made so that the bearing surface 32 of the multi-hit device 30 comes into contact with the projecting portion of the head 22, exerting a first force of support preferably between 100 and 200 N.
  • the displacement of the head 38 of the device 30, defining the bearing surface 32, is achieved by means of a jack 40 whose cylinder 44 remains fixed relative to the robot, and whose movable piston 42 fixedly bears the head 38.
  • this head 38 with respect to the cylinder 44 is thus controlled so that it applies a predetermined support force against the head of the rivet 22, this control taking place using any technique known to those skilled in the art. It may for example be a strain gauge, or a control of the pressure of a very large volume of air capacity communicating with the cylinder chamber 40, which is therefore preferably pneumatic. In this respect, it is noted that the figure 2b shows the head 38 in abutment against the rivet 22.
  • the displacement of the device 36, defining the bearing surface against the foot 24, is achieved by means of a jack 41 whose cylinder 45 remains fixed relative to the robot, and whose movable piston 43 firmly holds the anvil 36.
  • the displacement of the latter relative to the cylinder 45 is thus controlled so that it applies, continuously, a predetermined bearing force against the foot 24 of the rivet, this control being carried out using any technique known to those skilled in the art, as for the jack 40.
  • the axes of the pistons 42, 43 are preferably parallel or coincide with the axis 16 of the orifice 14, also corresponding to the axis of the rivet 22 housed in this orifice.
  • the parts 2a, 2b are clamored, these being subjected to a force corresponding to the difference between the value of the first force and that of the second force.
  • This state in which the clamming is performed, before the multi-hit step, is schematized on the Figure 2c .
  • the step of multi-strokes schematically on the figure 2d during which the device 30 is such that its support head 38 is reciprocated at a frequency of between 50 and 60 Hz, which allows it to carry out repeated shocks on the head 22 of the rivet.
  • appropriate means known to those skilled in the art, equip the device 30, such as a flyweight (not shown) for repeatedly soliciting the head 38, also referred to as snap.
  • the first bearing force of the surface 32 against the head 22 of the rivet remains substantially identical to that exerted for the clamming.
  • this specific displacement of the anvil 36, obtained by the exit of the piston 43, makes it possible to limit or even completely eradicate the risk of deformation of the parts 2a, 2b during the multi-hit step, which leads to the obtaining a button 46 at the foot of the rivet, this button ensuring the firm hold in position of the latter in the orifice 14.
  • the multi-hit step is performed during a period between 0.3 and 1 second.
  • the installation is then in a configuration allowing it to implement a new riveting operation, substantially similar to that just described.
  • a counter-strike system 34 comprising first of all an arm 50 whose one of its ends 50a, namely the lower end on the figure 3a , is provided with a connector (not shown) for its connection to a wrist of the robot 10.
  • the arm 50 has a high end 50b, on which is articulated an assembly integrating the cylinder 41 Bearing the counter-strike device 36.
  • the assembly comprises a jack support 52 mounted in an articulated manner on the end 50b of the arm 50.
  • This support 52 thus firmly carries the cylinder of the jack 41 of which the piston carries the fixed anvil 36, preferably made of a tungsten alloy, and having a mass of the order of 1 kg in order to provide an appropriate inertial reaction for the counter-shock of forming the button of the rivet.
  • the pivoting of the support 52 relative to the arm 50 can be achieved by means of a controlled cylinder 51, preferably pneumatic, whose cylinder is mounted in an articulated manner on the arm 50, and the free end of its piston mounted articulated on the support 52, along an axis parallel and distinct from the axis of articulation of the support 52 on the arm 50.
  • FIG 3b it is shown by way of indicative example the position of the counter-striker system 34 resting against a plate 2b of a transverse rib 54 of the moving arm flap, this plate 2b being itself in abutment against an aerodynamic coating 2a forming a lower surface.
  • the counter-strike system 34 has been shown without the robot intended to carry it.
  • FIGS. 4a and 4d they represent a counter-strike system 34 according to another preferred embodiment, the difference of which lies in the fact that the assembly articulated on the arm 50 does not consist solely of the jack support 52 and the anvil 36, but has an intermediate arm 58 mounted articulated at one of its ends on the end 50b of the arm 50, and articulated at its other end to the cylinder support 52.
  • the two axes of articulation are preferably parallel , and allow to add an additional degree of freedom of movement compared to the counter-strike system 34 shown on the figures 3a and 3b .
  • the counter-strike system 34 has been shown in different positions and in different configurations, which allow it easy access to all areas to rivet between the flat of an inner transverse rib 54 and the outer aerodynamic coating of the movable flap 2.
  • the connector 56 carried by the end 50a of the arm 50, this female connector being intended to cooperate with a male connector of the wrist of the robot 10.
  • the figure 4a shows a configuration in which the arm 50, the intermediate arm 58 and the cylinder support 52 are substantially aligned, thus making it possible to apply the anvil 36 against a portion of the inner rib 54 resting on a rear portion of the aerodynamic coating forming upper surface.
  • FIG 4b shows the intermediate arm 58 and the cylinder support 52 remain aligned, but the intermediate arm 58 is inclined relative to the arm 50.
  • This configuration allows the anvil 36 to apply a force on a portion of the rib 54 bearing against a medial portion of the outer covering forming extrados.
  • the figure 4c shows another configuration in which no alignment is maintained between the elements 50, 52, 58 of the counter-strike system, this configuration being retained to ensure the riveting of the portion of the aerodynamic outer coating located near its edge. attack.
  • the arm 50 and the intermediate arm 58 are aligned, while the cylinder support 52 is inclined relative to the intermediate arm 58, this configuration being preferentially adopted to fix the flat of the inner rib 54 against the portion of the outer aerodynamic coating forming a lower surface.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Plates (AREA)
  • Insertion Pins And Rivets (AREA)

Abstract

The method involves displacing a counter strike device (36) in a controlled manner such that the counter strike device applies a predetermined support force against an end of a rivet (20) to carry out multiple striking of the rivet using a multi-strike device (30) for urging a head of the rivet and the counter strike device. The multiple striking of the rivet is carried out at frequency ranging from 30 to 60 Hz, for a time period ranging from 0.3 to 1 second. An independent claim is also included for a counter strike system comprising an arm.

Description

DOMAINE TECHNIQUETECHNICAL AREA

L'invention se rapporte au domaine du rivetage par la technique de multi-frappes.The invention relates to the field of riveting by the technique of multi-keys.

