EP4178728A1 - Dispositif d'enduction - Google Patents
Dispositif d'enductionInfo
- Publication number
- EP4178728A1 EP4178728A1 EP20750170.1A EP20750170A EP4178728A1 EP 4178728 A1 EP4178728 A1 EP 4178728A1 EP 20750170 A EP20750170 A EP 20750170A EP 4178728 A1 EP4178728 A1 EP 4178728A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- nozzle
- rivet
- translation
- axis
- head
- 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.)
- Pending
Links
- 239000011248 coating agent Substances 0.000 title claims abstract description 85
- 238000000576 coating method Methods 0.000 title claims abstract description 85
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 239000000463 material Substances 0.000 claims abstract description 27
- 238000009826 distribution Methods 0.000 claims abstract description 18
- 238000013519 translation Methods 0.000 claims description 86
- 239000011324 bead Substances 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 14
- 230000004913 activation Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 6
- 238000000151 deposition Methods 0.000 claims description 5
- 238000005304 joining Methods 0.000 claims description 2
- 239000013521 mastic Substances 0.000 description 31
- 238000005553 drilling Methods 0.000 description 28
- 230000000903 blocking effect Effects 0.000 description 25
- 230000000694 effects Effects 0.000 description 21
- 230000002093 peripheral effect Effects 0.000 description 17
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- 238000000034 method Methods 0.000 description 9
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- 238000005259 measurement Methods 0.000 description 6
- 238000003825 pressing Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 238000007373 indentation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
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- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000000284 resting effect Effects 0.000 description 4
- 230000003042 antagnostic effect Effects 0.000 description 3
- 239000000565 sealant Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 230000001419 dependent effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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- 238000003801 milling Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
- B05C13/025—Means for manipulating or holding work, e.g. for separate articles for particular articles relatively small cylindrical objects, e.g. cans, bottles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B19/00—Bolts without screw-thread; Pins, including deformable elements; Rivets
- F16B19/008—Bolts without screw-thread; Pins, including deformable elements; Rivets with sealing means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B39/00—Locking of screws, bolts or nuts
- F16B39/22—Locking of screws, bolts or nuts in which the locking takes place during screwing down or tightening
- F16B39/225—Locking of screws, bolts or nuts in which the locking takes place during screwing down or tightening by means of a settable material
Definitions
- the field of the invention is that of the design and production of devices used in industry to carry out the coating of the fastening element with mastic.
- the aim of the invention is in particular to provide an effective solution to at least some of these various problems.
- an objective of the invention is to provide a mastic application device which can make it possible to optimize the application of mastic to seal an assembly.
- the object of the invention is to provide such a device which is compact and/or light, and which consequently makes it possible to carry out tasks in confined spaces.
- Another object of the invention is, according to at least one embodiment, to provide such a device which is simple in design.
- Another object of the invention is, according to at least one embodiment, to provide such a device which is simple to maintain.
- Another object of the invention is to provide, in at least one embodiment, such a device which is relatively inexpensive.
- the invention proposes a device for coating a fixing element with a coating material, said device comprising:
- Means for dispensing said coating material comprising at least one dispensing nozzle
- the invention therefore provides a device integrating means making it possible to deposit mastic directly on a fastening element before introducing it into a hole in which it is to be put in place.
- This technique makes it possible to optimize the sealing of an assembly and to simplify it.
- said fastening element comprises a body, a head and a connection zone between the body and the head, said control means being configured to ensure the coating of said fastening element with:
- a device comprises means for evaluating the length of said fastening element to be coated.
- said means for evaluating the length of said fixing element to be coated comprise a feeler and means for driving said feeler able to bring it into contact against the end of said body opposite to said head of said element of fixation.
- said drive means comprise means for driving said fastening element in rotation along an axis.
- said drive means comprise means for driving said dispensing nozzle in translation along said axis.
- said control means are configured to successively control:
- said control means are configured to successively control:
- said means for driving said nozzle in translation comprise a lead screw, means for driving said lead screw in rotation and a shoe capable of meshing with said lead screw, said dispensing nozzle being integral with said shoe along the axis of rotation of said lead screw.
- said feeler forms a stop for said nozzle defining a position for depositing coating material at the level of the end of said body opposite to said head of said fastening element.
- a device comprises a drive cylinder in translation of said nozzle towards said feeler, the displacement travel in translation of said nozzle being delimited at the level of the end of said body opposite to said head of the fixing element by said feeler.
- said nozzle comprises:
- a block provided with a bore defining a chamber and a plurality of coating material distribution channels, said channels being in fluid communication with said chamber and opening out via distribution orifices formed along an axis essentially parallel to the axis of the body of said fixing element;
- a drawer mounted movable in translation inside said chamber, said drawer having a blind longitudinal groove on either side arranged along said axis over a length allowing fluid communication between said groove and all of said channels, said groove being connected to coating material supply means;
- said feeler being linked in translation with said drawer along said axis in such a way that when said feeler is in contact with the end of a fixing element opposite the head, the channel(s) opening beyond said opposite end do not communicate with said groove.
- a device comprises:
- each of the holding means comprising a support element for a fixing element, said support element being mounted so as to be able to move in translation with respect to said nozzle along the axis of said body,
- said device comprising means for driving the support elements in translation, said means for driving in translation being able to drive in translation the support element of a holding means brought close to said nozzle by said means of driving of said holding means, this up to a single end stop of the support element common to each of said holding means,
- each of said support elements along their axis of translation being fixed according to the distance between the end of the head and the connection zone of the fastening element that they are intended to hold, the zone of connection of a fixing element held by a support element brought to said single support element end-of-travel stop thus being located at an identical position whatever the value of said distance from the fixing element to be coated.
- said identical position of said connection zone is in the extension of a dispensing orifice of said block placed opposite that arranged on the side of said feeler.
- a device comprises a single end-of-travel stop of said nozzle, said end-of-travel stop of said nozzle delimiting a position for coating the connection zone of a fastening element , said identical position of said connection zone of a fixing element held by a support element brought to said single limit stop of said support element being in the extension of said nozzle placed in its zone coating position connection of a fixing element.
- the invention also relates to a device for carrying out at least one task on a structure to be worked, said device comprising: means for securing said device to motorized handling means able to move said device at least partially in the space in relation to a structure to be worked on; means for securing said device to said structure to be worked on; at least one functional module capable of receiving at least one fastening element necessary for carrying out said task, said device comprising at least one coating device according to any one of the above variants, said functional module comprising said means of maintaining said fastening element.
- a device comprises at least: a fixing element loading station comprising means capable of introducing a fixing element into said functional module, a coating station at which said device is located coating, a station for laying said fastening element in said structure to be worked, said device comprises means for moving said module from one of said stations to another.
- a device comprises several functional modules each comprising holding means capable of supporting fastening elements of different diameters.
- Figure 1 illustrates a perspective view of a device according to the invention
- Figure 2 illustrates a sectional view of the device of Figure 1 along a plane passing through the axis of the spindle;
- FIG 3 illustrates an enlarged partial view of Figure 1
- Figure 4 illustrates a view of the device of Figure 1 along the plane A-A of the device of Figure 3;
- Figure 5 illustrates a first variant of suction pad device for securing a device according to the invention to a structure to be worked on;
- Figure 6 illustrates a partial sectional view along a plane passing through the spindle and the rotating guide shaft of the carousel of a device according to the invention
- Figure 7 illustrates a perspective view of a rotating guide shaft of the carousel a device according to the invention
- Figure 8 illustrates a sectional view of a rivet support module
- FIG 9 illustrates a sectional view of another rivet support module
- Figure 10 illustrates a sectional view of a drilling module
- FIG 11 Figure 11 illustrates a sectional view of a temporary attachment support module
- Figure 12 illustrates a sectional view along the plane D-D of the device of Figure 2;
- Figure 13 illustrates a sectional view along the plane E-E of the device of Figure 2;
- Figure 14 illustrates a sectional view along the plane B-B of the device of Figure 2;
- Figure 15 illustrates a sectional view along the plane C-C of the device of Figure 2;
- Figure 16 illustrates a partial view in perspective and in section along a plane passing through the axis of rotation of the carousel of a device according to the invention
- Figure 17 illustrates the device of Figure 1 from another angle of view
- Figure 18 illustrates the device of Figure 17 with a different suction cup device
- Figure 19 illustrates an example of a C-clamp implemented for securing a device according to the invention to a structure to be worked on;
- Figure 20 illustrates the device of Figure 19 from another angle
- FIG 21 illustrates a section along the H-H axis of figure 20;
- FIG 22 illustrates a detail of Figure 21
- Figure 23 illustrates a partial view of a universal securing device according to the invention
- Figure 24 illustrates a perspective detail view of the device of Figure 1 at the secondary carousel
- Figure 25 illustrates a sectional view along the axis l-l of the secondary carousel
- Figure 26 illustrates a sectional view along the J-J axis of the secondary carousel
- Figure 27 illustrates a partial view in longitudinal section of the device at the level of the rapid fitting means
- Figure 28 illustrates a sectional view along the K-K axis of Figure 27;
- Figure 29 illustrates a sectional view along the H-H axis of Figure 4.
- FIG 30 illustrates a sectional view of a male element of the fitting means
- Figure 31 illustrates a sectional view along a 90° section plane of Figure 30;
- Figure 32 illustrates a top view of a locking member;
- Figure 32 illustrates a side view of a locking member 28
- Figure 34 illustrates a partial sectional view of the coating station
- Figure 35 illustrates a partial sectional view along the M-M axis of Figure 34;
- Figure 36 illustrates a partial sectional view of a rivet support module at the coating station
- Figure 37 illustrates the lead screw and coating station shoe
- FIG 38 figure 38 illustrates a detail view of the coating station
- FIG 39 figure 39 illustrates an alternative coating station
- FIG 40 Figure 40 illustrates a detail of Figure 39
- FIG 41 Figure 41 illustrates another detail of Figure 39
- Figure 42 illustrates a longitudinal sectional view of a rivet support module of a given size being coated
- Figure 43 illustrates a longitudinal sectional view of a rivet support module of a given size different from that of Figure 42 during coating, the connection zone of the head and the body of which located at the same relative position with respect to the nozzle as with the module in FIG. 42;
- Figure 44 illustrates a longitudinal sectional view at the temporary fastener loading station
- Figure 45 illustrates views of a locking element
- Figure 46 illustrates a detail of Figure 44
- Figure 47 illustrates a partial view in longitudinal section of the perspective workstation
- Figure 48 illustrates a partial view in longitudinal section of the workstation at the level of the rapid fitting means
- Figure 49 illustrates a partial view in longitudinal section of the connection means in translation of the main and secondary spindles
- Figure 50 illustrates views illustrating telescopy
- FIGS. 1 to 50 An example of a multitasking device according to the invention is described in relation to FIGS. 1 to 50.
- such a multi-task device 1 comprises a frame 2.
- This frame 2 is equipped with means 3 for securing to a motorized handling device (not shown) to which it is intended to be secured so as to be able to be moved relative to a structure to be worked on (not shown).
- motorized handling means belong to the group comprising: robot arms; walking robots; digital grids.
