EP4178759A1

EP4178759A1 - Carousel-type single-spindle multi-task device

Info

Publication number: EP4178759A1
Application number: EP20750168.5A
Authority: EP
Inventors: Sebastien Pereira Santo
Original assignee: Seti Tec SAS
Current assignee: Seti Tec SAS
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2023-05-17
Also published as: JP2023538485A; BR112023000137A2; WO2022008039A1; US20230302597A1

Abstract

The present invention relates to a multi-task device comprising: - means for securing said device to motorized handling means able to move said multi-task device at least partially in space with respect to a structure that is to be worked; - means for securing said device to said structure that is to be worked; - at least two functional modules, each of said functional modules comprising at least one mobile member able to allow a given task to be accomplished; said device comprising a single drive and control assembly for driving and controlling said functional modules, said drive and control assembly comprising: - a single drive spindle; - drive means capable of driving the movement of said spindle; - measurement means measuring at least one physical parameter indicative of at least one characteristic of operation of said functional modules; - control means controlling said drive means and said measurement means; said device further comprising coupling gear able to connect said single drive spindle, for the purposes of transmitting movement, alternatively to said at least one mobile member of said functional modules.

Description

DESCRIPTION

Title: Carousel single-spindle multi-tasking device

1. Field of the invention

The field of the invention is that of the design and production of devices used in industry to perform various tasks on a structure to be worked on, in particular for the aeronautical industry.

2. Prior Art

Many devices are currently implemented to carry out various tasks or operations on a structure to be worked on. This may, for example, involve drilling, countersinking, fitting a temporary fixing, coating a rivet with mastic then fitting this rivet in a hole drilled in said structure or any other operation.

Mobile devices have been developed to perform tasks on complex structures such as aircraft.

These devices include in particular those of the type comprising a tool placed at the end of a robot arm to be manipulated and moved relative to the structure to be worked, the device comprising means making it possible to make the tool integral with the structure to work in order to make it resume the efforts due to the accomplishment of the task to relieve the robot arm.

US patent document 5,088,171 describes a device of this type comprising a drill placed at the end of a robot arm and comprising means allowing the tool to be snapped onto the surface of the structure to be worked to make them integral time to complete a task.

There are also known devices of the type comprising a tool attached to a so-called "walker" robot, in particular a hexapod, making it possible to manipulate and move the tool relative to the structure to be worked on.

The patent document FR-B1-2 809 034 describes a device of this type comprising a drill mounted on a hexapod robot and which comprises suction cups to make it possible to make the structure to be worked alternately integral with the robot and the tool.

There are also known devices of the type comprising a frame incorporating orthogonal rails (an x-rail and a y-rail) which can be secured to the structure to be worked by means of suction cups. These rails make it possible to guide the tools in a motorized manner with respect to the structure to be worked in order to enable tasks to be carried out successively at different places of this structure. This type of device is generally called "grid digital” or “digital drill grid” if they are used to make drills.

Patent document WOA-2-200349899 describes a device of this type.

These types of devices are advantageous in that they make it possible to intervene effectively to perform tasks on complex structures such as aircraft fuselages in particular.

They also make it possible to relieve the means of setting in motion implemented to move the tool (robot, actuators, motors, transmissions, etc.) taking into account the implementation of means making it possible to secure the tool to the structure at work (suction cups, mechanical connection system, etc.). This makes it possible to reduce the dimensioning of these moving means and thus to reduce their size and cost.

The means for attaching the tool to the structure to be worked also make it possible to improve the stability of the topping during the performance of a task and thus to improve the precision with which this task is accomplished.

However, these types of devices have some drawbacks.

In particular, they are not very versatile. Indeed, they only carry one type of tool, for example a drilling device, so that they only allow one type of task to be carried out, in this case drilling. Thus, if it is desired to carry out, on the same structure, several types of tasks, for example a drilling then the installation of a rivet, it is necessary to proceed with the dismantling of the first tooling after the completion of the first task to replace it with another tool suitable for carrying out the following task. This is rather inconvenient and leads to a drop in productivity.

Solutions have been devised to embed several types of tools, in particular at the end of a robot arm. However, devices of this type are bulky, complex and expensive to implement.

It is therefore still possible to improve devices of this type, which constitutes an objective pursued by the invention.

3. Objects of the invention

The aim of the invention is in particular to provide an effective solution to at least some of these various problems.

In particular, according to at least one embodiment, an objective of the invention is to provide a versatile device which can make it possible to carry out tasks of different types without requiring for this to carry out a tool change operation between two different tasks to set up the necessary tools.

The object of the invention, according to at least one embodiment, 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.