Elle s'applique plus particulièrement à l'assemblage de pièces d'un aéronef, telles que les pièces qui constituent les volets mobiles de bord d'attaque équipant les ailes de l'aéronef.It applies more particularly to the assembly of parts of an aircraft, such as the parts that constitute the movable flaps leading edge equipping the wings of the aircraft.

ETAT DE LA TECHNIQUE ANTERIEURESTATE OF THE PRIOR ART

La technique de rivetage par multi-frappes est habituellement mise en oeuvre à l'aide d'un dispositif sollicitant par chocs répétés la tête d'un rivet logé dans un orifice pratiqué à travers les pièces à assembler, et d'un dispositif de contre-frappe, également dénommé « enclume », en appui contre l'extrémité du rivet opposée à sa tête, également dénommée pied de rivet. Le dispositif multi-frappes exerce donc des chocs répétés à l'aide d'une tête dite « bouterolle », qui agit sur la tête du rivet, tandis que le dispositif de contre-frappe reste fixe en position durant le formage du rivet.The technique of riveting by multi-strikes is usually implemented using a device that solicits by repeated shocks the head of a rivet housed in an orifice made through the parts to be assembled, and a counter device. -frappe, also called "anvil", bearing against the end of the rivet opposite to its head, also called rivet foot. The multi-hit device therefore exerts repeated shocks using a so-called "rivet" head, which acts on the head of the rivet, while the counter-strike device remains fixed in position during the forming of the rivet.

Avec cette technique, au fur et à mesure que le rivet se déforme du fait de sa mise en compression entre les dispositifs multi-frappes et de contre-frappe, les pièces à assembler ont tendance à se déformer en direction du dispositif de contre-frappe, sous l'effet de l'effort appliqué par la tête de rivet sur ces pièces. Cette déformation des pièces peut être préjudiciable, et ne s'avère donc pas souhaitable.With this technique, as the rivet deforms due to its compression between the multi-strikes and counter-strikes, the parts to be assembled tend to deform towards the counter-strike device, under the effect of the force applied by the rivet head on these parts. This deformation of the parts can be detrimental, and therefore not desirable.

Pour remédier à cet inconvénient, il est possible d'adjoindre un système de presse-tôles appliquant une pression de chaque côté de l'assemblage des pièces à riveter. Néanmoins, ce système ne permet parfois pas de supprimer entièrement les déformations des pièces à assembler, et s'avère surtout encombrant. Ce dernier inconvénient est très problématique lorsque les zones d'accès aux pièces sont restreintes, comme cela est par exemple le cas pour la fixation des nervures intérieures transversales de volets mobiles de bord d'attaque pour aéronefs, sur les revêtements aérodynamiques de ces volets.To overcome this disadvantage, it is possible to add a press-plate system applying a pressure on each side of the assembly of parts to rivet. Nevertheless, this system sometimes does not allow to completely remove the deformations of the parts to be assembled, and is especially cumbersome. This last disadvantage is very problematic when the areas of access to the parts are restricted, as is for example the case for fixing the transverse inner ribs of movable flaps of leading edge for aircraft on the aerodynamic coverings of these flaps.

EXPOSÉ DE L'INVENTIONSTATEMENT OF THE INVENTION

L'invention a donc pour but de remédier au moins partiellement aux inconvénients mentionnés ci-dessus, relatifs aux réalisations de l'art antérieur.The invention therefore aims to at least partially overcome the disadvantages mentioned above, relating to the achievements of the prior art.

Pour ce faire, l'invention a pour objet un procédé de rivetage de pièces superposées à l'aide d'un rivet à tête, comprenant une étape de multi-frappes du rivet à l'aide d'un dispositif multi-frappes sollicitant la tête du rivet, et d'un dispositif de contre-frappe en appui contre l'extrémité du rivet opposée à sa tête, étape durant laquelle le dispositif de contre-frappe est déplacé de manière contrôlée de sorte qu'il applique une force d'appui prédéterminée contre l'extrémité du rivet.To do this, the subject of the invention is a process for riveting superposed parts using a rivet with a head, comprising a step of multi-striking the rivet with the aid of a multi-striker device that solicits the rivet head, and a counter-strike device in abutment against the end of the rivet opposite to its head, a step during which the counter-strike device is moved in a controlled manner so that it applies a force of predetermined support against the end of the rivet.

L'invention est donc remarquable en ce qu'elle prévoit, contrairement aux réalisations de l'art antérieur, un déplacement du dispositif de contre-frappe durant la frappe du rivet. Ce dispositif de contre-frappe accompagne donc la déformation du pied du rivet, et limite, voire éradique entièrement la déformation des pièces à assembler, sans nécessiter l'adjonction d'un système de presse-tôles. Le procédé peut ainsi aisément être mis en oeuvre dans des zones difficiles d'accès, puisque l'outillage requis reste peu encombrant.The invention is therefore remarkable in that it provides, contrary to the embodiments of the prior art, a movement of the counter-strike device during the striking of the rivet. This counter-strike device thus accompanies the deformation of the rivet foot, and limits or even completely eradicates the deformation of the parts to be assembled, without requiring the addition of a press-plate system. The method can thus easily be implemented in areas difficult to access, since the required tooling remains compact.

La force d'appui prédéterminée, également dénommée force d'appui cible du dispositif de contre-frappe contre le pied du rivet, est préférentiellement constante durant l'étape de multi-frappes, mais pourrait alternativement être évolutive, sans sortir du cadre de l'invention.The predetermined bearing force, also called the target bearing force of the counter-strike device against the rivet foot, is preferably constant during the multi-hit step, but could alternatively be scalable, without departing from the scope of the invention. 'invention.

De préférence, le procédé de rivetage comprend, antérieurement à ladite étape de multi-frappes, les étapes successives suivantes :

  • mise en place du rivet à tête dans un orifice traversant les pièces à riveter, avec la tête du rivet en appui contre un épaulement prévu dans ledit orifice ;
  • déplacement d'une tête du dispositif multi-frappes de manière à l'amener en appui contre la tête du rivet ; et
  • déplacement du dispositif de contre-frappe de manière à l'amener en appui contre l'extrémité du rivet opposée à sa tête, avec une seconde force d'appui inférieure à une première force d'appui du dispositif multi-frappes contre la tête de rivet.
Preferably, the riveting method comprises, prior to said step of multi-strikes, the following successive steps:
  • placing the rivet head in an orifice through the parts to rivet, with the head of the rivet bearing against a shoulder provided in said orifice;
  • moving a head of the multi-hit device so as to bring it into abutment against the head of the rivet; and
  • moving the counter-strike device so as to bring it into abutment against the end of the rivet opposite to its head, with a second support force lower than a first force support of the multi-hit device against the rivet head.