- These fastening means comprise a plate 31 traversed by a plurality of holes 32 allowing the passage of fastening bolts at the end of the robot arm.
- Other fastening means may be implemented, such as quick fastening means of the collar type, clamp or cam system, etc.
- the fastening means will comprise for example bolts, collars or other fastening means to a cradle provided with rollers able to be guided in the rails of the digital grid.
- the device comprises means 4 for securing to a structure to be worked on.
- These securing means can be of different types.
- suction cups 41 secured to the frame 2 suitable for being connected to vacuum means such as for example a vacuum pump to improve the attachment to the surface of the structure to be worked.
- the suction cups can be attached in groups to supports, thus forming suction cup pads.
- Two suction pads are shown in Figures 1, 17 and 18, this number could however be greater than two.
- the suction cups can be offset on one side of pin 51 (which will be described in detail later) as shown in figure 18 or else distributed around pin 51 (see figure 17).
- they may include a clamping C otherwise known in the state of the art, such as that illustrated in figure 19.
- the means for securing to a structure to be worked on can be permanently secured to the frame. Alternatively, they can be secured to the frame via universal reversible fastening means 100.
- the universal reversible fixing means 100 comprise a fixing plate 101.
- the fixing plate 101 will be integral with a support structure carrying the suction cups.
- the fixing plate 101 will be secured to the distal end of a bar 420 of the clamping C.
- This fixing plate 101 has an essentially rectangular section in one plane and a section with two lateral grooves 102 in another plane orthogonal to the first.
- These lateral grooves 102 extend all along the fixing plate 101 and comprise an inclined face 103 so that the thickness of the grooved portions of the fixing plate 101 tends to thicken from the ends of the plate towards the inside of it.
- the universal reversible fixing means comprise a pair of jaws 104 of complementary shape to the grooved ends of the fixing plate 101.
- These jaws 104 therefore each define a housing 105 capable of receiving the corresponding grooved end of the fixing plate 101.
- These housings 105 thus each have two opposite surfaces, one of which is inclined relative to the other at an angle substantially identical to the angle of inclination of the corresponding groove of the fixing plate.
- Each jaw is secured to the cylinder 106 of a cylinder 109 whose rod 107 of the piston 108 passes through the jaw 104 and is secured to the frame.
- the jaws 104 are movably mounted between at least: a separation position in which they are separated from each other to allow the introduction of the grooved ends of the fixing plate 101 with a view to securing the fixing means to the frame to a structure to be worked, and a securing position in which they are brought together to grip (grip) the grooved ends of the fixing plate 101 in order to secure to the frame the means of securing to a structure to be worked.
- the inclined surfaces of the grooved ends of the fixing plate 101 gradually slide against the inclined surfaces of the corresponding jaws 104 to ensure attachment by wedge effect.
- the cylinders 109 are actuated to place the jaws 104 in their disconnection position.
- the fixing plate 101 of the securing means is then inserted between the jaws 104.
- the cylinders 109 are then actuated to place the jaws 105 in their securing position in which they enclose the grooved ends of the fixing plate 101.
- the separation of the securing means is obtained by proceeding inversely.
- the device is likely to embed a plurality of functional modules which will be described in more detail later.
- Each of these functional modules makes it possible to perform a particular task such as, for example, a drilling and/or countersinking operation, a riveting operation, a temporary fixing operation (for example a staple), a removal operation (or coating) on a fastening element (a rivet or a screw) of a bead of sealing mastic.
- a drilling and/or countersinking operation for example, a riveting operation, a temporary fixing operation (for example a staple), a removal operation (or coating) on a fastening element (a rivet or a screw) of a bead of sealing mastic.
- a temporary fixing operation for example a staple
- a removal operation or coating
- Other functions could be envisaged such as screwing.
- Functional module 9 shown aligned with pin 51 in Figure 2 is a drilling module.
- the drilling module comprises a sheath 90.
- This sheath 90 has a tubular shape and a generally annular section.
- the sheath 90 includes a side finger 900 forming a projection on its side wall.
- the sheath 90 includes a lateral groove 901 which is formed in a diametrically opposite manner and offset along the longitudinal axis of the sheath with respect to the finger 900.
- This drilling module comprises an output shaft 91 (ie movable member) at the end of which a cutting tool such as a drill bit 92 can be secured (possibly stepped to allow the production of a countersink) by known fixing means 93 either.
- the cutting tool may for example be a simple drill bit for making simple holes, a stepped drill bit, a countersink bit for making countersunk holes, a milling tool for countersinking holes previously made.
- the output shaft 91 is rotatably mounted in a bearing 94 itself mounted sliding along the sheath 90 by means of a bearing 95.
- the finger 900 of the sheath 90 of the drilling module houses a chamber 902 in which is slidably mounted a piston 903 of a cylinder 904.
- the end 905 of the piston 903 is capable of being housed in a housing of complementary shape 950 provided at this effect in bearing 95.
- Finger 900 is extended by a supply line 906 of cylinder 904 capable of being placed in communication with a pressurized air intake line 907 provided in the device, with which it is in communication when it is at the workstation of the device.
- Elastic return means tend to return the piston 903 to a position in which its end 905 is housed in the corresponding housing 950 of the bearing 95 so as to block the latter in translation inside the sheath 90 and to consequently prevent the bearing 95, the bearing 94, the output shaft 91 and the tool 92 which it carries from leaving the furnace 90 as long as the functional module is not paired with pin 51.
- the end 905 and the corresponding cylinder 904 constitute means for locking in translation a functional assembly of functional module inside its sheath.
- a functional assembly includes all the components of a functional module mounted free in translation in its sheath.
- the elastic return means could be implemented so that the end 905 protrudes inside the sheath 90 to form a stop for the pad 95 preventing the functional assembly from sliding inside. of the sheath beyond its position illustrated in figure 5 or 6.
- the sleeve houses at each of its ends a stop segment (not shown) each forming a stopper for the functional assembly.
- a functional drilling module assembly can slide inside the furnace between these stop segments as long as the end 905 does not protrude into the housing 950 or directly into the sheath.
- the drilling module comprises a bell 160 secured to the output shaft 91 and linked in movement thereto.
- This bell includes radial holes 161.
- a screwing module can be produced with a structure substantially identical to that of the drilling module.
- the fixing means 93 of a cutting tool would be replaced by means for securing a socket or a screwed to the output shaft.
- the advance of the spindle 51 is controlled so that the advance per revolution of the spindle is substantially equal to the pitch of the screw so that the socket or the screwing recess advances in such a way synchronous with the screw.
- a facsimile may also be required to allow embedding.
- the rivet support module 200 allows the rivet to be held and comprises, like the drilling module, a sheath 90.
- This sheath 90 has a tubular shape and a generally annular section.
- the sheath 90 includes a side finger 900 forming a projection on its side wall.
- the sheath 90 includes a lateral groove 901 which is formed in a diametrically opposite manner and offset along the longitudinal axis of the sheath with respect to the finger 900.
- the sleeve houses a tubular element 201 which has at one of its ends a shoulder 202 designed to bear against a shoulder 203 of complementary shape made at one end of the sleeve 90.
- the tubular element 201 which constitutes a chamber, houses a piston 205 which is mounted therein to move in translation.
- the piston 205 comprises at one end a flange 206 provided with a circumferential groove 207 housing an O-ring 208.
- This O-ring 208 provides sealing between the piston 205 and the tubular element 201.
- the shoulder 204 of the sleeve 90 also includes an inner circumferential groove 209 housing an O-ring 210 providing sealing between the piston 205 and the sleeve 90.
- the side finger 900 of the sheath 90 houses an air duct which extends along the sheath and which is capable of being placed in communication with a pressurized air inlet duct 907 provided in the device, with which it is in communication when he is at the workstation of the device.
- the end of the piston 205 located on the inside of the shoulder 204 of the sheath 90 comprises a half-dog 211 whose function will be explained later.
- the other end of the piston 205 carries a split ring 212 which constitutes a rivet holding means at the end of the piston.
- This split ring 212 has a conical inner bore 213 whose diameter tightens starting from the inside of the piston 205 towards the outside thereof.
- This conical portion 213 opens into an inner groove 214 of a shape complementary to that of the end of the head 219 of a rivet 216.
- This groove 214 also opens into a conical inner portion 215 whose diameter narrows in the direction of the outside of split ring 212.
- This ring 212 has a plurality of longitudinal grooves (not shown) to allow it to deform during the introduction and extraction of a rivet, as will be described in more detail later.
- the split ring 212 comprises at least one outer peripheral groove 217 housing an elastic return element such as an O-ring or a spring (not shown) providing a tensioning return means function, as will be explained in more detail later, returning the ring from a release state in which its inside diameter is enlarged, to a holding state in which its inside diameter is constricted.
- an elastic return element such as an O-ring or a spring (not shown) providing a tensioning return means function, as will be explained in more detail later, returning the ring from a release state in which its inside diameter is enlarged, to a holding state in which its inside diameter is constricted.
- the tubular element forms with the split ring a fastening element support element.
- the piston is crossed by an internal bore allowing the passage of a rivet.
- rivet support modules may be provided with pistons with different diameter inner bores and different sized split rings to allow rivets of different sizes to be held in place.
- the piston 205 is designed to be driven in rotation and/or in translation. It thus constitutes a mobile organ.
- the piston 205 is movable in translation in the tubular element 201 between a first extreme position in which its shoulder 207 comes into abutment against a circlip 218 provided for this purpose at the end of the tubular element 201 located opposite that located close to the shoulder 204 of the furnace, and a second extreme position in which its shoulder 207 comes into abutment against the shoulder 204 of the sheath.
- a module of the rivet support type could be implemented to support another type of fastening element such as a screw, for example.
- the split ring would of course have a shape adapted to that of the head of a screw rather than to that of the head of a rivet.
- the temporary fixing support module 300 includes a sheath 90.
- This sheath 90 has a tubular shape and a generally annular section.
- the sheath 90 includes a side finger 900 forming a projection on its side wall.
- the sheath 90 includes a lateral groove 901 which is formed in a diametrically opposite manner and offset along the longitudinal axis of the sheath with respect to the finger 900.
- This must 900 accommodates an air line 906 which extends along the sheath and which is capable of being placed in communication with a pressurized air intake line 907 provided in the device, with which it is in communication when he is at the workstation of the device.
- the sheath 90 houses a tubular element 301.
- This tubular element 301 has a shoulder 302 at one of its ends bearing against a shoulder 303 provided inside the sheath 90 at one of its ends.
- the tubular element 301 has a second shoulder 304 located close to the air duct formed in the finger. This shoulder delimits a smaller diameter portion of the tubular element.
- the tubular element 301 has another end which extends close to a second shoulder 305 made inside the sheath at the other end of the latter. However, a space is left between the two to allow the passage of air.
- the tubular element 301 delimits a chamber housing a piston 306.
- This piston 306 comprises at one of its ends a shoulder 307 having a circumferential groove 308 housing an O-ring 309 providing sealing between the piston 306 and the tubular element. 301.
- the shoulder 305 of the sleeve 90 includes an inner circumferential groove 310 housing an O-ring 311 ensuring the seal between the sleeve 90 and the piston 306.
- the piston 306 is mounted to move in translation inside the tubular element 301 and the sheath 90.