4. Presentation of the invention

For this, the invention proposes a multi-task device comprising: means for securing said device to motorized handling means capable of moving at least partially said multi-task device in space relative to a structure to be worked on; means for securing said device to said structure to be worked on; at least two functional modules, each of said functional modules comprising at least one movable member able to allow the performance of a given task.

Such a device comprises a single drive and control assembly of said functional modules, said drive and control assembly comprising: a single drive pin; motor means able to drive said spindle in motion; means for measuring at least one physical parameter representative of at least one operating characteristic of said functional modules; means for controlling said motor means and said measuring means. Such a device further comprises equipment means capable of linking in movement said single drive spindle alternately with said at least one movable member of said functional modules.

Thus, according to this aspect, the invention proposes a multi-tasking device that can be secured to a structure to be worked, for example by suction cups, and can be moved relative to this structure by motorized handling means such as a robot arm, a walking robot or a digital grid. This device is multi-tasking in that it embeds several functional modules, each allowing the performance of a distinct type of task such as for example drilling, countersinking, coating of sealant on an assembly element such as a rivet or a screw, the installation of rivets, the installation of temporary fixation (e.g. staple) ....

Such a device is particularly original in that it comprises a single set of training and control of the functional modules.

This drive and control assembly comprises in particular a single drive spindle and motor means for driving it in motion.

The device comprises equipment means capable of linking in movement the single drive spindle alternately with a mobile member of the on-board functional modules. Thus, the functional modules do not include motorization. They are each driven in motion, alternately by means of the same spindle and the same motorization of the single drive and control assembly.

Similarly, the single drive and control assembly comprises means for measuring at least one physical parameter representative of at least one operating characteristic of the functional modules and means for controlling the motor means and measuring means so that the "intelligent" part of the device is integrated, at least for the most part, in the single training and control assembly, so that the functional modules only include the essential elements necessary for the realization their function, ie its output device(s) as well as the mechanical elements making it possible to transfer, and if necessary modify, the movement of the spindle to its output device(s).

The functional modules according to the invention thus have an extremely simple architecture. They are therefore particularly robust. They are also compact and lightweight. This makes it possible to embed a large number of functional modules without requiring excessively dimensioned handling means, which would have an impact on the general size of the device and on its cost.

The use of a single drive and control assembly grouping together all the motor means, measuring means and control means as well as a single drive spindle which are used to drive each of the functional modules, makes it possible to reducing the number of components used, simplifying the architecture, thus improving in particular the robustness, reliability and compactness of the device.

A device according to the invention thus benefits from great versatility, which contributes to increasing productivity, good compactness, which makes it possible to carry out tasks in cramped environments, great simplicity and robustness, which reduces the frequency maintenance operations and participates in increasing productivity, and of a certain lightness which makes it possible in particular to reduce the size of the handling means.

According to one possible characteristic, said fitting means ensure a direct connection between said spindle and said at least one mobile member of the fitted functional module.

According to one possible characteristic, a device according to the invention comprises means for transforming movement between said pin and said at least one moving member of said paired functional module.

According to one possible characteristic, said motorized handling means belong to the group comprising:

- the robots ;

- digital drilling grids.

According to one possible characteristic, said measuring means are capable of measuring at least one parameter representative of at least one operating characteristic of said functional modules belonging to the group comprising:

- A torque on said at least one movable member of the fitted module;

- An axial force on said at least one movable member of the fitted module;

- An angular position of said at least one movable member of the fitted module;

- An axial position of said at least one movable member of the fitted module.

According to one possible characteristic, said motor means comprise at least one electric motor capable of driving said spindle and said at least one moving member of a functional module paired with said spindle.

According to one possible characteristic, said control means comprise means for measuring the electrical intensity consumed by said motor and means for determining, as a function of the measured electrical intensity, a torque and/or an axial force on said at least one movable member of a paired module. According to one possible characteristic, said at least one motor comprises a rotor, said measuring means comprising at least one sensor for measuring the angular position of said rotor, said control means comprising means for determining, as a function of the angular position of said rotor measured, the angular position and / the axial position of said at least one movable member of a functional module paired with said pin.

According to one possible characteristic, said motor means comprise a transmission connecting said at least one motor to said single drive spindle, said measuring means comprising at least one torque and/or force and/or position sensor integrated into said transmission able to allow the determination of a torque and/or of an axial force on said at least one movable member of a fitted module and/or of an angular and/or axial position of said at least one movable member of a paired module.

According to one possible characteristic, a device according to the invention comprises means for conveying said functional modules in the extension of said drive spindle.

According to one possible characteristic, said routing means comprise at least one carousel mounted rotatably and comprising means for supporting a plurality of functional modules.

