EP4194119A1 - Multitasking device including means for evacuating a rivet or temporary fastener identified as inconformal to a waste zone - Google Patents

Abstract

The present invention relates to a multi-tasking device comprising at least: - a rivet support module able to contain a rivet and/or a temporary fixing support module able to contain a temporary fixing; - means for introducing a rivet or a temporary fixing inside said modules at at least one loading station; - means for moving said at least one module to a workstation for placing the rivet or temporary fixing in a hole provided in a structure to be worked; characterized in that said device comprises means for checking the conformity of said rivet or of said temporary fixing according to at least one predetermined conformity criterion, and means for evacuation to a waste area of a rivet or a temporary fixing identified as non-compliant by said checking means.

Description

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 commonly implemented to carry out different 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 a 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 securing means, such as for example suction cups, making it possible to make the tool integral with the structure to be worked in order to make it resume the efforts due to the accomplishment of the task to relieve the robot arm.

Certain devices of this type, called a multi-task device, are capable of carrying several functional modules, each dedicated to performing a particular task.

Such a device comprises a single output spindle capable of being driven in rotation and/or in translation along the same axis via motor and control means.

This single pin can be made to cooperate alternately with the various on-board modules so as to allow the performance of a task to which they are dedicated.

Patent applications PCT/EP2020/069158 , PCT/EP2020/069159 , PCT/EP2020/069160 , PCT/EP2020/069161 , PCT/EP2020/069162 , filed by the Applicant, describe multi-task devices.

The invention relates more particularly to multi-task devices allowing the installation of rivets, coated or not with mastic, and/or the installation of temporary fasteners.

Devices allowing rivets to be placed generally comprise a rivet loading station making it possible to load the rivets to be placed in a rivet support module one by one. They optionally include a coating station at which the rivet support module carrying a rivet to be installed is moved in order to deposit a sealant on the rivet. They also include a workstation, located in line with the spindle, where the spindle acts on the rivet setting module to put it in place in the structure to be worked on.

Devices for installing temporary fasteners generally include a temporary fastener loading station for loading the temporary fasteners to be installed into a temporary fastener installation module one by one. They also include a workstation, located in line with the pin, where the pin acts on the temporary fixing module to put it in place in the structure to be worked on.

It may happen, even if it is rare, that the rivet introduced into the rivet support module or that the fastener introduced into the temporary fastener support module in order to carry out a rivet fitting or temporary fastener operation does not correspond not the type of rivet or temporary fastener required to perform the intended operation. It may also be that the coating of a rivet prior to its installation is not suitable.

In these cases, the laying task is impracticable.

There is therefore a need to enhance the quality of these devices to prevent the possible performance of non-compliant tasks.

3. Objects of the invention

The object 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 technique for installing rivets and/or temporary fasteners which contributes to preventing the performance of non-compliant operations for installing rivets or fasteners temporary.

In particular, the object of the invention, according to at least one embodiment, is to provide such a technique which makes it possible to check the rivet or the temporary fixing loaded in the device before proceeding with its installation.

Another object of the invention is, according to at least one embodiment, to provide such a technique which makes it possible to verify that the rivet or the temporary fastener loaded in the device is well suited to the laying operation that it is desired to perform.

Another object of the invention is, according to at least one embodiment, to provide such a technique which makes it possible to verify that the coating of a rivet to be installed is suitable before proceeding with its installation.

Another objective of the invention is, according to at least one embodiment, to provide such a technique which is simple to implement and/or robust and/or versatile.

4. Presentation of the invention

• un module de support de rivet apte à contenir un rivet et/ou un module de support de fixation temporaire apte à contenir une fixation temporaire ;
• des moyens d'introduction d'un rivet ou d'une fixation temporaire à l'intérieur desdits modules à au moins un poste de chargement ;
• des moyens de déplacement dudit au moins un module vers un poste de travail pour la pose de rivet ou de fixation temporaire dans un orifice ménagé dans une structure à travailler.

For this, the invention proposes a multi-tasking device comprising at least:

• a rivet support module capable of containing a rivet and/or a temporary fixing support module suitable for containing a temporary fixing;
• means for inserting a rivet or a temporary fixing inside said modules at at least one loading station;
• means for moving said at least one module towards a work station for placing a rivet or temporary fixing in an orifice made in a structure to be worked on.

According to the invention, said device comprises means for checking the conformity of said rivet or of said temporary fastening according to at least one predetermined conformity criterion, and means of evacuation to a scrap area of a rivet or of a temporary fixing identified as non-compliant by said checking means.

Thus, according to this aspect of the invention, the invention is based on the implementation of a technique making it possible to ensure that the rivet or the temporary fastener loaded into the multi-task device in order to be installed is indeed in adequacy with the installation operation that it is desired to carry out, and in the opposite case, allowing the non-compliant rivet or temporary fixing to be evacuated to a waste area.