- the piston 306 comprises a first bore 312 housing a drive tube 313 (moving member) mounted to move in translation and in rotation inside the latter.
- This drive tube 313 comprises at one of its ends a flange 314 defining a bell 160 traversed by radial holes 161.
- Elastic return means 315 for example spring washers or a spring, are interposed between the collar 314 of the drive tube 313 and the shoulder 307 of the piston 306. These return means tend to move this collar and this shoulder away from each other.
- the drive tube and the piston are movable and linked in translation in the module between at least:
- the bell 160 of the drive tube 313 communicates with a first cylindrical bore 316, which communicates with a second bore 317.
- This second bore houses a first freewheel 318.
- the second bore 317 communicates with a third bore 320.
- the third bore 320 houses a locking element 321 which is held there by means of a circlip 322 housed on the one hand in a groove 323 provided for this purpose in the tube of drive 313 and on the other hand in a groove 324 provided for this purpose in the locking element 321.
- the module includes means for maintaining a temporary fixation in the module. These means of holding the locking element.
- the locking element 321 is in the form of a ring through which a bore 325 passes, having an eccentric portion 326 defining a projecting locking lug 327.
- the locking element 321 comprises a peripheral housing 328 housing a return means (not shown), such as a compression spring, interposed between the locking element 321 and the drive tube 313.
- the locking element 321 is movable inside the third bore 320 laterally in a direction perpendicular to the longitudinal axis of the drive tube 313 between at least: a rest position in which the end of the locking pin 327 is remote from the longitudinal axis of the drive tube 313 (it is retracted), and a locking position in which the end of the locking pin 327 is brought closer to the longitudinal axis of the drive tube 313 (it is deployed inside the module).
- the compression spring tends to return the locking element 321 to its locking position.
- the first bore 312 of the piston 306 communicates with a second bore 329 comprising a conical portion 331 narrowing towards a cylindrical portion 332.
- the second bore 329 of the piston 306 communicates with a third bore 333 emerging.
- This third bore 333 houses a second freewheel 334 held in place by means of a circlip 335.
- An O-ring 336 ensures rotational drive between the third bore 333 and the second freewheel 334.
- first and second freewheels have opposing drive capabilities.
- the device comprises a single training and control set of 5 functional modules.
- This drive and control assembly 5 comprises a single drive spindle 51 called the main spindle.
- This pin is mounted to move in rotation and in translation along the same axis, i.e. along its longitudinal axis.
- the spindle is thus mounted to move in translation between a retracted position and an extended position in the direction of the workstation.
- This assembly 5 also includes motor means 52 able to drive the drive spindle 51 in movement.
- these motor means comprise an advance motor 510 and a rotation motor 511. They also comprise a transmission T making it possible to drive the spindle 51 in motion via the advance and/or rotation motors according to translational and/or rotational movements along its axis.
- This transmission is of the type comprising a drive nut in translation 512 and a drive ring in rotation 513.
- the rotation drive ring 513 has an inner bore whose inner periphery comprises keys 5131 of complementary shape to grooves 510 formed along the spindle 51 along its longitudinal axis. In this way, spindle 51 and rotation drive ring 513 are connected in rotation along the axis of the spindle but free in translation along this axis.
- the translation drive nut 512 has a threaded inner bore 5121 of complementary shape to a threaded portion 511 provided along the spindle so that they are linked by a helical connection.
- This type of transmission makes it possible to shift the motor(s) laterally with respect to the spindle.
- the motor(s) are then next to the spindle rather than in line with it.
- This improves the compactness of the device, makes it possible to reduce the distance to the center and thus to perform tasks close to a wall, and also to reduce the overhang.
- the axes of the motors are essentially parallel to the axis of the spindle.
- one or the other of these motors, or both may have an axis inclined with respect to that of the spindle, in particular orthogonal.
- the device comprises equipment means for making the drive pin and at least one mobile member of a functional module paired with the pin alternately integral in movement.
- the single drive and control assembly 5 conventionally comprises a controller 53 comprising all of the components necessary for controlling the operation of the motors and all of the actuators and other sensors of the device.
- a controller includes in particular all the memories, program(s) and processors necessary for controlling the device and for carrying out the various tasks. It also includes communication means (transmitter-receiver) able to enable it to receive and transmit data by wire or wireless. It can also incorporate the components needed to power the motors (inverter type). It may also include means for entering instructions (keyboard, microphone, touch screen mouse or other), a display screen, means for emitting sound signals, etc.
- Such a controller may be wholly or partly secured to the frame or placed remotely.
- the single drive and control assembly 5 comprises means for measuring at least one physical parameter representative of at least one operating characteristic of the functional modules. These parameters can in particular be representative of at least one following quantity: a torque on at least one moving member of the module paired with the spindle; an axial force on at least one movable member of the module paired with the spindle; an angular position of at least one movable member of the module paired with the pin; an axial position of at least one movable member of the module paired with the spindle.
- control means comprise means 530 for measuring the electrical intensity consumed by the motor or motors (current sensor) and for determining, as a function of the measured electrical intensity, a torque and/or an axial force on the spindle and therefore on one or more output devices of a functional module paired with the spindle.
- This type of means for measuring and determining forces or torques as a function of the current consumed by a motor are known per se and not described in detail.
- control means comprise one or more angle sensors 531 integrated into one or more of the motor(s).
- An angle sensor is a sensor for measuring the angular position of the rotor of a motor.
- the control means then comprising means for determining, as a function of the angular position of said measured rotor, the angular position and/or the axial position of said at least one moving member of a functional module paired with the spindle.
- This type of means for measuring and determining position as a function of the angular position of the rotor of a motor are known per se and not described in detail.
- the measuring means comprising at least one torque and/or force and/or position sensor 532 integrated into the transmission T and able to allow the determination of a torque and/or an axial force on the spindle and/or an angular and/or axial position of the spindle, and therefore by deduction of a torque and/or an axial force and/or an angular position and/or an axial position of the at least a moving part of a module paired with the spindle.
- This type of means for measuring and determining forces or torques are known per se and not described in detail.
- a device comprises means for carrying a plurality of functional modules. These carrying means make it possible to embark and move several functional modules.
- the number of modules likely to be on board is equal to 7 but could be alternatively different (lower or higher). This number can be even or odd.
- these carrying means comprise a so-called main carousel 6.
- the main carousel 6 comprises, like a revolver barrel, a plurality of cells 61 each allowing to accommodate a functional module.
- Each cell 61 constitutes a bore opening on either side and extending parallel to the axis of rotation of the carousel.
- the cells 61 are preferably distributed in an essentially uniform manner around the axis of the carousel.
- the device comprises several functional stations.
- the carousel not only makes it possible to embark several functional modules, it also makes it possible to move them from one station to another. It is for this, mounted mobile in rotation around its axis which extends essentially parallel to that of the main spindle as will be described in more detail later.
- the functional stations are as follows: a station P1 for loading/unloading functional modules; a temporary fixing loading station P2 (in this embodiment, the stations P1 and P2 are combined to form a multifunction station but could constitute two distinct stations); a rivet loading station P3; a P4 rivet coating station; a work station P5 in the extension of the single spindle 51 and which can be carried out, depending on the module located at this station, operations of: drilling and/or countersinking; riveting; temporary fixation.
- Functional module loading/unloading station P1 allows functional modules to be inserted one by one into the cells of the carousel and to be extracted therefrom.
- the device comprises a cylinder 13 whose piston 11, which carries a lug 10, is movable in translation in a chamber 12 along an axis orthogonal to the axis of a cell of the carousel brought to the loading station /unloading.
- the device includes a temporary fixture loading station P2 for inserting a temporary fixture into a temporary fixture support module fed thereto. post by the carousel.
- the temporary fixing loading station is located at the loading/unloading station for functional modules. These two positions thus constitute a single dual function functional position.
- the temporary fixing loading station could, however, be located at another location.
- This station P2 comprises a temporary fixing supply device 1000.
- This device comprises a bandolier-type actuator allowing the temporary fixings 1001 to be moved in translation until they are placed in the axis of the temporary fixing support module brought to the station P2 temporary fixing loading.
- This P2 station also includes a loading cylinder 1002.
- This cylinder 1002 is placed in the axis of a temporary fixing support module 300 brought by the carousel 6 to the temporary fixing loading station.
- This cylinder 1002 is arranged upstream of a temporary attachment 1001 placed by the bandolier 1000 in the axis of the temporary attachment loading station P2 to allow action on it to introduce it into the support module 300, as will be explained in more detail later.
- the temporary fixing loading station P2 further comprises a temporary fixing holding device in the temporary fixing support module 300 when it is introduced into this module.
- This holding device comprises an essentially L-shaped fork 1003, the end of which comprises two fingers spaced apart to form a space for receiving a temporary fixation.
- This fork 1003 is placed at the exit of a temporary fixing support module 300 placed at the temporary fixing loading station P2 and is mounted so as to be able to rotate about an axis 1004 between: a holding position in which its end provided of fingers extends essentially perpendicular to the temporary fixing support module and forms a stopper against which a temporary fixing can come to rest during its insertion into a temporary fixing support module, and a release position in which the fork is pivoted about its axis along the arrow C so that its end provided with fingers is disengaged from the module to allow it to be driven in rotation by the carousel.
- the device comprises a rivet loading station P3.
- This rivet loading station P3 comprises a loading jack 1006.
- This jack 1006 is placed in the axis of a rivet support module brought by the carousel to the rivet loading station.
- This station P3 comprises a device for receiving and transferring rivets from a rivet supply (or supply) zone 1007 (or other fastening element such as screws or the like) to a rivet distribution zone or receiving rivets such as here a rivet support module 200 located at the rivet loading station P3.
- a rivet supply (or supply) zone 1007 or other fastening element such as screws or the like
- a rivet distribution zone or receiving rivets such as here a rivet support module 200 located at the rivet loading station P3.
- the reception and transfer device comprises a so-called secondary carousel 1008.
- the carousel constitutes a support element.
- This carousel 1008 comprises, like a revolver barrel, a plurality of cells 1009 each allowing to accommodate a rivet.
- Each cell 1009 constitutes a bore opening on either side and extending parallel to the axis of rotation of the carousel 1008.
- the cells 1009 are preferably distributed in an essentially uniform manner around the axis of the carousel 1008.
- the number of cells is equal to six. It can of course be greater or less than 6.
- the carousel and its cells form fastening element receiving means.
- the carousel and its drive means make it possible to move fastening elements from a supply zone to a distribution zone.
- Each cell 1009 has a different diameter so that each cell makes it possible to receive rivets 216 of different sizes.
- Each cell 1009 comprises a receiving orifice 1090 and a dispensing orifice 1091 of the fastener.
- the 1090 receiving hole allows a fixing element to be inserted into a cell.
- the dispensing orifice allows a fixing element to be evacuated outside the cell.
- the device comprises means for holding a fixing element introduced into a cell. These holding means prevent the extraction, through the orifice receiving orifice, of a fixing element located in a cell.
- the holding means comprise a deformable element 1092 provided with a tip forming a harpoon 1093 located in each cell.