According to one possible characteristic, a device according to the invention comprises means for driving said at least one carousel in rotation, said means for driving in rotation comprising at least one movable drive pawl forming with said carousel a wheel-type assembly ratchet, said drive means in rotation comprising means for moving said movable drive pawl along an axis orthogonal to the axis of rotation of said carousel.

According to one possible characteristic, said routing means comprise at least one support member movable in translation and comprising support means for a plurality of functional modules.

According to one possible characteristic, a device according to the invention comprises means for the remote activation-deactivation of said equipment means. According to one possible characteristic, said drive spindle is mounted to move in rotation and in translation along the same axis, said motor means comprising at least one motor and a transmission connecting said drive spindle to said at least one motor, said transmission comprising: a rotary drive nut comprising a splined portion of complementary shape to a splined portion provided on said spindle along said axis; a drive ring in translation connected to said drive pin by a helical connection along said axis.

According to one possible characteristic, a device according to the invention comprises at least one pressing element, capable of exerting pressure on said structure to be worked, located in the extension of said drive spindle, and means for moving said pressing element in the direction of said structure to be worked, said means for moving said pressing element acting on said pressing element via a functional module located in the extension of said spindle.

According to one possible characteristic, a device according to the invention comprises at least one of said functional assemblies comprises a sheath slidably housing a functional assembly, said operating assembly further comprising means for locking said functional assembly in said sheath in translation.

5. Description of figures

Other characteristics and advantages of the invention will appear on reading the following description of particular embodiments, given by way of simple illustrative and non-limiting example, and the appended drawings, among which:

[Fig 1] Figure 1 illustrates a perspective view of a device according to the invention;

[Fig 2] Figure 2 illustrates a sectional view of the device of Figure 1 along a plane passing through the axis of the spindle;

[Fig 3] Figure 3 illustrates an enlarged partial view of Figure 1;

[Fig 4] Figure 4 illustrates a view of the device of Figure 1 along the plane A-A of the device of Figure 3;

[Fig 5] 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;

[Fig 6] Figure 6 illustrates a partial sectional view along a plane passing through the pin and the rotating guide shaft of the carousel of a device according to the invention;

[Fig 7] Figure 7 illustrates a perspective view of a rotating guide shaft of the carousel of a device according to the invention;

[Fig 8] Figure 8 illustrates a sectional view of a rivet support module;

[Fig 9] Figure 9 illustrates a sectional view of another rivet support module;

[Fig 10] Figure 10 illustrates a sectional view of a drilling module;

[Fig 11] Figure 11 illustrates a sectional view of a temporary attachment support module; [Fig 12] Figure 12 illustrates a sectional view along the plane D-D of the device of Figure 2;

[Fig 13] Figure 13 illustrates a sectional view along the plane E-E of the device of Figure 2;

[Fig 14] Figure 14 illustrates a sectional view along the plane B-B of the device of Figure 2;

[Fig 15] Figure 15 illustrates a sectional view along the plane C-C of the device of Figure 2;

[Fig 16] 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;

[Fig 17] Figure 17 illustrates the device of Figure 1 from another angle of view;

[Fig 18] Figure 18 illustrates the device of Figure 17 with a different suction cup device;

[Fig 19] 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;

[Fig 20] Figure 20 illustrates the device of Figure 19 from another angle;

[Fig 21] figure 21 illustrates a section along the H-H axis of figure 20;

[Fig 22] Figure 22 illustrates a detail of Figure 21;

[Fig 23] Figure 23 illustrates a partial view of a universal securing device according to the invention;

[Fig 24] Figure 24 illustrates a perspective detail view of the device of Figure 1 at the secondary carousel;

[Fig 25] Figure 25 illustrates a sectional view along the axis l-l of the secondary carousel;

[Fig 26] Figure 26 illustrates a sectional view along the J-J axis of the secondary carousel;

[Fig 27] Figure 27 illustrates a partial view in longitudinal section of the device at the level of the rapid fitting means;

[Fig 28] Figure 28 illustrates a sectional view along the K-K axis of Figure 27;

[Fig 29] Figure 29 illustrates a sectional view along the H-H axis of Figure 4;

[Fig 30] figure 30 illustrates a sectional view of a male element of the apparatus means [Fig 31] Figure 31 illustrates a sectional view along a 90° section plane of Figure 30;

[Fig 32] Figure 32 illustrates a top view of a locking member;

[Fig 33] Figure 32 illustrates a side view of a locking member 28;

[Fig 34] Figure 34 illustrates a partial sectional view of the coating station;

[Fig 35] Figure 35 illustrates a partial sectional view along the M-M axis of Figure 34;

[Fig 36] Figure 36 illustrates a partial sectional view of a rivet support module at the coating station;

[Fig 37] 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;

[Fig 42] Figure 42 illustrates a longitudinal sectional view of a rivet support module of a given size being coated;