Les dispositifs multi-frappes et de contre-frappe permettent ainsi d'effectuer le clamage des pièces à assembler, avant l'étape de multi-frappes.The multi-hit and counter-strike devices thus make it possible to perform the clamping of the parts to be assembled, before the multi-hit step.

Dans ce cas de figure, on prévoit de préférence que le déplacement du dispositif de contre-frappe est effectué de manière à l'amener en appui contre l'extrémité du rivet opposée à sa tête avec une première force d'appui de valeur identique à celle de ladite force d'appui prédéterminée. Néanmoins, la force d'appui appliquée pour le clamage pourrait être différente de la force d'appui durant l'étape de multi-frappes, sans sortir du cadre de l'invention.In this case, it is preferably provided that the movement of the counter-striking device is performed so as to bring it into abutment against the end of the rivet opposite its head with a first support force of identical value to that of said predetermined bearing force. Nevertheless, the bearing force applied to the clamage could be different from the support force during the multi-hit step, without departing from the scope of the invention.

De préférence, le rapport entre les valeurs des première et seconde forces d'appui est compris entre 1,8 et 2,2. Lorsque ce rapport de valeurs de forces est conservé durant l'étape de multi-frappes, cela permet d'obtenir un écrasement satisfaisant du rivet, le rendant parfaitement affleurant. En effet, des essais réalisés ont permis de montrer que la tête de rivet ne présentait qu'une protubérance de l'ordre de 40 µm par rapport à la surface des pièces assemblées.Preferably, the ratio between the values of the first and second bearing forces is between 1.8 and 2.2. When this ratio of force values is retained during the multi-hit step, this makes it possible to obtain a satisfactory crushing of the rivet, making it perfectly flush. Indeed, tests have shown that the rivet head had only a protuberance of about 40 microns relative to the surface of the assembled parts.

De préférence, la valeur de la première force d'appui est comprise entre 100 et 200 N, et la valeur de la seconde force d'appui est comprise entre 50 et 100 N.Preferably, the value of the first pressing force is between 100 and 200 N, and the value of the second pressing force is between 50 and 100 N.

De préférence, l'étape de multi-frappes est réalisée à une fréquence comprise entre 30 et 60 Hz, pendant une durée comprise entre 0,3 et 1 s. Cette période longue, combinée à des forces d'appui relativement faibles, permet d'obtenir une déformation satisfaisante du pied du rivet, qui se transforme en un « bouton » durant l'étape de multi-frappes. Des essais réalisés ont permis de montrer que ce bouton pouvait adopter un diamètre plus important que ceux rencontrés dans l'art antérieur, avec une augmentation de l'ordre de 0,1 mm, au profit d'une diminution de la hauteur du bouton de l'ordre de 0,06 mm.Preferably, the multi-hit step is performed at a frequency of between 30 and 60 Hz for a period of between 0.3 and 1 s. This long period, combined with relatively low bearing forces, provides a satisfactory deformation of the rivet foot, which turns into a "button" during the multi-hit step. Tests have shown that this button could adopt a greater diameter than those encountered in the prior art, with an increase of the order of 0.1 mm, in favor of a decrease in the height of the button. the order of 0.06 mm.

De préférence, le dispositif de contre-frappe est monté sur un vérin d'un système de contre-frappe. Ce vérin, de préférence pneumatique, contribue à l'amortissement des effets de frappe et s'avère tout à fait adapté à l'application d'une force d'appui constante, quelque soit l'étendue de sortie du piston de vérin.Preferably, the counter-strike device is mounted on a cylinder of a counter-strike system. This cylinder, preferably pneumatic, contributes to the damping of the impact effects and is quite suitable for the application of a constant bearing force, regardless of the output range of the piston cylinder.

Par ailleurs, l'invention a également pour objet un système de contre-frappe pour la mise en oeuvre d'un procédé de rivetage décrit ci-dessus, comprenant un bras portant à l'une de ses extrémités un connecteur pour son raccordement sur un robot, et portant à l'autre de ses extrémités, de manière articulée, un ensemble intégrant un vérin ainsi que ledit dispositif de contre-frappe monté sur le vérin.Moreover, the invention also relates to a counter-strike system for implementing a riveting method described above, comprising an arm carrying at one of its ends a connector for its connection to a terminal. robot, and carrying to the other of its ends, in an articulated manner, an assembly incorporating a jack and said counter-strike device mounted on the jack.

L'introduction de ce degré de liberté de mouvement entre le vérin et l'extrémité du bras permet de disposer d'un système de contre-frappe dont la capacité à s'insérer dans des endroits confinés est améliorée. Ce type d'endroits à accès limité est notamment rencontré lors de la fixation des nervures intérieures transversales de volets mobiles de bord d'attaque pour aéronefs, sur les revêtements aérodynamiques de ces volets, qui constitue une application préférée de la présente invention.The introduction of this degree of freedom of movement between the cylinder and the end of the arm provides a counter-strike system whose ability to insert in confined areas is improved. This type of limited access location is particularly encountered when fixing the transverse internal ribs of movable flaps aircraft, on the aerodynamic coatings of these flaps, which is a preferred application of the present invention.

De plus, cette capacité du système de contre-frappe à s'adapter aux conditions environnantes d'encombrement se traduit également par une plus grande facilité de positionnement de l'axe du vérin par rapport à l'axe de l'orifice logeant le rivet, la position habituellement souhaitée étant parallèle ou confondue. Il en résulte une meilleure réaction de frappe, qui s'avère donc plus performante.In addition, this ability of the counter-strike system to adapt to the surrounding environment conditions also results in greater ease of positioning the axis of the cylinder relative to the axis of the orifice housing the rivet. , the position usually desired being parallel or confused. This results in a better hit reaction, which is therefore more efficient.

En outre, le vérin portant le dispositif de contre-frappe n'étant pas directement porté par le robot, mais par un bras lui-même monté sur le robot, sa dimension peut être réduite, et, avantageusement, sa précision accrue.In addition, the cylinder carrying the counter-strike device is not directly carried by the robot, but by an arm itself mounted on the robot, its size can be reduced, and, advantageously, its increased accuracy.