- the point of each harpoon is shaped to allow the introduction of a fixing element in the cell through its receiving hole and prevent the extraction of the fixing element through the receiving hole of the cell.
- the tip of each harpoon is oriented towards the receiving orifice of the corresponding cell.
- the carousel 1008 is rotatably mounted along an axis essentially parallel to the axis of the main spindle 51, between a support plate 1011 and a rivet holding plate 1012.
- the holding plate constitutes a means of holding fixing elements in the cells.
- the support plate 1011 is secured to the frame and fixed relative to the latter. It is traversed by as many holes 1013 as the carousel 1008 comprises cells 1009. Each hole has a different diameter corresponding to that of a cell.
- the support plate 1011 carries a shaft 1014 around which the carousel 1008 is rotatably mounted.
- One of the holes 1013 of the support plate 1011 is located in the axis of the loading ram 1006.
- the retaining plate 1012 comprises, in the axis of each hole 1013 of the support plate 1011, air exhaust holes 1015. It is however traversed by a distribution opening 1080, and not by ventilation holes. air exhaust 1015, in the axis of the cylinder 1006.
- the diameter of the distribution opening 1080 allows the passage of the largest rivet likely to be embarked in the secondary carousel.
- the carousel 1008 comprises along its outer peripheral contour longitudinal indentations 1016 which extend essentially parallel to the axis of the carousel 1008. These indentations form drive teeth as will emerge more clearly subsequently.
- the device comprises means for driving the carousel in rotation around the shaft.
- These rotation drive means comprise: a first cylinder 1017 comprising a piston 1018 movable in translation in a chamber 1019; a second cylinder 1020 comprising a piston 1021 movable in translation inside a chamber 1022.
- the piston 1018 of the first cylinder 1017 carries a pawl 1023 which is rotatably mounted relative to the piston around an axis 1024 essentially parallel to the axis of rotation of the carousel 1008.
- the pawl 1023 comprises a bearing surface 1025 provided to come into contact against a stop 1026 of the piston 1018 defining the extreme driving position.
- the pawl 1023 is movable between two extreme positions, namely: an extended position in which its support surface 1025 is resting against the stop 1026 of the piston 1018 so that its end is separated from the piston and at least partially housed in a notch 1016 of the carousel (cf. FIG. 14), and a retracted position in which its bearing surface 1025 is not resting against the stop 1026 of the piston 1018 so that its end is close to the piston 1018 and clear of any indentation 1016 of the carousel.
- Return means (not shown), such as a spring or the like, may optionally be implemented to act on the pawl 1023 to tend to bring it back to its deployed position.
- the piston 1018 is movable between two extreme positions, namely: a starting position in which it is in abutment on the left side in FIG. 14 (insofar as the device can take any orientation in the space, the indication of the left side is purely illustrative with reference to Figure 14 for reasons of understanding), and an end position in which it is in abutment with the right side in Figure 14 and the pawl 1023 is in deployed position between two notches 1016.
- the device comprises a blocking pin 8 mounted to move between a blocking position in which it is brought into abutment against the carousel 1008 between two consecutive notches 1016 to prevent rotation of the carousel around its axis, and a release position in which it is released from the carousel to allow its rotation.
- This blocking pin 8 is secured to the support plate 1011 by means of a leaf spring 1027 which tends to maintain it in its blocking position. It constitutes a means of locking and indexing the carousel 1008 in positions in which a cell 1009 of the carousel 1008 is in alignment with the loading cylinder 1006, i.e. in the dispensing zone. Preferably, at least one other cell is then located in a feed zone.
- pressurized air is injected into the chamber 1019 so as to move the piston 1018 according to the arrow G in its end position.
- the bearing surface 1025 of the pawl 1023 is in abutment against the abutment 1026 of the piston 1018 so that the pawl 1023 is locked in rotation in the clockwise direction.
- the carousel 1008 is thus driven in rotation in the clockwise direction until the piston 1018 is in abutment in its end position.
- a new cell 1009 of the carousel 1008 is then in alignment with the loading cylinder 1006.
- the blocking pin 8 slides against the peripheral surface of the carousel 1008 and is gradually moved from its blocking position in its unlocked position against the effect of the leaf spring 1027 then again in its locking position under the effect of the leaf spring 1027 so that the carousel 1008 is held stationary.
- Cylinder 1017 is actuated according to arrow H to return to its start position. During this movement, the pawl 1023 slides against the peripheral surface of the carousel 1008 and gradually passes from its deployed position to its retracted position then to its deployed position by rotating around its axis.
- the carousel 1008 can again be rotated clockwise by repeating this process.
- the piston 1021 of the second jack 1020 carries a pawl 1028 which is rotatably mounted relative to the piston 1021 around an axis 1029 essentially parallel to the axis of rotation of the carousel 1008.
- the pawl 1028 comprises a support surface 1030 provided to come to bear against an abutment 1031 of the piston 1021 defining the extreme drive position.
- the pawl 1028 is movable between two extreme positions, namely: an extended position in which its support surface 1030 is resting against the stop 1031 of the piston 1021 so that its end is separated from the piston 1021 and at least partially housed in a notch 1016 of the carousel 1008 (cf. figure 15), and a retracted position in which its support surface 1030 is not in abutment against the stop 1031 of the piston 1021 so that its end is close to the piston 1021 and clear of any notch 1016 of the carousel.
- Return means (not shown), such as for example a spring or the like, can optionally be implemented to act on the pawl 1028 to tend to bring it back to its deployed position.
- the piston 1021 is movable between two extreme positions, namely: a starting position in which it is in abutment on the right side in figure 15 (insofar as the device can take any orientation in space, the indication of the right side is purely illustrative with reference to the figure 15 for reasons of understanding), and an end position in which it is in abutment on the left side in figure 15 and the pawl 1028 is in the deployed position between two notches 1016.
- the piston 1021 is in its end position and the pawl 1028 is in its deployed position.
- pressurized air is injected into the chamber 1022 so as to move the piston 1021 along the arrow I into its end position.
- the bearing surface 1030 of the pawl 1028 is in abutment against the abutment 1031 of the piston 1021 so that the pawl 1028 is locked in rotation in the counterclockwise direction.
- the carousel 1008 is thus rotated counterclockwise until the piston 1021 is in abutment in its end position.
- a new cell 1009 of the carousel 1008 is then in alignment with the loading cylinder 1006.
- the blocking pin 8 slides against the peripheral surface of the carousel 1008 and is gradually moved from its blocking position in its unlocked position against the effect of the leaf spring 1027 then again in its locking position under the effect of the leaf spring 1027 so that the carousel 1008 is held stationary.
- the cylinder 1020 is actuated according to the arrow J to return to its start position.
- the pawl 2018 slides against the peripheral surface of the carousel 1008 and gradually passes from its deployed position to its retracted position then to its deployed position by rotating around its axis.
- the carousel 1008 can again be rotated counterclockwise by repeating this process.
- the carousel 1008 and the pawls 1023, 1028 form ratchet wheel systems.
- the first 1017 and second 1020 cylinders as well as the corresponding pawls 1023, 1028 have antagonistic movements in that they make it possible to drive the carousel 1008 in rotation in opposite directions.
- first 1017 and second 1020 cylinders make it possible to put the desired cell 1009 in line with the main pin 51 more quickly by choosing the direction of rotation of the carousel 1008 which will allow the fastest online setting.
- a a single jack can be used. This will simplify the device but will induce longer alignment times.
- the rotational drive means of the secondary carousel 1008 may be of the type of those of the main carousel 6, which are described later. In this case, rather than using single jacks to drive the pawls, double jacks can be used, i.e. external jacks containing an internal pawl locking jack.
- the indexing of the secondary carousel can also be obtained by means of a blocking pin controlled by a jack as for the main carousel.
- This device comprises means for supplying the rivet carousel.
- the rivets are brought through a flexible tube pushed inside this tube by a pressurized gas.
- the device comprises a coating device placed at a rivet coating station P4. This station is used to deposit a sealant on a rivet.
- This P4 coating station is located near the P5 workstation.
- first pulley 1032 movable in rotation about an axis essentially parallel to that of the main spindle 51 and linked in rotation by means of a belt 1033 with a driving pulley 1034 fixed to the main spindle 51 in such a way that it is connected to it in rotation along its axis of rotation but not in translation, for example by means of grooves.
- This first pulley 1032 is linked in rotation to the casing of a cylinder 1036 along an axis essentially parallel to that of the main spindle 51.
- This casing is mounted so as to be able to rotate with respect to the frame along the same axis.
- the piston rod 1035 of the cylinder 1036 is connected in rotation with the casing.
- This piston 1035 is mounted to move in translation and in rotation along an axis parallel to the axis of the main spindle 51 inside a chamber 1037. It carries at its end a half-clutch 1038 of complementary shape to the half- dog 211 of the rivet support module 200.
- a second pulley 1039 is connected in rotation to the casing of the actuator 1036 along an axis essentially parallel to that of the main spindle 51. This second pulley 1039 is connected in rotation by means of a belt 1040 to a third pulley 1041.
- the third pulley 1041 is mounted on a shaft 1042 to which it is connected in rotation.
- Shaft 1042 bears at its end opposite that to which pulley 1041 is attached a lead screw 1043.
- This lead screw 1043 comprises a thread whose profile comprises a first flank 1044 intended to mesh with a shoe 1046 and a second flank 1045 inclined with respect to the axis of the lead screw.
- the first flank is inclined a few degrees with respect to the perpendicular to the axis of the lead screw in such a way that, the shoe, being applied to this flank, has a tendency to slide towards the thread root.
- This shoe 1046 is mounted on the end of the piston 1047 mounted movable in translation along an axis essentially orthogonal to the axis of the main spindle 51 in the chamber 1048 of a jack 1049.
- the shoe 1046 is thus movable between at least: a meshing position in which it meshes with the lead screw 1043, and a disengagement position in which it does not mesh with the lead screw
- This station comprises mastic dispensing means comprising a nozzle 1050 connected to mastic supply means (not shown) comprising a pump connected on the one hand to a reserve of mastic and on the other hand to the nozzle 1050 via pipes provided for this purpose.
- the nozzle 1050 comprises a dispensing end 1051 intended to come close to a rivet 216 carried for a rivet support module 200 brought 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 beveled or curved so that the nozzle 1050 can come into abutment against the rivet 216 while providing an orifice to distribute sealant on the rivet 216.
- This solution is preferred insofar as it makes it possible to guarantee simply and effectively the calibration of the thread(s) of mastic deposited on the rivet.
- the nozzle 1050 is secured to the end of a piston 1051 mounted to move in translation along an axis perpendicular to the axis of the rivet support module in the chamber 1052 of a cylinder 1053.
- the shoe 1046, the nozzle 1050 and their respective cylinders 1049, 1053 are mounted in a block 1054 secured to the piston 1055 mounted to move in translation along an axis parallel to the axis of the lead screw 1043 in the chamber 1056 of a cylinder 1057 .
- This item includes means for determining (evaluating) the length of the rivet 216 brought to the coating station.
- These means comprise a sensor 1058.
- One end of the sensor is integral with the piston 1059 mounted to move in translation along an axis parallel to the axis of the lead screw 1043 in the chamber (not shown) of a cylinder 1060.