[Fig 43] 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;

[Fig 44] Figure 44 illustrates a longitudinal sectional view at the temporary fastener loading station;

[Fig 45] Figure 45 illustrates views of a locking element;

[Fig 46] Figure 46 illustrates a detail of Figure 44;

[Fig 47] Figure 47 illustrates a partial view in longitudinal section of the perspective workstation;

[Fig 48] Figure 48 illustrates a partial view in longitudinal section of the workstation at the level of the rapid fitting means;

[Fig 49] Figure 49 illustrates a partial view in longitudinal section of the connection means in translation of the main and secondary spindles;

[Fig 50] Figure 50 illustrates views illustrating telescopy

6. Description of particular embodiments

An example of a multitasking device according to the invention is described in relation to FIGS. 1 to 50. As shown in these figures, 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).

These motorized handling means belong to the group comprising: robot arms; walking robots; digital grids.

In the example illustrated, these are attachment means 3 to a robot arm. 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.

In the case of digital grids, 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.

Means of securing to a structure to be worked on

The device comprises means 4 for securing to a structure to be worked on.

These securing means can be of different types.

They can for example comprise 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).

Alternatively, 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 means universal reversible fasteners 100.

Universal reversible fastening means for securing means to a structure to be worked on

The universal reversible fixing means 100 comprise a fixing plate 101.

In the case of the suction cups 41, the fixing plate 101 will be integral with a support structure carrying the suction cups.

In the case of the clamping C 42, 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 mounted so as to move 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.

As they pass from their uncoupling position to their securing position, the inclined surfaces of the grooved ends of the fixing plate 101 gradually come to slide against the inclined surfaces of the corresponding jaws 104 to ensure a connection by wedge effect.

To fix the desired attachment means to the frame, 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.

Functional modules

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. Other functions could be envisaged such as screwing.

Drilling and/or countersinking module

Functional module 9 shown aligned with pin 51 in Figure 2 is a drilling module.

The drilling module comprises a sheath 90.

This furnace 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 furnace 90 includes a lateral groove 901 which is made diametrically opposite and offset along the longitudinal axis of the sleeve 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 could, for example, be a simple drill bit for making simple holes, a stepped drill bit, a countersink bit for making countersunk holes, a countersinking to countersink previously made holes.

The output shaft 91 is rotatably mounted in a bearing 94 itself slidably mounted along the sleeve 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 (not shown) 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 sheath 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.

Alternatively, 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 furnace beyond its position shown in Figure 5 or 6.

In addition (in the two variants of operation of the cylinder 904 and the end 905), the sleeve houses at each of its ends a stop segment (not shown) each forming a stopper for the functional assembly. Thus, a functional drilling module assembly can slide inside the sheath 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 substantially identical structure to that of the drilling module. In this case, the means 93 for fixing a cutting tool would be replaced by means for securing a socket or a screwing recess to the output shaft. This could suppose that 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.

Rivet holder module

The rivet support module 200 allows the rivet to be held and comprises, like the drilling module, a sheath 90.

This furnace 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 houses a tubular element 201 which has at one of its ends a shoulder 202 provided to bear against a shoulder 203 of complementary shape made at one end of the furnace 90.

Its opposite end being close to a shoulder 204 formed in the lower part of the sheath 90, without however being in contact with this shoulder to allow pressurized air to pass between the outer surface of the tubular element 201 and the inner surface of the sleeve 90, as will emerge more clearly later.

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 furnace 90 also includes an inner circumferential groove 209 housing an O-ring 210 ensuring the seal 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 holding means for the rivet 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 resown.

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.

Several 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. In this case, the split ring would of course have a shape adapted to that of the head of a screw rather than that of the head of a rivet.

Temporary mounting bracket module

The temporary fixing support module 300 includes a sheath 90.

This furnace 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.

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, such as for example spring washers or a spring, are interposed between the flange 314 of the drive tube 313 and the shoulder 307 of the piston 306. These return means tend to move one of the other this collar and this shoulder.

The drive tube and the piston are movable and linked in translation in the module between at least:

- a retracted position in which they extend inside said module, and

- a deployed position in which at least one of these elements extends at least partly outside the module, i.e. the sheath.

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 bring the locking element 321 back into 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.

As will become clear later, the first and second freewheels have opposing drive capabilities.

Unique training and control package

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.

In this embodiment, 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 well that they are linked by a helical bond.

This type of transmission is known per se and is not described in more detail here.

An example of transmission of this type is described in particular in patent EP-B1-2754531 which has the advantage of making the spindle feed rate only dependent on the rotational frequency of the feed motor.

Other transmission architectures producing the same effect could be considered.