Enfin, les forces d'appui mises en oeuvre par le système de contre-frappe étant relativement faibles, ce sont tous les éléments constitutifs de ce système qui peuvent être de dimensionnement réduit, ce qui lui confère un encombrement global faible particulièrement adapté à une utilisation dans des endroits à accès limité.Finally, the support forces implemented by the counter-strike system being relatively small, it is all the constituent elements of this system that can be of reduced size, which gives it a small global footprint particularly suitable for use in places with limited access.

D'autres avantages et caractéristiques de l'invention apparaîtront dans la description détaillée non limitative ci-dessous.Other advantages and features of the invention will become apparent in the detailed non-limiting description below.

BRÈVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS

Cette description sera faite au regard des dessins annexés parmi lesquels ;

  • les figures 1a et 1b représentent des vues en perspective d'une installation pour la mise en oeuvre d'un procédé de rivetage selon un mode de réalisation préféré de l'invention ;
  • les figures 2a à 2f montrent schématiquement différentes étapes de ce procédé de rivetage ;
  • les figures 3a et 3b représentent des vues en perspective d'un système de contre-frappe utilisé pour la mise en oeuvre du procédé de rivetage schématisé sur les figures précédentes, le système de contre-frappe se présentant sous la forme d'un mode de réalisation préféré ; et
  • les figures 4a à 4d représentent des vues en coupe d'un système de contre-frappe se présentant sous la forme d'un autre mode de réalisation préféré de la présente invention, dans différentes positions et configuration par rapport aux pièces à riveter.
This description will be made with reference to the appended drawings among which;
  • the Figures 1a and 1b represent perspective views of an installation for the implementation of implementation of a riveting process according to a preferred embodiment of the invention;
  • the Figures 2a to 2f schematically show different steps of this riveting process;
  • the figures 3a and 3b represent perspective views of a counter-strike system used for the implementation of the riveting process schematized in the preceding figures, the counter-strike system being in the form of a preferred embodiment; and
  • the Figures 4a to 4d are sectional views of a counter-strike system in the form of another preferred embodiment of the present invention, in different positions and configuration with respect to the parts to be riveted.

EXPOSÉ DÉTAILLÉ DE MODES DE RÉALISATION PRÉFÉRÉSDETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

En référence tout d'abord aux figures 1a et 1b, il est représenté une installation 1 pour la mise en oeuvre d'un procédé de rivetage selon un mode de réalisation préféré de l'invention, destinée à assembler entre elles au moins deux pièces constitutives d'un volet mobile de bord d'attaque 2 pour voilure d'aéronef. Cette installation comprend principalement un châssis 4 définissant un rail sur lequel coulisse une structure de support 6 du volet mobile 2. De plus, de part et d'autre du châssis 4 sont disposés deux robots 8, 10, respectivement destinés à venir de part et d'autre des pièces à riveter. Des moyens de commande 12 des robots et de la translation de la structure de support 6 équipent également l'installation 1.With reference first to Figures 1a and 1b , there is shown an installation 1 for the implementation of a riveting method according to a preferred embodiment of the invention, for assembling together at least two parts constituting a movable leading edge flap 2 for aircraft wing. This installation mainly comprises a frame 4 defining a rail on which slides a support structure 6 of the movable flap 2. In addition, on either side of the frame 4 are arranged two robots 8, 10 respectively intended to come from both sides. other parts to rivet. Control means 12 for the robots and the translation of the support structure 6 also equip the installation 1.

Sur les figures 2a à 2f, il a été représenté différentes étapes successives d'un procédé de rivetage de deux pièces 2a, 2b du volet mobile 2, ces deux pièces étant superposées et définissant conjointement un orifice 14 les traversant, centré sur un axe 16.On the Figures 2a to 2f , it has been shown various successive steps of a method of riveting two parts 2a, 2b of the movable flap 2, these two parts being superimposed and jointly defining an orifice 14 therethrough, centered on an axis 16.

Tout d'abord, le procédé est initié en mettant en place un rivet 20 à tête 22 dans l'orifice 14 défini par les deux pièces superposées 2a, 2b. Cette mise en place est réalisée de manière à ce que la tête 22, disposant d'une section élargie par rapport au corps cylindrique du rivet se terminant par un pied 24, soit positionnée en appui contre un épaulement 26 prévu dans l'orifice 14, à une extrémité de celui-ci. De façon connue, la tête 22 et son épaulement 26 présentent des formes tronconiques complémentaires.Firstly, the process is initiated by setting up a rivet 20 with a head 22 in the orifice 14 defined by the two superposed pieces 2a, 2b. This installation is carried out so that the head 22, having a section widened relative to the cylindrical body of the rivet ending in a foot 24, is positioned in abutment against a shoulder 26 provided in the orifice 14, at one end of it. In known manner, the head 22 and its shoulder 26 have complementary frustoconical shapes.

L'étape de mise en place du rivet est réalisée après que celui-ci ait été revêtu d'un mastic d'étanchéité, connu en soit. C'est le robot 8 pourvu d'un outillage interchangeable approprié qui est utilisé pour réaliser cette étape de mise en place du rivet. Une fois celle-ci achevée, la tête de rivet 22 fait saillie sur une très faible distance par rapport à la surface extérieure de la pièce supérieure 2a, tandis que le pied 24 fait saillie de la surface extérieure de la pièce inférieure 2b sur une distance beaucoup plus importante.The step of placing the rivet is performed after it has been coated with a sealant, known in itself. It is the robot 8 provided with a suitable interchangeable tool that is used to perform this step of setting up the rivet. Once this is complete, the rivet head 22 protrudes a very small distance from the outer surface of the upper part 2a, while the foot 24 projects from the outer surface of the lower part 2b over a distance much more important.

Ensuite, le robot 8 procède à un changement d'outillage de manière à porter un dispositif multi-frappes dont la conception permet d'effectuer des chocs à répétition sur la tête du rivet, selon une fréquence donnée. Ce dispositif multi-frappes, porté de façon amovible par un poignet du robot, est également dénommé effecteur.Then, the robot 8 performs a tool change so as to carry a multi-hit device whose design makes it possible to carry out repeated shocks on the head of the rivet, according to a given frequency. This multi-hit device, removably carried by a wrist of the robot, is also called effector.

Une fois monté sur le robot, ce dispositif multi-frappes 30 est déplacé par ce même robot de manière à ce que sa surface 32 de frappe du rivet, correspondant à l'extrémité de l'effecteur, se situe en regard et à une distance donnée de la tête 22, par exemple une distance d'environ 15 mm, considérée selon la direction de l'axe 16 de l'orifice.Once mounted on the robot, this multi-hit device 30 is moved by the same robot so that its striking surface of the rivet, corresponding to the end of the effector, is located opposite and at a distance given the head 22, for example a distance of about 15 mm, considered in the direction of the axis 16 of the orifice.