- the other end of the probe 1058 comprises a conical centering tip 1061 oriented towards a rivet 216 brought to the coating station.
- the cylinder 1060 makes it possible to approach and move away the conical tip 1061 from the rivet 216 to feel its end and thus determine its length.
- the feeler 1058 then defines an abutment against which the support 1062 of the nozzle 1050 is likely to come to rest in order to determine a coating limit at the end of the rivet.
- end of the rivet is meant a zone located at the end of the body of the rivet opposite the head of the rivet.
- Figures 39 to 41 illustrate a variant of the coating station.
- the nozzle 3000 is fixed relative to the frame and comprises: a block 3001 provided with a bore 3002 defining a chamber and a plurality of distribution channels 3003 of coating material, these channels 3003 being in communication fluidic with the chamber 3002 and opening out via dispensing orifices 3004 provided along an axis essentially parallel to the axis of the body of the fastener element to be coated; a drawer 3005 mounted to move in translation inside the chamber 3002, this drawer 3005 having a blind longitudinal groove 3006 on either side arranged along said axis over a length allowing fluid communication of the groove 3006 with the all of the channels 3003, the groove 3006 being connected to coating material supply means comprising for example a mastic pump whose outlet is connected by a pipe to the groove 3006.
- coating material supply means comprising for example a mastic pump whose outlet is connected by a pipe to the groove 3006.
- a fitting 3011 makes it possible to inject mastic into one of the channels 3003, itself in communication with the groove 3006.
- the feeler 3007 which comprises an end 3008 provided to come into contact with the end (foot) of a fixing element, is at its opposite end connected in translation with the drawer 3005.
- the sensor 3007 is also connected in translation with the piston 3009 of a cylinder 3010 whose axis extends essentially parallel to the axis of the main spindle 51.
- the channel or channels 3003 opening beyond this opposite end do not communicate with the groove 3006.
- the channel 3003 located opposite that located on the side of the end of a fixing element to be coated extends at the level of the connection zone between the body and the head of this fixing element.
- the nozzle thus makes it possible to distribute mastic in the form of parallel cords on the body of a fastening element between its end and the connection zone between its body and its head.
- the P5 workstation is located in the extension of the main spindle 51.
- This station makes it possible to carry out various operations according to the functional module brought to its level, in this case: drilling and/or countersinking; riveting; temporary fixation.
- This station comprises, in addition to the main pin 51, a secondary pin 170 mounted to move in translation inside the main pin 51 which is hollow.
- This secondary spindle 170 is integral with the piston 172 mounted to move in translation along the axis of the main spindle 51 in the chamber 171 of a cylinder 17.
- the secondary spindle constitutes the rod of this cylinder.
- the workstation comprises equipment means 16 of functional modules.
- the fitting means comprise means of the quick-connect type.
- they include: the bell 160 of certain functional modules comprising radial holes 161; a male element 162 secured to the main drive spindle 51 and linked in movement thereto and capable of being housed in the bell 160; locking elements (balls or rollers) 163 secured to the male element 162 and located in the extension of the radial holes 161 when the male element 162 is housed in the bell 160: preferably, these locking elements comprise a cylindrical body provided to slide in radial holes 1620 of the male element 162 so that their end can be housed in the radial holes 161 of the bell 160, and a head in a portion of a sphere with a diameter larger than the body cylindrical to prevent them from being evacuated from the male element by the locking key; a locking key 164 mounted movable in translation inside the element male 162 and comprising a circumferential ramp 165 capable of coming to act against the locking elements 163 (in particular their cylindrical
- the locking key 164 is secured to the end of the secondary spindle 170.
- the locking key 164 is movable between at least two positions between which it can be moved by means of the cylinder 17, namely: a fitting position in which it is close to the locking elements 163 in such a way that its circumferential ramp 165 acts on the locking elements 163 to cause them to slide inside the radial holes so that their ends form a projection outside the male element to come if necessary lodge in the radial holes 161 of a bell 160, and a disconnection position in which the locking key 164 is remote from the locking elements 163 so that it does not act on them so that their ends do not protrude outside the male element to be dislodged from the radial holes 161 of a bell 160, if necessary.
- Elastic return means may optionally be implemented to tend to bring the locking elements 163 back to their unpaired position when the locking key does not act on them.
- the device comprises a pressurized air intake duct 907 which opens out at the workstation in such a way that it communicates with the air duct 906 of the sheath of a functional module located at the workstation.
- the secondary spindle 170 can make it possible to carry out a function of telescopy of various functional modules, such as in particular the rivet support modules.
- the secondary pin 170 comprises at its end opposite that of the locking key 164, the piston 172 movable in translation inside the main pin 51 which constitutes its chamber 171 of the cylinder 17.
- the secondary pin 170 comprises downstream of the piston 172 a circumferential groove 1063.
- the device comprises means for connecting in translation said internal spindle with said external spindle.
- the main pin 51 carries a release ring 1064.
- This unlocking ring 1064 is fixed in translation with the frame. It is linked in rotation with the main spindle by means of grooves (not shown) which further allow the main spindle to translate inside the locking ring 1064.
- the locking ring 1064 is linked in rotation with the drive pulley 1034.
- This unlocking ring 1064 comprises a bore with a cylindrical portion 1065 followed by a frustoconical portion 1066 of widening towards an opening emerging on the side of the pin 51 oriented towards a functional module brought to the workstation.
- the main pin 51 carries a locking member.
- This locking member comprises a locking ring 1067 mounted on the male element 162.
- This locking ring 1067 is crossed by a hole 1068 whose diameter allows the passage of the locking key 164 and the secondary pin 170.
- This locking ring 1067 comprises a lateral actuation portion 1069 comprising: a first outer peripheral groove portion 1070, and an outer surface 1072 against which the unlocking ring 1064 is capable of acting.
- the locking ring 1067 has two opposite cut sides 1073 and is mounted in a complementary shaped groove 1074 formed in the male element 162.
- the first groove portion 1070 forms, with a second peripheral groove portion 1070′ formed on the male element, a peripheral groove housing an elastic return element such as for example an O-ring or a spring.
- the locking ring 1067 is movable in translation in the groove 1074 of the male element 162 along an axis orthogonal to the axis of the main spindle 51 between: a locking position in which the actuating portion 1069 is brought closer to the axis of the male element 162 thanks to the action of the elastic return element, the peripheral end 1075 being engaged in the groove 1063 (or housing) formed in the secondary spindle, and an unlocking position in which the actuating portion 1069 is separated from the axis of the male element 162, the peripheral end 1075 then being disengaged from the groove 1063 made in the secondary spindle.
- Passage into the unlocked position is obtained by introducing the portion of the male element 162 bearing the locking ring 1067 into the conical portion 1066 then into the cylindrical portion 1065 of the unlocking ring 1064 which therefore acts on the ring lock 1067 to move it relative to the male element 162 against the effect of the compression spring.
- Passage into the locking position is obtained: after extraction of the male element 162 and of the locking ring 1067 from the unlocking ring 1064, then when the circumferential groove 1063 of the secondary pin 170 reaches the level of the locking 1067, the latter passes into its locking position under the effect of the compression spring so that the locking end 1075 of the locking ring 1067 is housed in the groove 1063 of the secondary pin 170 while approaching from the axis the male element 162.
- the secondary spindle 170 is then linked in translation with the main spindle 51 so that the translational movement of the main spindle 51 is accompanied by a translational movement of the secondary spindle 170 which together form the same very long spindle.
- the carousel is rotatably mounted around its axis which extends essentially parallel to that of the spindle.
- the carousel comprises along its outer peripheral contour longitudinal notches 62 which extend essentially parallel to the axis of the carousel. These indentations form training teeth as will emerge more clearly later.
- the device comprises means for driving the carousel in rotation around its axis.
- These rotation drive means comprise: a first cylinder 70 comprising a piston 700 movable in translation in a chamber 701; a second cylinder 71 comprising a piston 710 movable in translation inside a chamber 711.
- the piston 700 of the first cylinder 70 carries a pawl 702 which is rotatably mounted relative to the piston 700 around an axis 703 essentially parallel to the axis of rotation of the carousel.
- the pawl 702 comprises a support surface 704 provided to come to bear against an abutment 705 of the piston 700 defining the extreme drive position.
- the pawl 702 is movable between two extreme positions, namely: an extended position in which its support surface 704 is in abutment against the stop 705 of the piston 700 so that its end is separated from the piston 700 and at least partially housed in a notch 62 of the carousel (cf. FIG. 12), and a retracted position in which its support surface 704 does not rest against the stop 705 of the piston 700 so that its end is close to the piston 700 and clear of any notch 62 of the carousel.
- Return means (not shown), such as a spring or the like, may optionally be implemented to act on the pawl to tend to bring it back to its deployed position.
- the piston 700 comprises an inner chamber 706 in which is housed an internal piston 707 whose end 708 is bevelled.
- This internal piston 707 is mounted to move in translation in the chamber 706 between: an unlocking position in which its bevelled end 708 is located away from the pawl 702 so as to leave the latter free to rotate around the axis 703, and a blocking position, capable of being taken when the pawl 702 is in its deployed position, in which its bevelled end 708 rests against the pawl 702 in order to immobilize it in rotation around the axis 703.
- the piston 700 is movable between two extreme positions, namely: a starting position in which it is in abutment on the right side in Figure 12 (insofar as the device can take any orientation in the space, the indication of the right side is purely illustrative with reference to Figure 12 for reasons of understanding), and an end position in which it is in abutment with the left side in Figure 12 and the pawl 702 is in deployed position between two notches 62.
- the piston 700 is in its end position and the pawl is in its extended position.
- the device comprises a blocking pin 8 mounted to move between: an indexing position in which it is brought into abutment against the carousel between two consecutive notches 62 to prevent rotation of the carousel around its axis, and a release position in which it is released from the carousel to allow its rotation.
- An elastic return means such as for example a spring (not shown), acts on the pin 8 to tend to bring it back into its blocking position.
- a jack 800 makes it possible to block the blocking pin 8 in its blocking position.
- the blocking pin 8 constitutes a means of blocking and indexing the carousel in positions in which at least one cell 61 of the carousel is at a functional position.
- the blocking pin 8 when the blocking pin 8 is in the blocking position in an indentation between two consecutive cells, several cells are in alignment with different functional positions, in this case: a cell is at the position loading/unloading of modules; a cell is located at the temporary fixing loading station; a cell is located at the rivet loading station; a cell is located at the rivet coating station; a cell is located at the workstation in the extension of the single pin 51.
- the cylinder 800 To rotate the carousel in the counterclockwise direction, the cylinder 800 is exhausted so that the blocking pin 8 is maintained in its blocking position. by the sole effect of the spring.
- the piston 700 is in its starting position (in abutment on the right in the figure
- Pawl 702 is in its deployed position.
- the internal piston 707 is in its blocking position so that the pawl 702 is maintained in its deployed position without being able to rotate around its axis 703.
- Pressurized air is then injected into chamber 701 so as to move piston 700 along arrow B from its start position to its end position.
- the pawl meshes with the notch in which it is located so that the carousel is thus rotated counterclockwise.