According to one possible characteristic, said conformity control means are able to analyze the visual appearance of said rivet or of said temporary fixing and to deduce therefrom its conformity or non-conformity with respect to a reference visual aspect.

They can make it possible, when a device according to the invention is implemented to carry out a method for carrying out a task, for carrying out a conformity control step are able to analyze the visual appearance of said rivet or of said temporary fixing and to deduce its conformity or non-conformity with respect to a reference visual aspect.

According to one possible characteristic, said conformity control means comprise at least one camera and means for controlling said camera and for analyzing the images captured by said camera, said control and analysis means being able to compare the images of rivets or temporary fixings captured by said camera, comparing them with reference images and deducing therefrom the compliance/non-compliance of a rivet or temporary fixing.

They can allow, when a device according to the invention is implemented to put a method of carrying out a task, the realization of a step of capturing rivet or temporary fixing images by means of said camera, a step of comparing said images with reference images and a step of deducing the conformity/non-conformity of a rivet or of a temporary fixing.

According to one possible characteristic, said means for evacuating a rivet or a non-conforming temporary fastening comprise gravity evacuation means.

They can allow, when a device according to the invention is implemented to implement a method for carrying out a task, the carrying out of a gravity evacuation step of a rivet or of a temporary fixing.

According to one possible characteristic, said means for evacuating a non-compliant rivet comprise a gripper movable between at least one gripping position in which it is capable of grasping a non-compliant rivet integral with said rivet support module and a position evacuation in which it is capable of releasing said non-compliant rivet towards a scrap area, said gripper being able to assume, at each of its positions, a tightened state and a relaxed state.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of moving said gripper from one position to another so as to implement a gripping step during which it grasps a rivet or a temporary fixing a rivet or a non-compliant temporary fixing integral with said rivet or non-compliant fixing support module compliant, and an evacuation step during which it releases said non-compliant rivet or temporary fastener to a waste area, the method comprising tightening and releasing the clamp steps.

According to one possible characteristic, said gripper is rotatable between its gripping and evacuation positions along an axis essentially parallel to the axis of said module.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of displacement in rotation of said gripper along an axis essentially parallel to the axis of said module.

• une position rétractée dans laquelle elle s'étend à proximité d'une extrémité de sortie dudit module de support de rivet, et
• une position de désengagement dans laquelle elle est éloignée de ladite extrémité de sortie dudit module de support de rivet.

According to one possible characteristic, said gripper is mounted to move in translation along the axis of said spindle between at least:

• a retracted position in which it extends near an exit end of said rivet support module, and
• a disengaged position in which it is remote from said exit end of said rivet support module.

This can make it possible to move a rivet held in a rivet support module by means of an elastic ring so as to disengage its head from this gripper.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of moving said gripper in translation along an axis essentially parallel to the axis of said module between its retracted positions and disengagement.

According to a preferred characteristic, said means for evacuating an uncoated rivet or a non-compliant temporary fixing comprise means for evacuating by suction.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of evacuating a non-compliant rivet or temporary fixing comprising means of evacuation by suction.

According to a possible characteristic, said means for evacuation by suction of an uncoated rivet or a non-compliant temporary fixing comprise a evacuation tubing and means for generating a vacuum in said tubing.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of generating a vacuum in said tubing.

According to one possible characteristic, said means for introducing temporary fixation into said module comprise said tubing.

According to one possible characteristic, a multi-tasking device according to the invention comprises means for priming said evacuation by suction comprising a pusher element able to be positioned beyond the end of said rivet or of said non-compliant fastener, opposite to that placed on the side of said pipe, said pusher element being mounted movable in translation along the axis of said rivet or of said temporary fixing.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of initiating said evacuation by suction comprising a step of positioning a pusher element beyond the end of said rivet or of said non-conforming fixing, opposite to that placed on the side of said pipe, and a step of moving in translation along the axis of said rivet or of said temporary fixing in the direction of said rivet or of said temporary fixing.

According to one possible characteristic, a multi-tasking device according to the invention comprises a coating station comprising means for depositing mastic on said rivet, said means for depositing mastic comprising a coating nozzle.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of depositing mastic on said rivet by means of a coating nozzle.

According to one possible characteristic, said gravity evacuation means are able to evacuate a non-compliant coated rivet.

According to one possible characteristic, said suction evacuation means are able to evacuate a non-compliant non-coated rivet or a non-compliant temporary fixing.

According to one possible characteristic, said coating station comprises a feeler able to determine the length of a rivet secured to a support module placed at said coating station.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of determining the length of a rivet integral with a support module placed at said coating station using a feeler.

According to one possible characteristic, said pusher element is said feeler.