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. In the example shown, the axes of the motors are essentially parallel to the axis of the spindle. In variants, one or the other of these motors, or both, may have an axis inclined with respect to that of the spindle, in particular orthogonal.

As will be described in more detail below, 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. Such a controller comprises in particular all the memories, program(s) and processor(s) 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 spindle; an axial position of at least one movable member of the module paired with the spindle.

In variants, the 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.

In variants, the 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 movable 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.

In variants, the measurement 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 one movable member 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.

Several of the different measurement means mentioned above can of course be used in combination.

Means of carrying modules: carousel

A device according to the invention comprises means for carrying a plurality of functional modules. These carrying means make it possible to embark and move several functional modules. In the illustrated embodiment, 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. In this embodiment, 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 house 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.

Functional positions

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.

In this embodiment, 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

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.

At this station, 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 function of this actuator will be described later.

Temporary Fixture Change Station The device comprises a temporary fixing loading station P2 for inserting a temporary fixing into a temporary fixing support module brought to this station by the carousel.

In this embodiment, 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 station P2 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 binding 1001 placed by the bandolier 1000 in the axis of the temporary binding loading station P2 to allow action on it to introduce it into the support module 300, as this 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 around its axis according to arrow C so that its end provided with fingers is disengaged from the module to allow it to be rotated by the carousel.

The movement of the fork 1003 is ensured by means of a cylinder 1005.

Rivet loading station

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.

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.

In this embodiment, the number of cells is equal to six. It can of course be greater or less than 6.

In particular, 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.

In this embodiment, the holding means comprise an element deformable 1092 provided with a tip forming a harpoon 1093 located in each cell. The tip of each harpoon is shaped to allow the introduction of a fixing element into the cell through its receiving hole and to prevent the extraction of the fixing element through the receiving hole of the cell . Thus, 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 cylinder 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 actuator 1017 carries a pawl 1023 which is mounted so as to be able to rotate with respect to the piston around an axis 1024 essentially parallel to the axis of rotating carousel 1008.

The pawl 1023 comprises a support surface 1025 provided to come to bear against an abutment 1026 of the piston 1018 defining the extreme drive 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.

In the configuration illustrated in Figure 14, the piston 1018 is in its start position and the pawl 1023 is in its deployed position.

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 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 located in alignment with the loading cylinder 1006, ie at the dispensing zone. Preferably, at least one other cell is then located in a feed zone. To rotate the carousel 1008 clockwise, pressurized air is injected into the chamber 1019 so as to move the piston 1018 along the arrow G into its end position. During this movement, 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. During the movement of the carousel 1008, 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 bearing 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. 1008 Return means (not shown), such as a spring or the like, may possibly be implemented to act on the pawl 1028 to tend to return 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 FIG. 15 (insofar as the device can take any orientation in the space, the indication of the right side is purely illustrative with reference to Figure 15 for reasons of understanding), and an end position in which it is in abutment with the left side in Figure 15 and the pawl 1028 is in deployed position between two notches 1016.

In the configuration illustrated in FIG. 15, the piston 1021 is in its end position and the pawl 1028 is in its deployed position.

To rotate the carousel 1008 counterclockwise, pressurized air is injected into the chamber 1022 so as to move the piston 1021 along the arrow I into its end position. During this movement, 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. During the movement of the carousel 1008, 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. During this movement, 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.

The implementation of the first 1017 and second 1020 cylinders makes it possible to line the desired cell 1009 with the main pin 51 more quickly by choosing the direction of rotation of the carousel 1008 which will allow the fastest line setting. However, a single actuator can be implemented. 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.

Rivet coating station

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.

It comprises a 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 linked 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 linked 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.

The shaft 1042 carries at its end opposite to that to which the pulley 1041 is fixed 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

1043.

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 for dispensing sealant onto 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 integral with 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 jacks 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 station 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 a stop against which the support 1062 of the nozzle 1050 is likely to come to bear to determine a coating limit at the end of the rivet. By 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.

According to this variant, 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.

A fitting 3011 makes it possible to inject mastic into one of the channels 3003, itself in communication with the groove 3006.

According to this variant, 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.

In this way, when the probe is in contact with the end of an element of fixing, 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.

Workplace

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. In this embodiment, 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 to move in translation inside the male element 162 and comprising a circumferential ramp 165 capable of coming to act against the locking elements 163 (in particular their cylindrical head) to move them inside the male element 162 until they cooperate with the radial holes 162 of the bell 160 and thus make the bell and the male element integral in rotation and in translation.

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.

Fax

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.

This telescopy makes it possible, as will be described in more detail later, to bring the secondary pin 170, initially housed in the main pin in a retracted position, to come out of the main pin 51 to reach a deployed position in which it extends at least partly outside the main spindle, then to link them in translation so that the movement of the main spindle 51 is accompanied by a movement of the secondary spindle 170: the main spindle and the secondary spindle then form the same very long spindle.