- the blocking pin 8 slides against the peripheral surface of the carousel so that it gradually passes from its indexing position to its release position then from its release position to its indexing position when the piston 700 is in abutment in its end position.
- the cylinder 800 is powered to block the locking pin in its indexing position so that the carousel is kept immobile. At least one new cell 61 of the carousel is then at a functional station.
- the internal piston 707 is moved into its unlocked position so that the pawl is free to rotate around the axis 703 (within the limit of the travel authorized by its shape and the surfaces which surround it).
- Cylinder 70 is actuated so that piston 700 moves along arrow A to be returned to its starting position.
- the pawl 702 moves progressively from its deployed position to its retracted position then from its retracted position to its deployed position by sliding against the peripheral surface of the carousel and by pivoting around the axis 703 in the clockwise direction until until the piston is in its starting position.
- the pawl is then housed in another notch 62 of the carousel.
- the carousel can again be rotated counterclockwise by repeating this process.
- the piston 710 of the second cylinder 71 carries a pawl 712 which is rotatably mounted relative to the piston 710 around an axis 713 essentially parallel to the axis of rotation of the carousel.
- the pawl 712 thus comprises a bearing surface 714 provided to bear against an abutment 715 of the piston 710 defining the extreme driving position.
- the pawl 712 is movable between two extreme positions, namely: an extended position in which its bearing surface 714 is resting against the stop 715 of the piston 710 so that its end is housed in a notch 62 of the carousel ( see Figure 13), and a retracted position in which its end is close to the piston 710 and disengaged from any notch 62 of the carousel (not shown).
- Return means (not shown), such as a spring or the like, may optionally be implemented to act on the pawl to tend to bring it back to its deployed position.
- the piston 710 comprises an inner chamber 716 in which is housed an internal piston (not shown) whose end is beveled like the internal piston 707.
- This internal piston is mounted so as to be able to move in translation in the chamber between: an unlocking position in which its end is remote from the pawl so as to leave the latter free to rotate around the axis 713, and a blocking position, capable of being taken when the pawl is in its deployed position, in which its end beveled rests against the pawl in order to immobilize it in rotation around the axis 713.
- the piston 710 is movable between two extreme positions, namely: a starting position in which it is in abutment on the left side in FIG. 13 (insofar as the device can take any orientation in space , the indication of the right side is purely illustrative with reference to Figure 12 for reasons of understanding), and an end position in which it is in abutment on the right side in Figure 13 and the pawl is in the deployed position between two notches 62.
- the cylinder 800 is exhausted so that the locking pin 8 is held in its locking position by the sole effect of the spring.
- the piston 710 is in its starting position (in abutment on the left in FIG. 13).
- Pawl 712 is in its deployed position.
- the internal piston is in its locked position so that the pawl is maintained in its deployed position without being able to rotate around its axis 713.
- Pressurized air is then injected into the chamber 711 so as to move the piston 710 according to the arrow A then its starting position towards its end position.
- the pawl meshes with the notch in which it is located so that the carousel is thus rotated clockwise.
- the blocking pin 8 slides against the peripheral surface of the carousel so that it gradually passes from its indexing position to its release position then from its release position to its indexing position when the piston 710 is in abutment in its end position.
- the cylinder 800 is powered to block the locking pin in its indexing position so that the carousel is kept immobile. At least one new cell 61 of the carousel is then at a functional station.
- the internal piston is moved into its unlocked position so that the pawl is free to rotate around the axis 713 (within the limit of the travel authorized by its shape and the surfaces which surround it).
- Cylinder 71 is actuated so that piston 710 moves along arrow B to be returned to its starting position.
- the pawl 712 moves progressively from its deployed position to its retracted position then from its retracted position to its deployed position by sliding against the peripheral surface of the carousel and by pivoting around the axis 713 in the counterclockwise direction until until the piston is in its starting position.
- the pawl is then housed in another notch 62 of the carousel.
- the carousel can again be rotated clockwise by repeating this process.
- the carousel and pawls form ratchet wheel systems.
- the first 70 and second 71 cylinders as well as the corresponding pawls have antagonistic movements in that they make it possible to drive the carousel in rotation in opposite directions.
- first 70 and second 71 cylinders make it possible to place a module at the desired functional position as quickly as possible by choosing the direction of rotation of the carousel which will ensure the shortest path.
- a single actuator can be implemented. This will simplify the device but will induce longer alignment times.
- the means for driving the main carousel in rotation may be of the type those of the secondary carousel.
- double jacks to drive the pawls
- ie external jacks containing an internal pawl locking jack single jacks can be implemented.
- the indexing of the secondary carousel can also be obtained by means of a blocking pin not controlled by a jack as for the secondary carousel.
- the carousel 6 is rotatably mounted around a fixed shaft 8 on which it is guided in rotation by means of a bearing 87 with needles, balls or the like.
- the shaft 8 is hollow and comprises at one of its ends a widened portion defining a chamber 81 in which slides a piston 82 of a jack 80.
- the shaft 8 comprises at the other of its ends a circumferential groove 83 and is crossed by a side slot 84 communicating with the hollow interior of the shaft.
- the shaft further comprises at this end a flat 85 which opens into the groove 83.
- a guide element 14 is secured to the end of the rod 820 of the piston 82.
- This guide element 14 comprises a portion forming a projection 140 which extends inside the slot 84 of the shaft 8.
- a groove 141 is formed at the end of the portion forming a projection 140. This groove 141 is extends in the extension of the groove 83 of the shaft with which it forms a circular groove.
- the sheath 90 of each functional module is designed to be slidably mounted inside the cells 61 of the carousel 6.
- the end of the lateral finger 900 of each of the sheath 90 of each functional module is provided to be housed according to the angular position of the carousel 6 alternately in the groove 83 of the shaft 8 and in the groove 141 of the guide element 14 so that the sheath is held integral with the shaft 8 or the piston 82 along the axis of rotation of the carousel 6, and is thus immobilized in translation along the axis of the cell in which it is located.
- the portion forming a projection 140 and the grooves 141 and 84 extend at an angular position corresponding to the finger 900 of a furnace 90 of a functional module 9 located at the workstation in the extension of the spindle 51.
- each sheath 90 is capable of housing the lug 10 placed at the end of the piston 11 movable in translation in the chamber 12 of the jack 13.
- the cylinder 13 is located at a loading/unloading station of the carousel 6. This station is located in such a way that when a cell 61 of the carousel is at the workstation in the extension of the spindle 51, another cell is located in place of loading/unloading (ie at the staple loading station in this embodiment), another cell is located at the rivet loading station and another cell is located at the coating station.
- the flat 85 and the lug 10 extend along axes parallel and perpendicular to the axis of rotation of the carousel 6.
- the loading of the carousel 6 into functional modules 9 is obtained in the following way.
- Pressurized air is injected into chamber 12 of cylinder 13 so as to move piston 11 along arrow C in order to release lug 10 from inside cell 61 located at the loading/unloading station.
- the actuator 1005 is actuated to place the fork 1003 in its release position.
- a module is introduced inside the cell 61 located at the loading/unloading station by the side of the carousel 6 located on the side of the end of the shaft 8 where the groove 84 is located.
- the finger 900 of the sheath 90 is introduced into the groove 83 passing through the flat 85 which forms an introduction passage.
- Air is then introduced into chamber 12 of cylinder 13 so as to move piston 11 along arrow D to introduce lug 10 into groove 901 of sheath 90.
- Sheath 90, and therefore the corresponding functional module 9 is thus held in the cell 61 along the axis of which it is blocked in translation.
- this groove 901 allows the sheath to arrive at the loading/unloading station and its departure from this station, while the lug 10 protrudes into the groove 901.
- the carousel 6 can then be rotated to place the next cell at the loading/unloading station and the process is repeated to load a new functional module 9.
- the main carousel it is thus possible to load the seven, or more generally all, of the cells of the main carousel. However, only certain cells can be loaded as needed. It is also possible, in other embodiments, for the main carousel to comprise more or less than seven cells.
- the unloading of a functional module 9 is obtained, after having placed the cell corresponding to the loading/unloading station, by actuating the cylinder 13 to disengage the lug 10 from the groove 901 and thus allow the functional module 9 to slide out of the corresponding cell 61.
- the device comprises a presser element 15 of tubular shape mounted to move in translation relative to the frame 2 along the axis of movement of the pin 51 and in the extension thereof.
- a pressing element 15 can for example be used during a drilling operation to exert a compressive force on the structure to be drilled, in particular to ensure contact between the plates of a stack and to avoid the formation of burrs between these plates when drilling.
- the robot arm to which the device is attached is actuated to place the multi-task device so that the workstation is positioned at the location of the structure to be worked on which an operation is to be carried out.
- the robot applies the device against the structure to be worked until the suction cups 41 bear against the surface thereof. A vacuum is then created in the suction cups to ensure an effective connection between the multi-tasking device and the structure to be worked on.
- a clamping C 42 can be used as an alternative to suction cups.
- the main carousel In order to perform a drilling and/or countersinking operation, the main carousel is rotated until the desired drilling module is at the workstation.
- the elastic return means tend to bring the piston 903 of the cylinder back to a position in which its end 905 is housed in the housing 950 or forms a projection in the sheath to prevent the functional assembly of the drilling module from sliding in the furnace, the end 905 of the piston 903 coming into contact with the end 951 of the bearing 95.
- the drilling and/or countersinking module 9 must then be paired with the drive spindle 51 so that the latter can move the output shaft 91 which constitutes a moving part of the module.
- the pin 51 is driven in translation along its axis in the direction of the functional module placed at the workstation until the male element 162 is housed in the bell 160.
- Pressurized air is injected into the chamber 171 of the cylinder 17 in order to move the internal pin 170 according to the arrow E.
- the ramp 165 of the locking key 164 then acts on the locking elements 163 to place them in their position. apparatus in which they cooperate with the radial holes 161 of the bell 160.
- the spindle 51 and the output shaft 9 are then connected in rotation and in translation.
- the angular position of the male element 162 relative to the bell 160 is random and consequently the locking elements may not be perfectly in line with the radial holes of the bell.
- the spherical heads of the locking elements make it possible to induce a slight relative rotation of the bell with respect to the male element causing the holes of the bell and the male element to be co-axially placed and thus authorizing the penetration of the elements lock in the holes of the bell.
- the resisting torque resulting from the first drilling operation would then induce a relative displacement in rotation of the male element and the bell to bring the locking elements into line. locking with the radial holes and finalizing the fitting.
- the actuator 904 is actuated to extract the end 905 of its piston 903 from the housing 950 of the bearing 95 or so that the end 905 no longer protrudes inside the sheath.
- Pressurized air is then injected into the chamber 81 of the cylinder 80 in order to move the piston 82 according to the arrow E.
- the actuation of the cylinder 80 produces no effect.
- the main pin 51 is then driven in translation along the arrow E. This has the effect of: causing the movable assembly and the sheath to translate along the arrow E causing the drive element 14 to follow the same movement so that the functional drilling module 9, the finger 900 of which cooperates with the groove 141 of the drive element 14, is driven in translation along the arrow E along the axis of the spindle 51, until the sheath 90 bears against the pressing element 15.