Parallèlement, l'autre robot 10 porte sur un poignet un système de contre-frappe 34 pourvu à son extrémité libre, c'est-à-dire celle opposée à l'extrémité servant au raccordement sur le poignet du robot, d'un dispositif de contre-frappe 36 également appelé enclume. Ce robot 10 est piloté de manière à amener le système de contre-frappe 34 au regard du pied 24 du rivet 20, de sorte que l'enclume se situe à une distance donnée de ce pied, par exemple 5 mm, toujours selon la direction de l'axe 16.Meanwhile, the other robot 10 carries on a wrist a counter-strike system 34 provided at its free end, that is to say the one opposite the end for connection to the wrist of the robot, a device counter-striker 36 also called anvil. This robot 10 is controlled so as to bring the counter-strike system 34 to the foot 24 of the rivet 20, so that the anvil is at a given distance from this foot, for example 5 mm, still in the direction of axis 16.

Une fois le déplacement des deux robots réalisé, l'installation se trouve dans la configuration schématique représentée sur la figure 2a. A partir de cet instant, et durant toute la mise en oeuvre du procédé jusqu'à la fin de l'étape de multi-frappes, les robots sont maintenus en position, seuls le dispositif multi-frappes 30 et le système de contre-frappe 34 étant actionnés par les moyens de contrôle 12.Once the two robots have been moved, the installation is in the schematic configuration shown on the diagram. figure 2a . From this moment, and during all the implementation of the process until the end of the multi-hit step, the robots are held in position, only the multi-hit device 30 and the counter-strike system 34 being actuated by the control means 12.

Ces deux entités 30, 34 sont ici utilisées pour réaliser le clamage des deux pièces 2a, 2b, aucun autre élément du type presse-tôles n'étant requis pour la réalisation de ce procédé de rivetage. Le clamage des pièces 2a, 2b est tout d'abord réalisé de manière à ce que la surface d'appui 32 du dispositif multi-frappes 30 vienne au contact de la partie en saillie de la tête 22, en exerçant une première force d'appui de préférence compris entre 100 et 200 N. Le déplacement de la tête 38 du dispositif 30, définissant la surface d'appui 32, est réalisé à l'aide d'un vérin 40 dont le cylindre 44 reste fixe par rapport au robot, et dont le piston mobile 42 porte fixement la tête 38. Le déplacement de cette tête 38 par rapport au cylindre 44 est donc contrôlé de sorte qu'elle applique une force d'appui prédéterminée contre la tête du rivet 22, ce contrôle s'effectuant à l'aide de toute technique connue de l'homme du métier. Il peut par exemple s'agir d'une jauge de contraintes, ou bien d'un pilotage de la pression d'une capacité d'air de volume très important communiquant avec la chambre du vérin 40, qui est donc de préférence pneumatique. A cet égard, il est noté que la figure 2b montre la tête 38 en appui contre le rivet 22.These two entities 30, 34 are here used to perform the clamping of the two parts 2a, 2b, no other element of the type plate press is required for the realization of this riveting process. Clamming parts 2a, 2b is first made so that the bearing surface 32 of the multi-hit device 30 comes into contact with the projecting portion of the head 22, exerting a first force of support preferably between 100 and 200 N. The displacement of the head 38 of the device 30, defining the bearing surface 32, is achieved by means of a jack 40 whose cylinder 44 remains fixed relative to the robot, and whose movable piston 42 fixedly bears the head 38. The displacement of this head 38 with respect to the cylinder 44 is thus controlled so that it applies a predetermined support force against the head of the rivet 22, this control taking place using any technique known to those skilled in the art. It may for example be a strain gauge, or a control of the pressure of a very large volume of air capacity communicating with the cylinder chamber 40, which is therefore preferably pneumatic. In this respect, it is noted that the figure 2b shows the head 38 in abutment against the rivet 22.

Ensuite, c'est au tour du système de contre-frappe 34 de voir son dispositif 36 déplacé en direction du pied 24 du rivet 20, d'une manière analogue à celle exposée ci-dessus, en exerçant une seconde force d'appui inférieure à la première, et de préférence compris entre 50 et 100 N.Then, it is the turn of the counter-strike system 34 to see its device 36 moved towards the foot 24 of the rivet 20, in a manner similar to that explained above, by exerting a second lower support force at the first, and preferably between 50 and 100 N.

Le déplacement du dispositif 36, définissant la surface d'appui contre le pied 24, est réalisé à l'aide d'un vérin 41 dont le cylindre 45 reste fixe par rapport au robot, et dont le piston mobile 43 porte fixement l'enclume 36. Le déplacement de celle-ci par rapport au cylindre 45 est donc contrôlé de sorte qu'elle applique, continûment, une force d'appui prédéterminée contre le pied 24 du rivet, ce contrôle s'effectuant à l'aide de toute technique connue de l'homme du métier, comme pour le vérin 40.The displacement of the device 36, defining the bearing surface against the foot 24, is achieved by means of a jack 41 whose cylinder 45 remains fixed relative to the robot, and whose movable piston 43 firmly holds the anvil 36. The displacement of the latter relative to the cylinder 45 is thus controlled so that it applies, continuously, a predetermined bearing force against the foot 24 of the rivet, this control being carried out using any technique known to those skilled in the art, as for the jack 40.

Afin d'améliorer la frappe réalisée ultérieurement, les axes des pistons 42, 43 sont préférentiellement parallèles ou confondus avec l'axe 16 de l'orifice 14, correspondant également à l'axe du rivet 22 logé dans cet orifice.In order to improve the subsequent striking, the axes of the pistons 42, 43 are preferably parallel or coincide with the axis 16 of the orifice 14, also corresponding to the axis of the rivet 22 housed in this orifice.

A la fin de l'étape de déplacement du dispositif de contre-frappe 36, le clamage des pièces 2a, 2b est achevé, celles-ci étant soumises à une force correspondant à la différence entre la valeur de la première force et celle de la seconde force. Cet état dans lequel le clamage est réalisé, avant l'étape de multi-frappes, est schématisé sur la figure 2c.At the end of the step of moving the counter-striker device 36, the parts 2a, 2b are clamored, these being subjected to a force corresponding to the difference between the value of the first force and that of the second force. This state in which the clamming is performed, before the multi-hit step, is schematized on the Figure 2c .