For this, 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.

More specifically, 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 enters: 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.

It is then possible to translate the secondary pin 170 inside the main pin 51 between at least: a retracted position in which it is housed inside said outer pin, and an extended position in which it is extends at least partly outside said outer pin.

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.

Rotating drive of the main carousel

As mentioned above, the carousel is mounted mobile in rotation around its axis which extends essentially parallel to that of the spindle.

The carousel includes along its outer peripheral contour longitudinal indentations 62 which extend substantially 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 beveled end 708 is resting 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.

In the configuration illustrated in FIG. 12, 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. In this embodiment, 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. To rotate the carousel in the counterclockwise direction, the jack 800 is exhausted so that the blocking pin 8 is held in its blocking position solely by the effect of the spring.

The piston 700 is in its starting position (in abutment on the right in the figure

12).

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.

During this movement, 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.

During this movement, 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).

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.

In the configuration illustrated in Figure 13, the piston 710 is in its starting position and the pawl 712 is in its deployed position.

To rotate the carousel clockwise, 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 the figure

13). Pawl 712 is in its deployed position.

The internal piston is in its locking position so that the pawl is held 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.

During this movement, 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.

During this movement, 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.

The implementation of the first 70 and second 71 cylinders makes 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. However, a single actuator can be implemented. This will simplify the device but will induce alignment times longer.

The rotation drive means of the main carousel may be of the type of those of the secondary carousel. In this case, rather than implementing double jacks to drive the pawls, i.e. 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 sheath 90 of a functional module 9 located at the workstation in the extension of the pin 51.

The groove 901 of 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 cylinder 13.

The jack 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 at the loading/unloading station (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.

Loading-unloading of functional modules

The loading of the carousel 6 into functional modules 9 is obtained in the following manner.

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.

The shape of 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.

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, that the main carousel comprises 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 jack 13 to disengage the lug 10 from the groove 901 and thus let the functional module 9 slide out of the corresponding cell 61.

Pressure element

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. Such 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.

Setting up the multi-task device

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.

Drilling and/or countersinking operation

In order to perform a drilling and/or countersinking operation, the main carousel is rotated until the desired drilling module is at the workstation.

As a reminder, 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 drive the output shaft 91 in movement, which constitutes a moving member of the module. For this, 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.

An excess number of holes in the bell compared to those of the male element facilitates this re-indexing.

If, however, the locking elements remained in balance between 2 holes without penetrating them, 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. Insofar as the movable assembly is in abutment inside the sleeve against the stop segment located on the side of the bell, 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 furnace 90 comes to rest 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.

By attaching a screwing socket to the module rather than a cutting tool, it is possible to carry out a screwing/unscrewing operation.

Rivet change

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.

For this, 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.

Once the rivet support module 200 is brought to the rivet loading station P3, a rivet loading operation is implemented.

Previously, 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 come to lodge in 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 come out of the ring 213 following the path reverse. 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.

Rivet coating operation

To carry out a rivet coating operation, 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.

During this movement, the piston 205 of the rivet support module remains in abutment against the circlips 218 under the effect of the friction of the O-rings ensuring the sealing of the chamber.

It is possible to carry out a coating of the helical type, or a coating of the annular type or else a coating of parallel annular cords.

Helical coating

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. For this, the procedure is as follows.

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 clutch 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 movable member and the bringing into cooperation of the two half-clutches constitutes an indirect device of the main spindle with this movable member. The apparatus here is a rotating connection.

The half-clutch 1038 carried by the cylinder 1036 then moves the piston 205 of the rivet support module 100 in the direction of the feeler 1058. When the cylinder 1036 reaches the end of its travel, the piston 205 of the module is placed in such a way that the connection zone between the head 219 and the body 220 of the rivet carried by the module is at a given position. It should be noted that each rivet support module is suitable for supporting a rivet of a given size. 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 cylinder 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.

At the same time, the mastic pump is operated so that nozzle 1050 delivers mastic to end 221 of the rivet.

After a period corresponding to one turn of the lead screw 1043, 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. Thus the drive in translation of the sabot by the lead screw is effective only after this space has been reabsorbed under the action of a random fraction of turn X.

At this stage, a bead of putty of 1 + X turn has been deposited at the level of the end 221 of the rivet.

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.

When the piston 1055 of the cylinder 1057 carrying the block 1054 comes into abutment by being moved from the end 221 towards the head 219 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 rotation of the single spindle 51 is stopped after a time elapsed from t0 allowing a number of turns of the lead screw of 3 + Y, Y being the number of turns of the spiral between the cord on the end and the cord under the head of the rivet. Knowing the rivet length makes it possible to know the distance Z between the end and head beads, Y = Z / lead screw pitch (assuming here that the rivet to be coated and the lead screw turn at the same frequency).