- the pressing element then follows the same movement thus causing it to press against the structure to be worked and exert a pressure force on the structure to be worked.
- the pressing force of the pressing element 15 against the surface to be worked is maintained by the actuator 80 while the translational movement of the pin 51 along the arrow E is accompanied by a movement of the mobile assembly at the inside the sheath which is then motionless in translation along the arrow E.
- the spindle 51 can then be driven in rotation and in translation and transmit its movements to the output shaft 91 of the functional module 9 fitted to carry out the desired drilling operation.
- the apparatus of the main spindle and the output shaft here constitutes a connection in rotation and in translation.
- a rivet support module 200 Prior to carrying out a rivet setting operation, whether or not preceded by a mastic coating operation, a rivet support module 200 must be loaded with a rivet 216.
- the main carousel 6 is driven in rotation so as to bring to the rivet loading station P3 the rivet support module 200 corresponding to the size of the rivet 216 that one wishes to place and if necessary coat.
- the cell 1009 of the secondary carousel 1008 corresponding to the size of this rivet 216 is supplied with a rivet by the supply means of the carousel 1008 with rivets.
- the rivets are brought through a flexible tube pushed inside this tube by a pressurized gas.
- the secondary carousel 1008 is then driven in rotation so as to place the cell 1009 containing the rivet at the rivet loading station P3.
- Pressurized air is injected into the air duct 906 of the rivet support module 200 so as to maintain its piston 205 in its first extreme position in abutment against the circlip 218 on the side opposite the split ring.
- the cylinder 1006 is then implemented to push the rivet 216 contained in the cell 1009 inside the rivet support module 200 until the head 219 of the rivet 216 is housed in the split ring 213. during this movement, the head 219 of the rivet 216 acts on the split ring 213 to widen it so as to fit into the groove 214 and in the conical bore 215 of the split ring 213.
- the ring 213 then tightens around the head 219 of the rivet 216 under the effect of the O-rings implemented for this purpose so that the rivet 216 can no longer exit ring 213 following the reverse path.
- the rivet 216 is then held in the rivet support module 100 and its body 220 forms a projection outside the module 200 beyond the split ring 213.
- the rivet support module 200 previously loaded with the rivet 216 which it is desired to coat with mastic is brought to the coating station P4 by rotating the main carousel 6.
- a coating of the heliocoidal type consists in depositing at least one annular bead of mastic at the end 221 of the rivet, at least one annular bead of mastic under the head 219 of the rivet and a helical bead along the body 220 of the rivet between the end and head of the rivet.
- the procedure is as follows.
- the cylinder 1053 Prior to the arrival at the coating station of a rivet support module: the cylinder 1053 is actuated to maintain the end of the nozzle 1050 in its extreme position in which it is furthest from the body 220 of the rivet 216; the cylinder 1047 is actuated so as to maintain the shoe 1046 in its disengaged position; cylinder 1060 is actuated so that feeler 1058 is in its extreme position on the side of end 221 of rivet 216; the cylinder 1057 is actuated so that the block 1054 carrying the shoe 1046 and the nozzle 1050 is in its extreme position on the side of the end 221 of the rivet 216.
- the support 1062 of the nozzle 1050 is then in abutment against the feeler 1058.
- the cylinder chamber 1057 carrying block 1054 is exhausted.
- the cylinder 1036 is actuated so as to engage the half-dog 1038 which it carries with the half-dog 211 of the piston of the rivet support module 100 placed at the coating station.
- the piston here constitutes a mobile member and the bringing into cooperation of the two half- Claw constitutes an indirect fitting of the main spindle with this mobile member.
- the apparatus here is a rotating connection.
- each rivet support module is suitable for supporting a rivet of a given size.
- each rivet support module The length along the axis of the pin 51 of the piston 205 of each rivet support module is determined according to the size of the rivet that it is intended to support so that, when the jack 1036 carrying the half dog 1038 arrives at the end of travel, the connection zone between the head 219 and the body 220 of the rivet carried by a module is always at the same given position along the axis of the pin 51.
- the cylinder 1060 is actuated to move the feeler 1058 in the direction of the head 219 of the rivet until the conical point 1061 comes to rest against the end 221 of the rivet thus stopping the stroke of the cylinder 1060.
- the feeler 1058 against which the nozzle 1050 abuts, thus moves the nozzle at the level of the end 221 of the rivet (at a predetermined distance from the end of the rivet).
- Actuator 1053 moves nozzle 1050 towards rivet body 220 until its end comes into contact with the rivet body.
- the main spindle 51 is driven in rotation so as to drive in rotation via the pulleys and belts on the one hand the piston 205 of the module and therefore the rivet that it carries but also the lead screw 1043 at time tO.
- the mastic pump is operated so that nozzle 1050 delivers mastic to end 221 of the rivet.
- the shoe 1046 is moved towards its meshing position with the lead screw 1043 by means of the cylinder 1049.
- the contact between the shoe 1046 and the surface 1045 of the thread 1044 of the lead screw 1043 is finalized after a fraction X of a turn of the lead screw 1043.
- This fraction of a turn is necessary insofar as when the shoe comes into contact with the screw, it is in a random relative position such that a space between the shoe and the side of the thread remains.
- the drive in translation of the shoe by the lead screw is effective only after this space has been resorbed under the action of a random fraction of turn X.
- the nozzle 1050 When the shoe 1046 is in its meshing position, ie after finalizing the contact between the shoe and the lead screw, the nozzle 1050 then begins to move towards the head 219 of the rivet and the nozzle 1050 begins to deposit a bead putty spirals along the body 220 of the rivet.
- the nozzle 1050 arrives at the height of the connection between the body 220 and the head 219 of the rivet.
- the length of cord deposited on the end which can be 2 turns at most, justifies the total number of turns of 3 + Y to have at least a deposit of 1 turn under the head.
- the deposition of mastic is deactivated by depressurizing the mastic pump.
- the shoe 1046 is moved into its disengagement position by means of the cylinder 1049.
- the nozzle 1050 is moved away from the rivet body 220 by means of the cylinder 1053.
- the nozzle 1050 and the feeler 1058 are brought into the extreme position on the side of the end 221 of the rivet respectively thanks to the extension of the cylinders 1057 and 1060.
- the main carousel 6 is rotated to bring the mastic-coated rivet to the rivet setting station at which there is a rivet setting device.
- An annular-type coating consists of depositing at least one annular bead of mastic under the head 219 of the rivet.
- the cylinder 1053 Prior to the arrival at the coating station of a rivet support module 100: the cylinder 1053 is actuated to hold the end of the nozzle 1050 in its extreme position in which it is furthest from the body 220 of the rivet; the cylinder 1049 is actuated so as to maintain the shoe 1046 in its disengaged position; the cylinder 1060 is actuated so that the feeler 1058 is in its extreme position on the side of the end 221 of the rivet.
- the cylinder 1036 is actuated so as to engage the half-dog 1038 which it carries with the half-dog 211 of the rivet support module 100 placed at the coating station.
- each rivet support module is suitable for supporting a rivet of a given size.
- the length along the axis of the pin of the piston of each rivet support module is determined according to the size of the rivet that it is intended to support so that, when the jack carrying the half dog clutch reaches the end of its stroke , the connection zone between the head and the body of the rivet carried by a module is always at the same given position.
- the cylinder 1060 is actuated to move the feeler 1058 in the direction of the head 219 of the rivet until the conical point 1061 comes to rest against the end 221 of the rivet thus stopping the stroke of the cylinder 1060.
- the cylinder 1057 is actuated to come into abutment at its end on the side of the rivet head 219 thus stopping the nozzle 1050 at the height of the connection between the body 220 and the head
- Actuator 1053 moves nozzle 1050 towards rivet body 220 until its end comes into contact with rivet body 220.
- the main spindle 51 is driven in rotation so as to drive in rotation via the pulleys and belts on the one hand the piston 205 of the module and therefore the rivet it carries.
- the mastic pump is implemented so that the nozzle 1050 delivers mastic at the connection area between the head 219 and the body
- the rotation of the main spindle 51 is stopped after having imparted a rotation of at least one turn to the rivet, at this stage a bead of at least one turn is deposited under the head 219 of the rivet.
- mastic dispensing is deactivated by depressurizing the mastic pump.
- the nozzle 1050 is moved away from the body 220 of the rivet thanks to the retraction of the cylinder 1053.
- the nozzle 1050 and the feeler 1058 are brought into the extreme position on the side of the end 221 of the rivet respectively thanks to the extension of the cylinders 1057 and 1060.
- the main carousel 6 is rotated to bring the putty coated rivet to the work station to set the rivet.
- a coating of a rivet with parallel annular beads of mastic between its end and the zone where its body connects with its head is obtained as follows.
- Jack 3010 is actuated to move feeler 3008 along arrow E to its extreme position.
- a rivet support module carrying a rivet to be coated is then brought to the coating station.
- the half-clutch 1038 is moved as far as the stop by the corresponding cylinder so as to come into engagement with the half-clutch 211 of the module and to move the piston of the module into a position in which the connection zone of the rivet that it door is in alignment with the channel 3003 of the nozzle located opposite to that located on the side of the end of the rivet.
- Cylinder 3010 is actuated along arrow F so that end 3008 of the feeler comes into contact with the end of the rivet.
- the drawer 3005 then slides inside the chamber 3002 so as to close the channels which extend beyond the end of the rivet.
- the rivet is then rotated through a lathe as the mastic pump is operated to dispense mastic. This makes it possible to simultaneously deposit on the body of the rivet a plurality of annular beads of mastic parallel between the end and the connection zone of the rivet.
- the rotation of the rivet is stopped, the pump is stopped, the cylinder is operated according to arrow E to move the feeler away from the rivet, then the main carousel is operated to move the module carrying the coated rivet to the workstation. to set the rivet.
- the device can be implemented to carry out the installation of rivets, previously coated or not with mastic, depending on the case. It therefore comprises a rivet setting device.
- the main spindle 51 is driven in translation along its axis via the feed motor.
- the main pin 51 then bears against the piston 205 of the rivet support module 200 so that the latter moves in translation inside the chamber from a retracted position in which it extends inside of the sheath towards a deployed position in which it extends at least partly outside the sheath until it comes into abutment at the bottom thereof and the sheath translates into the cell of the carousel over a sufficient distance to come and engage the end 221 of the rivet in the corresponding hole (in the case of a rivet with a threaded end, the insertion of the threaded portion may suffice).
- the piston of the module constitutes a movable member and the equipment here constitutes a simple contacting of the main spindle with the movable member so as to drive it in translation in one direction.
- the feed motor is then driven so as to move the main spindle 51 in the opposite direction.
- the piston 205 of the rivet support module remains immobile inside its chamber under the effect of friction.
- the main pin 51 is translated until it reaches its extreme position in which the portion of the male element 162 carrying the locking ring 1067 is housed in the cylindrical portion 1065 of the unlocking ring 1064 which acts on the unlocking ring 1067 to move it into its unlocked position.
- the secondary spindle 170 is then translated inside the main spindle 51 by supplying the chamber of its cylinder 17 (until it comes into contact with the head of the rivet).
- the secondary pin 170 is then linked in translation with the main pin 51 so that the translational movement of the main pin 51 is accompanied by a translational movement of the secondary spindle 170 which together form a long spindle.