Ensuite, il est donc mis en oeuvre l'étape de multi-frappes schématisée sur la figure 2d, durant laquelle le dispositif 30 est tel que sa tête d'appui 38 est animée d'un mouvement de va-et-vient à une fréquence comprise entre 50 et 60 Hz, ce qui lui permet d'effectuer des chocs répétés sur la tête 22 du rivet. A cet égard, il est noté que des moyens appropriés, connus de l'homme du métier, équipent le dispositif 30, comme par exemple une masselotte (non représentée) permettant de solliciter de manière répétée la tête 38, également dénommée bouterolle. Néanmoins, il est noté que durant cette étape de multi-frappes, la première force d'appui de la surface 32 contre la tête 22 du rivet reste sensiblement identique à celle exercée pour le clamage.Then, it is therefore implemented the step of multi-strokes schematically on the figure 2d during which the device 30 is such that its support head 38 is reciprocated at a frequency of between 50 and 60 Hz, which allows it to carry out repeated shocks on the head 22 of the rivet. In this regard, it is noted that appropriate means, known to those skilled in the art, equip the device 30, such as a flyweight (not shown) for repeatedly soliciting the head 38, also referred to as snap. Nevertheless, it is noted that during this multi-hit step, the first bearing force of the surface 32 against the head 22 of the rivet remains substantially identical to that exerted for the clamming.

Il en est de même pour la seconde force d'appui de l'enclume 36 sur le pied 24 du rivet, étant cependant précisé que l'une des particularités de l'invention réside dans le fait de déplacer de manière contrôlée cette enclume 36 durant l'étape de multi-frappes, de manière à ce qu'elle applique une force d'appui prédéterminée, qui est préférentiellement fixée à la valeur de la seconde force d'appui précitée, c'est-à-dire la force d'appui exercée sur le pied 24 pour le clamage des pièces à riveter.It is the same for the second bearing force of the anvil 36 on the foot 24 of the rivet, however it is specified that one of the particularities of the invention lies in the fact of moving in a controlled manner this anvil 36 during the step of multi-strikes, so that it applies a predetermined bearing force, which is preferably fixed to the value of the second support force mentioned above, that is to say the force of support exerted on the foot 24 for the clamming of the parts to rivet.

La conséquence de ce déplacement de l'enclume 36 durant l'étape de multi-frappes est que celle-ci accompagne la déformation du rivet 22, comme cela est montré schématiquement sur la figure 2e.The consequence of this displacement of the anvil 36 during the multi-hit step is that it accompanies the deformation of the rivet 22, as is schematically shown on FIG. figure 2e .

En effet, ce déplacement spécifique de l'enclume 36, obtenu par la sortie du piston 43, permet de limiter voire d'éradiquer entièrement les risques de déformation des pièces 2a, 2b durant l'étape de multi-frappes, qui conduit à l'obtention d'un bouton 46 au niveau du pied du rivet, ce bouton assurant le maintien ferme en position de ce dernier dans l'orifice 14. A titre indicatif, il est noté que l'étape de multi-frappes est réalisée pendant une période comprise entre 0,3 et 1 seconde.Indeed, this specific displacement of the anvil 36, obtained by the exit of the piston 43, makes it possible to limit or even completely eradicate the risk of deformation of the parts 2a, 2b during the multi-hit step, which leads to the obtaining a button 46 at the foot of the rivet, this button ensuring the firm hold in position of the latter in the orifice 14. As an indication, it is noted that the multi-hit step is performed during a period between 0.3 and 1 second.

À la fin de l'étape de multi-frappes, lorsque le bouton 46 a été réalisé et que la tête du rivet devient parfaitement affleurante à la surface extérieure de la pièce supérieure 2a, la bouterolle 38 est rétractée par le vérin 40 tandis que l'enclume 36 est rétractée par le vérin 41, comme cela est montré sur la figure 2f.At the end of the multi-hit step, when the button 46 has been made and the head of the rivet becomes perfectly flush with the outer surface of the upper part 2a, the rivet 38 is retracted by the jack 40 while the an anvil 36 is retracted by the jack 41, as shown in FIG. figure 2f .

L'installation se trouve alors dans une configuration lui permettant de mettre en oeuvre une nouvelle opération de rivetage, sensiblement analogue à celle qui vient d'être décrite.The installation is then in a configuration allowing it to implement a new riveting operation, substantially similar to that just described.

En référence à présent aux figures 3a et 3b, on peut apercevoir un système de contre-frappe 34 selon un mode de réalisation préféré, comprenant tout d'abord un bras 50 dont l'une de ses extrémités 50a, à savoir l'extrémité basse sur la figure 3a, est pourvue d'un connecteur (non représenté) pour son raccordement sur un poignet du robot 10. A l'opposé de cette extrémité basse 50a, le bras 50 présente une extrémité haute 50b, sur laquelle est articulé un ensemble intégrant le vérin 41 portant le dispositif de contre-frappe 36. Dans ce mode de réalisation préféré, l'ensemble comprend un support de vérin 52 monté de manière articulée sur l'extrémité 50b du bras 50. Ce support 52 porte donc fixement le cylindre du vérin 41 dont le piston porte quant à lui fixement l'enclume 36, de préférence réalisée dans un alliage de tungstène, et présentant une masse de l'ordre de 1 kg afin d'offrir une réaction inertielle appropriée pour le contre-choc de formage du bouton du rivet. Le pivotement du support 52 par rapport au bras 50, qui s'effectue selon une direction sensiblement orthogonale à la direction selon laquelle s'étend ce même bras 50, peut être réalisé à l'aide d'un vérin commandé 51, de préférence pneumatique, dont le cylindre est monté de manière articulée sur le bras 50, et l'extrémité libre de son piston monté articulé sur le support 52, selon un axe parallèle et distinct de l'axe d'articulation du support 52 sur le bras 50.Referring now to figures 3a and 3b it is possible to see a counter-strike system 34 according to a preferred embodiment, comprising first of all an arm 50 whose one of its ends 50a, namely the lower end on the figure 3a , is provided with a connector (not shown) for its connection to a wrist of the robot 10. Opposite this low end 50a, the arm 50 has a high end 50b, on which is articulated an assembly integrating the cylinder 41 Bearing the counter-strike device 36. In this preferred embodiment, the assembly comprises a jack support 52 mounted in an articulated manner on the end 50b of the arm 50. This support 52 thus firmly carries the cylinder of the jack 41 of which the piston carries the fixed anvil 36, preferably made of a tungsten alloy, and having a mass of the order of 1 kg in order to provide an appropriate inertial reaction for the counter-shock of forming the button of the rivet. The pivoting of the support 52 relative to the arm 50, which is effected according to a direction substantially orthogonal to the direction in which extends the same arm 50, can be achieved by means of a controlled cylinder 51, preferably pneumatic, whose cylinder is mounted in an articulated manner on the arm 50, and the free end of its piston mounted articulated on the support 52, along an axis parallel and distinct from the axis of articulation of the support 52 on the arm 50.