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.

At the same time as the main spindle 51 is stopped in rotation, the deposition of mastic is deactivated by depressurizing the mastic pump.

At the time of stopping the single pin 51, a 2 -X turn bead of putty was laid under the rivet head (3 turns minus (1 + X)).

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.

Annular coating

An annular-type coating consists of depositing at least one annular bead of mastic under the head 219 of the rivet.

For this, the procedure is as follows.

Prior to the arrival at the coating station of a rivet support module 100: 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; 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.

The half-clutch 1038 then moves the piston 205 of the rivet support module 100 in the direction of the feeler 1058. When the jack 1036 reaches the end of its travel, the piston 205 of the module is placed in such a way that the connection zone between the head 219 and the body 220 of the rivet carried by the module 200 is at a given position. It should be noted that 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 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

219 of rivets.

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.

At the same time, the mastic pump is implemented so that the nozzle 1050 delivers mastic at the connection area between the head 219 and the body

220 of the rivet.

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. At the same time, 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 jack 1053.

The main carousel 6 is rotated to bring the putty coated rivet to the work station to set the rivet.

Coating with parallel ring beads

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.

Once the beads have been deposited, 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.

riveting operation

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.

After the arrival at the workstation P5 of a rivet support module 200 carrying a rivet, the installation of the latter, in a hole previously made in the structure to be worked, is obtained in the following manner.

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 mobile member and the apparatus here constitutes a simple contacting of the main pin with the mobile 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.

During this movement of the main spindle, 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).

During this output of the secondary spindle, the circumferential groove 1063 passes through the unlocking ring 1064.

Then the main pin 51 is advanced, the portion of the male element 162 comes out of the cylindrical portion 1065, thus the unlocking ring is again pressed against the secondary pin and when this ring again arrives at the level of the circumferential groove 1063, it is housed in the groove 1063 under the action of the elastic return element. 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 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.

This approach makes it possible to ensure effective positioning of a rivet with greater efforts than if the positioning were carried out with the central cylinder implemented to control the pressing element 15 and with better precision taking into account the taking into account of the thrust forces recorded at the level of the main spindle.

Once the rivet has been correctly inserted into the hole, the main pin 51 is moved to 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 thereby acts on the outer surface of the lateral actuating 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.

Finally, 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 .

Temporary Fixture Loading

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, a deformable end 2002 (expandable and retractable) at the tip of a harpoon having a slot longitudinal and containing a spacer element fixed with respect to the body, and a rotating element 2003 which when it is turned with respect to the body, causes the separation (expansion) of the harpoon then its retraction into the body. Thus when, after having been introduced into a hole passing through 2 sheets, the rotating element is turned and tightened with respect to the body, the harpoon deviates from the other side of the sheets with respect to the body then enters the body and causes the plating of the sheets one on the other. An illustrative and non-limiting example of temporary fixation is described in document US 4548533.

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.

Prior to carrying out a temporary fixing operation, a 300 module of temporary fixing support must be loaded with a temporary fixing.

For this, the main carousel 6 is driven in rotation so as to bring the temporary fixing support module to the loading station P2.

After the temporary fixture support module is brought to the temporary fixture loading station, a temporary fixture loading operation is performed.

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. In this position, 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 attachment 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 vented so that the piston 306 moves away from the collar 314 under the effect of the spring 315 until it reaches a locking position. During this movement, 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.

Temporary fixing operation

The device allows the placement of temporary fixation and thus comprises a device for placing temporary fixation.

In order to carry out the installation of a 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.

For this, 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.

To insert the temporary fixture into the hole in the structure to be worked on: 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 inside the module, the cylinder 80 and the compressed gas supply from the temporary fixture support module via line 906 are exhausted until the descent of spindle 51 has allowed insertion of the temporary fixture into its housing in the workpiece; the continuous advance motor is implemented to translate the main spindle 51 so as to continue to slide the drive tube 313 and by the same 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. Given the antagonistic operation of the freewheels, the male part of the temporary attachment rotates while the female part is held stationary in rotation. As a result, 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.

When the tightening torque determined by the rotation motor current sensor reaches a predetermined threshold value corresponding to the completion of the tightening of the temporary fastener, the rotation motor is stopped.

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.

The cylinder 820 is activated to replace the sheath in 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 spindle 51 from the drive tube 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.

Variants

In the case of drilling modules, the equipment between the spindle and the moving part, i.e. the output shaft or the drive tube, is direct. Indeed, 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).

In the case of the rivet support 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 examples of functional modules described here only include a moving part, i.e. the output shaft, piston, drive tube. It could, however, comprise several output members.