- the locking key 164 then pushes on the head 219 of the rivet to extract it from the pliers and insert it completely into the hole.
- the rivet is thus evacuated from the module by evacuation means which allow it to be inserted into a hole and which comprise in this embodiment in particular the main and secondary pins.
- Reading the currents of the motors driving the main spindle, in this case the feed motor, makes it possible to know the thrust effect on the rivet and to stop the progress of the main spindle when the thrust effect becomes greater than a predetermined threshold corresponding to a total insertion of the rivet in its hole.
- the main pin 51 is moved to its extreme position in which the portion of the male element 162 bearing the locking ring 1067 is housed in the cylindrical portion 1065 of the unlocking ring 1064 which thereby acts on the outer surface of the actuating side portion 1069 to move the locking ring 1067 relative to the male element 162 against the effect of the compression spring in its unlocked position.
- the secondary spindle 170 is then retracted into the main spindle 51 by actuating its cylinder 17.
- the piston 205 of the rivet support module is retracted into the sheath by supplying its chamber with compressed air until it comes into abutment against the circlips 218 and the sheath 90 is retracted into its cell thanks to the action of the jack 80 .
- a device according to the invention can be implemented to carry out the installation of temporary fixings.
- a temporary attachment 2000 conventionally comprises a body 2001, one end
- the temporary fasteners according to the invention comprise a body and a rotary element of cylindrical section and of the same diameter and having smooth and uniform external surfaces.
- the body and the rotating element are separated by a space (housing) to enable them to be locked in position as will be described in more detail elsewhere.
- a 300 module of temporary fixing support Prior to carrying out a temporary fixing operation, a 300 module of temporary fixing support must be loaded with a temporary fixing.
- the main carousel 6 is driven in rotation so as to bring the temporary fixing support module to the loading station P2.
- the cylinder 1005 is actuated to place the fork 1003 in its holding position.
- the bandolier 1000 is implemented to place a temporary fixing 2000 in the axis of the temporary fixing support module.
- the chamber of the temporary fixing support module is supplied with compressed air so as to maintain the piston 306 in a release position in which its shoulder 307 is close to the flange 314 of the drive tube 313.
- the surface of the conical bore 331 of the piston 306 acts on the locking element 321 to maintain it in its rest position in which the end of the locking pin 327 is remote from the longitudinal axis of the drive tube.
- the loading cylinder 1002 is activated in such a way that the end of its rod comes out of its chamber to come and push the head of the rotating element 2003 of the temporary attachment so as to introduce the temporary attachment into the attachment support module temporary until the female part 2001 comes into abutment against the fork 1003.
- the rotating element 2003 of the temporary binding is then in engagement with the first freewheel 318 while the body 2001 is in engagement with the second freewheel 33'.
- the chamber of the temporary fixing support module is exposed to the open air so that the piston 306 moves away from the collar 314 under the effect of the spring 315 until it reaches a locking position.
- the locking element 321 returns to its locking position under the effect of the spring housed in the housing 328: the end of the locking pin 327 is then housed in the space E between the head of the rotary element 2003 and the body of the temporary fixing so that the latter is blocked in translation inside the module along its longitudinal axis.
- the loading jack 1002 is then retracted to its starting position then the jack 1005 is actuated so as to bring the fork 1003 back to its release position.
- the device allows the placement of temporary fixation and thus comprises a device for placing temporary fixation.
- a temporary fixation support module in which a temporary fixation has been introduced is brought with the main carousel to the workstation.
- the temporary fixture bracket module must then be paired to the main spindle.
- pin 51 is driven in translation along its axis in the direction of the functional module placed at the workstation until the male element 162 is housed in the bell 160.
- a slight air pressure can be introduced into the chamber of the module so that the piston 306 exerts a counter force along the longitudinal axis of the module vis-à-vis the fitting force.
- Pressurized air is injected into the chamber 171 of the cylinder 17 in order to move the internal pin 170 according to the arrow E.
- the ramp 165 of the locking key 164 then acts on the locking elements 163 to place them in their position. equipment in which they cooperate with the radial holes 161 of the bell 160.
- the pin 51 and the drive tube are then connected in rotation and in translation.
- the drive tube is a moving part and the pairing of the latter with the main spindle is a connection in rotation and in translation.
- the advance motor is implemented to translate the main spindle 51 so as to cause the drive tube 313 to slide and thereby the piston 306 to inside the module, the cylinder 80 and the compressed gas supply of the temporary fixing support module via the pipe 906 are exhausted until the descent of the pin 51 has allowed the insertion of the temporary fixing in its housing of the piece to be worked;
- the continuous advance motor is implemented to translate the main spindle 51 so as to continue to cause the drive tube 313 to slide and thereby the piston 306 inside the module until the thrust recorded at the level of the main pin 51 by the current sensor consumed by the advance motor reaches a predetermined threshold value corresponding to the abutment of the temporary fixing against the structure to be worked.
- the main spindle 51 is driven in rotation by means of the rotation motor so that the drive tube rotates the head of the male part of the temporary fixing.
- the male part of the temporary attachment rotates while the female part is held stationary in rotation.
- the male part is screwed causing the expansion of the deformable end in the hole and thus the securing of the temporary fixing in the hole of the structure to be worked.
- the rotation motor is rotated in the other direction so as to rotate the main spindle 51 by some degree in order to disengage the freewheels from the module.
- Air is introduced into line 906 to move the piston to its release position and place the locking pin in its rest position.
- the feed motor is implemented to move pin 51 to its home position.
- the main spindle is stopped when the drive tube is in its initial position.
- Cylinder 820 is activated to return the sheath to its original position.
- the cylinder 17 is actuated to release the locking elements 163 from the radial holes 161 of the bell 160 and thus uncouple the main pin 51 from the tube drive 313 of the module.
- the feed motor is again implemented to bring the main spindle back to its initial starting position.
- the temporary fixture support module can then be led back to the temporary fixture loading station to receive a new temporary fixture for placement.
- the equipment between the spindle and the moving part i.e. the output shaft or the drive tube
- the spindle and the output shaft or the drive tube are interconnected directly via the equipment means 16 without intermediate transmission.
- An intermediate transmission could however be interposed between the movable member and the bell 160.
- Such an intermediate transmission could or could not serve as a reduction gear. It could not induce motion transformation or on the contrary induce motion transformation (for example transformation of a translational movement of the spindle into a rotational movement of at least one moving part of a functional module).
- the equipment between the moving part (the piston of the module) and the spindle is done indirectly at the coating station via the pulleys, belts and half-dogs. It is done directly by simple contact at the workstation.
- the sensors of the control and measurement assembly can make it possible to detect parameters specific to the operation of the paired module.
- the following parameters can for example be measured: axial thrust on the drill: deduced for example from a force sensor on the spindle or in the transmission or from the intensity feed motor supply current; torque on the drill: deduced for example from a torque sensor on the spindle or in the transmission or from the intensity of the motor supply current rotation; drill stroke: for example deduced from the feed motor angle sensor.
- axial thrust on the drill deduced for example from a force sensor on the spindle or in the transmission or from the intensity feed motor supply current
- torque on the drill deduced for example from a torque sensor on the spindle or in the transmission or from the intensity of the motor supply current rotation
- drill stroke for example deduced from the feed motor angle sensor.
- travel of the screw deduced for example from the angle sensor of the rotation motor
- tightening torque for example deduced from the torque sensor in the transmission or from the intensity of the rotation motor.
- the axial thrust on the rivet deduced for example from a force sensor on the spindle or in the transmission or from the intensity of the advance motor supply current.
- the axial travel of the rivet deduced for example from the angle sensor of the advance motor.
- axial thrust on the temporary fixing deduced for example from a force sensor on the spindle or in the transmission or from the intensity of the supply current of the advance motor; tightening torque: for example deduced from the torque sensor in the transmission or from the current of the rotation motor.
- the axial thrust measurement can also be used to detect the engagement of the male element 162 and the bell 160 during the fitting of a functional module.
- the functional modules therefore preferably do not include any sensor, or at the very least a very limited number of sensors, which makes their structure particularly simple, robust and economical.
- the device also comprises a battery of pneumatic connectors 18 making it possible to connect all the pneumatic actuators to pressurized fluid supply means and/or to means for creating a vacuum.
- a drilling or riveting or temporary fixing operation can be implemented at the workstation; a rivet loading operation at the rivet loading station; a temporary fixing loading operation to the temporary fixing loading pose.
- the device according to the invention makes it possible to perform a plurality of functions, for example laying of a fixing element, coating of a fixing element, drilling, etc. In this sense, it constitutes a multitasking device. It thus comprises devices making it possible to perform each of the functions, in particular coating device, device for installing temporary fixing, device for installing fixing element, drilling device, device for transferring fixing element, etc. Each of these devices can be dissociated to form an independent device performing its own function. Any combination of several (in particular at least 2) of these devices can be made.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
Description
Claims
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/EP2020/069160 WO2022008041A1 (fr) | 2020-07-07 | 2020-07-07 | Dispositif d'enduction |
Publications (1)
Publication Number | Publication Date |
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EP4178728A1 true EP4178728A1 (fr) | 2023-05-17 |
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ID=71899697
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20750170.1A Pending EP4178728A1 (fr) | 2020-07-07 | 2020-07-07 | Dispositif d'enduction |
Country Status (4)
Country | Link |
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US (1) | US20230330695A1 (fr) |
EP (1) | EP4178728A1 (fr) |
JP (1) | JP2023538719A (fr) |
WO (1) | WO2022008041A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN116393316B (zh) * | 2023-06-07 | 2023-08-08 | 德路通(石家庄)生物科技有限公司 | 一种用于采样针采样层的制备装置及制备方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4548533A (en) | 1984-04-20 | 1985-10-22 | Monogram Industries, Inc. | Wedge-type fastener |
US5518768A (en) * | 1995-02-03 | 1996-05-21 | Nd Industries, Inc. | Method and apparatus for making retaining elements |
WO2012048708A1 (fr) * | 2010-10-15 | 2012-04-19 | Ringkøbing Maskinværksted A/S | Dispositif de lubrification |
JP6095943B2 (ja) * | 2012-10-30 | 2017-03-15 | 三菱重工業株式会社 | シール塗布装置及びシール塗布方法 |
FR3000693B1 (fr) | 2013-01-09 | 2015-06-19 | Seti Tec | Perceuse bimoteur a vitesse d'avance controlee |
-
2020
- 2020-07-07 US US18/004,552 patent/US20230330695A1/en active Pending
- 2020-07-07 JP JP2023501512A patent/JP2023538719A/ja active Pending
- 2020-07-07 WO PCT/EP2020/069160 patent/WO2022008041A1/fr unknown
- 2020-07-07 EP EP20750170.1A patent/EP4178728A1/fr active Pending
Also Published As
Publication number | Publication date |
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WO2022008041A1 (fr) | 2022-01-13 |
US20230330695A1 (en) | 2023-10-19 |
JP2023538719A (ja) | 2023-09-11 |
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Owner name: KAWASAKI HEAVY INDUSTRIES, LTD. Owner name: SETI-TEC |