Sur la figure 3b, il est montré à titre d'exemple indicatif la position du système de contre-frappe 34 en appui contre un plat 2b d'une nervure transversale 54 de volet mobile de bras d'attaque, ce plat 2b étant lui-même en appui contre un revêtement aérodynamique 2a formant intrados. Sur cette figure, pour des raisons de clarté, le système de contre-frappe 34 a été montré sans le robot destiné à le porter.On the figure 3b , it is shown by way of indicative example the position of the counter-striker system 34 resting against a plate 2b of a transverse rib 54 of the moving arm flap, this plate 2b being itself in abutment against an aerodynamic coating 2a forming a lower surface. In this figure, for the sake of clarity, the counter-strike system 34 has been shown without the robot intended to carry it.

Les figures 4a et 4d représentent elles un système de contre-frappe 34 selon un autre mode de réalisation préféré, dont la différence réside dans le fait que l'ensemble articulé sur le bras 50 ne se compose pas uniquement du support de vérin 52 et de l'enclume 36, mais présente un bras intermédiaire 58 monté articulé à l'une de ses extrémités sur l'extrémité 50b du bras 50, et monté articulé à son autre extrémité sur le support de vérin 52. Ici, les deux axes d'articulation sont de préférence parallèles, et permettent d'ajouter un degré de liberté de déplacement supplémentaire par rapport au système de contre-frappe 34 montré sur les figures 3a et 3b.The Figures 4a and 4d they represent a counter-strike system 34 according to another preferred embodiment, the difference of which lies in the fact that the assembly articulated on the arm 50 does not consist solely of the jack support 52 and the anvil 36, but has an intermediate arm 58 mounted articulated at one of its ends on the end 50b of the arm 50, and articulated at its other end to the cylinder support 52. Here, the two axes of articulation are preferably parallel , and allow to add an additional degree of freedom of movement compared to the counter-strike system 34 shown on the figures 3a and 3b .

A titre d'exemple indicatif, sur ces figures 4a à 4d, le système de contre-frappe 34 a été représenté dans différentes positions et dans différentes configurations, qui lui permettent d'accéder aisément à l'ensemble des zones à riveter entre le plat d'une nervure transversale intérieure 54 et le revêtement aérodynamique extérieur du volet mobile 2. Sur ces figures, il a également été représenté le connecteur 56 porté par l'extrémité 50a du bras 50, ce connecteur femelle étant destiné à coopérer avec un connecteur mâle du poignet du robot 10. Ainsi, à titre d'exemples, la figure 4a montre une configuration dans laquelle le bras 50, le bras intermédiaire 58 et le support de vérin 52 sont sensiblement alignés, permettant ainsi d'appliquer l'enclume 36 contre une partie de la nervure intérieure 54 en appui sur une portion arrière du revêtement aérodynamique formant extrados. Sur la figure 4b, le bras intermédiaire 58 et le support de vérin 52 restent alignés, mais le bras intermédiaire 58 est incliné par rapport au bras 50. Cette configuration permet à l'enclume 36 d'appliquer un effort sur une partie de la nervure 54 en appui contre une portion médiane du revêtement extérieur formant extrados. La figure 4c montre une autre configuration dans laquelle aucun alignement n'est conservé entre les éléments 50, 52, 58 du système de contre-frappe, cette configuration étant retenue pour assurer le rivetage de la partie du revêtement extérieur aérodynamique située à proximité de son bord d'attaque. Enfin, dans le dernier exemple schématisé sur la figure 4d, le bras 50 et le bras intermédiaire 58 sont alignés, tandis que le support de vérin 52 est incliné par rapport au bras intermédiaire 58, cette configuration étant préférentiellement adoptée pour fixer le plat de la nervure intérieur 54 contre la partie du revêtement aérodynamique extérieur formant intrados.As an indicative example, on these Figures 4a to 4d , the counter-strike system 34 has been shown in different positions and in different configurations, which allow it easy access to all areas to rivet between the flat of an inner transverse rib 54 and the outer aerodynamic coating of the movable flap 2. In these figures, it has also shown the connector 56 carried by the end 50a of the arm 50, this female connector being intended to cooperate with a male connector of the wrist of the robot 10. Thus, by way of examples, the figure 4a shows a configuration in which the arm 50, the intermediate arm 58 and the cylinder support 52 are substantially aligned, thus making it possible to apply the anvil 36 against a portion of the inner rib 54 resting on a rear portion of the aerodynamic coating forming upper surface. On the figure 4b , the intermediate arm 58 and the cylinder support 52 remain aligned, but the intermediate arm 58 is inclined relative to the arm 50. This configuration allows the anvil 36 to apply a force on a portion of the rib 54 bearing against a medial portion of the outer covering forming extrados. The figure 4c shows another configuration in which no alignment is maintained between the elements 50, 52, 58 of the counter-strike system, this configuration being retained to ensure the riveting of the portion of the aerodynamic outer coating located near its edge. attack. Finally, in the last example schematized on the figure 4d , the arm 50 and the intermediate arm 58 are aligned, while the cylinder support 52 is inclined relative to the intermediate arm 58, this configuration being preferentially adopted to fix the flat of the inner rib 54 against the portion of the outer aerodynamic coating forming a lower surface.

La mise en rotation des éléments 50, 52, 58 les uns par rapport aux autres peut être réalisée à l'aide de moyens connus de l'homme du métier, comme par exemple à l'aide de vérins du type de celui montré sur les figures 3a et 3b correspondant à l'autre mode de réalisation préféré du dispositif de contre-frappe.The rotation of the elements 50, 52, 58 relative to each other can be carried out using means known to those skilled in the art, such as for example using cylinders of the type shown in the drawings. figures 3a and 3b corresponding to the other preferred embodiment of the counter-strike device.

Bien entendu, diverses modifications peuvent être apportées par l'homme du métier à l'invention qui vient d'être décrite, uniquement à titre d'exemples non limitatifs.Of course, various modifications may be made by those skilled in the art to the invention which has just been described, solely by way of non-limiting examples.