During the performance of an operation, the sensors of the control and measurement assembly can make it possible to detect parameters specific to the operation of the paired module.

During a drilling operation, 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 rotation motor supply current; drill stroke: for example deduced from the feed motor angle sensor. During a tightening operation, the following parameters can for example be measured: 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.

During a rivet installation operation, it is possible, for example, to measure: 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.

During a temporary fixing operation, the following parameters can for example be measured: 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.

Of course, this does not represent an exhaustive list of possible parameter measurements.

All the sensors and other measurement means are integrated into the control and measurement assembly 5. 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 includes 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.

Several operations can be implemented simultaneously at different stations, for example: 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.

Claims

1. Multi-task device comprising: means for securing said device to motorized handling means capable of moving at least partially said multi-task device in space relative to a structure to be worked on; means for securing said device to said structure to be worked on; at least two functional modules, each of said functional modules comprising at least one movable member able to allow the performance of a given task; said device comprising a single drive and control assembly of said functional modules, said drive and control assembly comprising: a single drive pin; motor means able to drive said spindle in motion; means for measuring at least one physical parameter representative of at least one operating characteristic of said functional modules; means for controlling said motor means and said measuring means; said device further comprising equipment means capable of linking in movement said single drive pin alternately with said at least one moving member of said functional modules.

2. Device according to claim 1 wherein said fitting means provide a direct connection between said pin and said at least one movable member of the functional module paired.

3. Device according to claim 1 comprising means for transforming movement between said pin and said at least one movable member of said functional module fitted.

4. Device according to any one of claims 1 to 3 wherein said motorized handling means belong to the group comprising:

- the robots ;

- digital drilling grids.

5. Device according to any one of claims 1 to 4 in said measuring means are able to measure at least one parameter representative of at least one operating characteristic of said functional modules belonging to the group comprising:

- A torque on said at least one movable member of the fitted module; - An axial force on said at least one movable member of the fitted module;

- An angular position of said at least one movable member of the fitted module;

- An axial position of said at least one movable member of the fitted module.

6. Device according to any one of claims 1 to 5 wherein said motor means comprise at least one electric motor capable of moving said spindle and said at least one movable member of a functional module paired with said spindle.

7. Device according to claim 6 wherein said control means comprise means for measuring the electrical intensity consumed by said motor and means for determining, as a function of the measured electrical intensity, a torque and/or an axial force on said at least one movable member of a fitted module.

8. Device according to claim 6 or 7 wherein said at least one motor comprises a rotor, said measuring means comprising at least one sensor for measuring the angular position of said rotor, said control means comprising means for determining, as a function 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 said spindle.

9. Device according to any one of claims 6 to 8 wherein said motor means comprise a transmission connecting said at least one motor to said single drive spindle, said measuring means comprising at least one torque sensor and / or force and/or position integrated into said transmission capable of allowing the determination of a torque and/or an axial force on said at least one movable member of a fitted module and/or an angular position and/or or axial of said at least one movable member of a paired module.

10. Device according to any one of claims 1 to 9 comprising means for conveying said functional modules in the extension of said drive spindle.

11. Device according to claim 10 wherein said conveying means comprise at least one carousel mounted rotatably and comprising means for supporting a plurality of functional modules.

12. Device according to claim 11 comprising means for driving said at least one carousel in rotation, said means for driving in rotation comprising at least one movable drive pawl forming with said carousel a set of the ratchet wheel type, said rotation drive means comprising means for moving said mobile drive pawl along an axis orthogonal to the axis of rotation of said carousel.

13. Device according to any one of claims 10 to 12 wherein said conveying means comprise at least one support member movable in translation and comprising means for supporting a plurality of functional modules.

14. Device according to any one of claims 1 to 13 comprising remote activation-deactivation means of said equipment means.

15. Device according to any one of claims 1 to 14 wherein said drive spindle is mounted to move in rotation and in translation along the same axis, said motor means comprising at least one motor and a transmission connecting said drive spindle to said at least one motor, said transmission comprising: a rotary drive nut comprising a splined portion of shape complementary to a splined portion made on said spindle along said axis; a drive ring in translation connected to said drive spindle by a helical connection along said axis.

16. Device according to any one of claims 1 to 15 comprising at least one pressing element, capable of exerting pressure on said structure to be worked, located in the extension of said drive spindle, and means for moving said pressing element in the direction of said structure to be worked, said means for moving said pressing element acting on said pressing element via a functional module located in the extension of said spindle.

17. Device according to any one of claims 1 to 16 at least one of said functional assemblies comprises a sheath slidably housing a functional assembly, said operating assembly further comprising means for locking said functional assembly in said sheath in translation.