Claims (8)

Procédé de rivetage de pièces superposées (2a, 2b) à l'aide d'un rivet (20) à tête (22), comprenant une étape de multi-frappes du rivet à l'aide d'un dispositif multi-frappes (30) sollicitant la tête du rivet, et d'un dispositif de contre-frappe (36) en appui contre l'extrémité du rivet (24) opposée à sa tête, étape durant laquelle le dispositif de contre-frappe est déplacé de manière contrôlée de sorte qu'il applique une force d'appui prédéterminée contre l'extrémité du rivet (24).Method for riveting overlapping pieces (2a, 2b) using a rivet (20) with a head (22), comprising a step of multi-striking the rivet with a multi-hit device (30) ) urging the head of the rivet, and a counter-strike device (36) bearing against the end of the rivet (24) opposite to its head, a step during which the counter-strike device is moved in a controlled manner from so that it applies a predetermined bearing force against the end of the rivet (24). Procédé de rivetage selon la revendication 1, comprenant, antérieurement à ladite étape de multi-frappes, les étapes successives suivantes : - mise en place du rivet à tête (22) dans un orifice (14) traversant les pièces à riveter, avec la tête du rivet (22) en appui contre un épaulement (26) prévu dans ledit orifice ; - déplacement d'une tête (38) du dispositif multi-frappes (30) de manière à l'amener en appui contre la tête du rivet (22) ; et - déplacement du dispositif de contre-frappe (36) de manière à l'amener en appui contre l'extrémité du rivet (24) opposée à sa tête (22), avec une seconde force d'appui inférieure à une première force d'appui du dispositif multi-frappes contre la tête de rivet. Riveting method according to claim 1, comprising, prior to said step of multi-strikes, the following successive steps: - Setting the rivet head (22) in an orifice (14) passing through the parts to rivet, with the head of the rivet (22) bearing against a shoulder (26) provided in said orifice; moving a head (38) of the multi-hit device (30) so as to bring it into abutment against the head of the rivet (22); and moving the counter-striking device (36) so as to bring it into abutment against the end of the rivet (24) opposite its head (22), with a second lower bearing force at a first force of support of the multi-hit device against the rivet head. Procédé de rivetage selon la revendication 2, dans lequel le déplacement du dispositif de contre-frappe (34) est effectué de manière à l'amener en appui contre l'extrémité du rivet (24) opposée à sa tête avec une première force d'appui de valeur identique à celle de ladite force d'appui prédéterminée.A method of riveting according to claim 2, wherein the movement of the counter-striker (34) is effected so as to bring it into abutment against the end of the rivet (24) opposite its head with a first force of a support of identical value to that of said predetermined support force. Procédé de rivetage selon la revendication 2 ou la revendication 3, dans lequel le rapport entre les valeurs des première et seconde forces d'appui est compris entre 1,8 et 2,2.A riveting method according to claim 2 or claim 3, wherein the ratio between the values of the first and second bearing forces is between 1.8 and 2.2. Procédé de rivetage selon l'une quelconque des revendications 2 à 4, dans lequel la valeur de la première force d'appui est comprise entre 100 et 200 N, et la valeur de la seconde force d'appui est comprise entre 50 et 100 N.Riveting method according to any one of claims 2 to 4, wherein the value of the first pressing force is between 100 and 200 N, and the value of the second pressing force is between 50 and 100 N . Procédé de rivetage selon l'une quelconque des revendications précédentes, dans lequel l'étape de multi-frappes est réalisée à une fréquence comprise entre 30 et 60 Hz, pendant une durée comprise entre 0,3 et 1 s.A riveting method according to any one of the preceding claims, wherein the multi-hit step is performed at a frequency of between 30 and 60 Hz, for a duration of between 0.3 and 1 s. Procédé de rivetage selon l'une quelconque des revendications précédentes, dans lequel le dispositif de contre-frappe est monté sur un vérin d'un système de contre-frappe.A riveting method according to any one of the preceding claims, wherein the counter-strike device is mounted on a cylinder of a counter-strike system. Système de contre-frappe (34) pour la mise en oeuvre d'un procédé de rivetage selon l'une quelconque des revendications précédentes, comprenant un bras (50) portant à l'une de ses extrémités (50a) un connecteur (56) pour son raccordement sur un robot, et portant à l'autre de ses extrémités (50b), de manière articulée, un ensemble intégrant un vérin (41) ainsi que ledit dispositif de contre-frappe (36) monté sur le vérin (41) .Counter-strike system (34) for implementing a riveting method according to any one of the preceding claims, comprising an arm (50) carrying at one of its ends (50a) a connector (56) for its connection to a robot, and bearing at the other of its ends (50b), in an articulated manner, an assembly integrating a jack (41) as well as said counter-strike device (36) mounted on the jack (41) .
EP11154286A 2010-02-22 2011-02-14 Riveting method and device using a bucking tool movable during impulse stricking Withdrawn EP2359956A1 (en)

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BE2010/0098A BE1019190A3 (en) 2010-02-22 2010-02-22 METHOD OF BREAKING USING A MOBILE BACKFILL DEVICE DURING STRIKING

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103769521A (en) * 2014-02-13 2014-05-07 中国北方车辆研究所 Turnover spin-riveting method for improving impact strength of brake friction block
CN106140998A (en) * 2015-03-23 2016-11-23 上海强精金属制品有限公司 A kind of high reliability squeezed riveting device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE24941C (en) * F. J. ROWAN in Glasgow Portable drilling and riveting machine. Which is attached to the work piece by magnetism
US6088897A (en) * 1998-11-24 2000-07-18 The Boeing Company Bucking bar end-effector for upsetting a rivet

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE24941C (en) * F. J. ROWAN in Glasgow Portable drilling and riveting machine. Which is attached to the work piece by magnetism
US6088897A (en) * 1998-11-24 2000-07-18 The Boeing Company Bucking bar end-effector for upsetting a rivet

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103769521A (en) * 2014-02-13 2014-05-07 中国北方车辆研究所 Turnover spin-riveting method for improving impact strength of brake friction block
CN103769521B (en) * 2014-02-13 2016-06-22 中国北方车辆研究所 A kind of turn-over rotation rivetting method improving braking brake pad impact strength
CN106140998A (en) * 2015-03-23 2016-11-23 上海强精金属制品有限公司 A kind of high reliability squeezed riveting device

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