According to a possible variant, a multi-task device according to the invention constitutes a multi-task device comprising at least one rivet support module and a temporary fixing support module, said workstation device comprising a single pin capable of be driven in translation and/or in rotation along the same axis, said device comprising means for supplying each of said rivet support and temporary fixing modules individually to said workstation, said single spindle being capable of cooperating with a module rivet support or temporary fixing placed at said workstation to allow the installation of a rivet or a temporary fixing.

When a device according to the invention is implemented to implement a method for carrying out a task, it may comprise a step of driving said single spindle in translation and/or in rotation along the same axis, a step of bringing each of said rivet support and temporary fixing modules individually to said workstation, a step of bringing said single pin into cooperation with a rivet support or temporary fixing module placed at said workstation to allow the laying a rivet or a temporary fixing.

According to one possible characteristic, said coating station, said temporary fixing loading station and said non-compliant rivet or temporary fixing evacuation means by suction are located at the same station.

According to one possible characteristic, said rivet loading station and said means of gravity evacuation of the rivet or non-conforming temporary fixing are located at the same station.

• un bâti ;
• des moyens de fixation dudit bâti à des moyens de manutention motorisés aptes à déplacer au moins en partie ledit dispositif dans l'espace par rapport à une structure à travailler ;
• des moyens de positionnement et/ou solidarisation dudit dispositif à ladite structure à travailler.

According to one possible characteristic, a multitasking device according to the invention comprises:

• a frame;
• means for fixing said frame to motorized handling means capable of at least partially moving said device in space relative to a structure to be worked on;
• means for positioning and/or securing said device to said structure to be worked on.

The invention also covers a method for carrying out a task by means of a multi-task device according to any one of the above variants, said method comprising a step of checking the conformity of said rivet or of said temporary fixing according to at least one predetermined conformity criterion, and a step of evacuation to a scrap area of a rivet or of a temporary fastener identified as non-compliant by said checking means.

5. Description of figures

• [Fig 1] la figure 1 illustre une vue en perspective d'un exemple de dispositif multitâche selon l'invention ;
• [Fig 2] la figure 2 illustre une autre vue en perspective suivant un angle différent d'un exemple de dispositif multitâche selon l'invention ;
• [Fig 3] la figure 3 illustre une vue partielle en coupe suivant un plan orthogonal à la broche du dispositif de la figure 1 au niveau du poste de chargement de rivets ;
• [Fig 4 la figure 4 illustre une vue partielle en coupe suivant un plan parallèle à la broche du dispositif de la figure 3 ;
• [Fig 5] la figure 5 illustre une vue partielle en coupe suivant un plan parallèle à la broche du dispositif de la figure 1 au niveau du poste de chargement de fixations temporaires ;
• [Fig 6] la figure 6 illustre une vue de dessus d'un dispositif selon l'invention sur laquelle sont représenté différents plans de coupe et angles de vue servant à la réalisation d'autres figures ;
• [Fig 7] la figure 7 illustre une vue partielle en coupe suivant un plan parallèle à la broche du dispositif de la figure 1 au niveau du poste de chargement de fixations temporaires, avec un module de support de fixation temporaire au poste de chargement de fixations temporaires ;
• [Fig 8] la figure 8 illustre une vue partielle en coupe suivant un plan parallèle à la broche du dispositif de la figure 1 au niveau du poste de chargement de fixations temporaires, avec un module de support de rivet au poste de chargement de fixations temporaires ;
• [Fig 9] la figure 9 illustre une vue de détail en perspective d'une pince et de ses moyens d'entrainement ;
• [Fig 10] la figure 10 illustre une vue de détail en perspective d'une pince et de ses moyens d'entrainement suivant un autre angle ;
• [Fig 11] la figure 11 illustre une vue de détail en coupe d'une pince et de ses moyens d'entrainement suivant un autre angle ;
• [Fig 12] la figure 12 illustre une vue de détail en coupe des moyens d'entrainement en mouvements d'une buse d'enduction et d'un élément pousseur ;
• [Fig 13] la figure 13 illustre une vue de détail de la figure 12 ;
• [Fig 14] la figure 14 illustre une vue de détail du chargement d'un rivet dans un module de support de rivet.

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

• [ Fig 1 ] there figure 1 illustrates a perspective view of an example of a multitasking device according to the invention;
• [ Fig 2 ] there figure 2 illustrates another perspective view from a different angle of an example of a multitasking device according to the invention;
• [ Fig.3 ] there picture 3 illustrates a partial sectional view along a plane orthogonal to the pin of the device of the figure 1 at the rivet loading station;
• [ Fig 4 there figure 4 illustrates a partial sectional view along a plane parallel to the pin of the device of the picture 3 ;
• [ Fig.5 ] there figure 5 illustrates a partial sectional view along a plane parallel to the pin of the device of the figure 1 at the loading station for temporary fasteners;
• [ Fig 6 ] there figure 6 illustrates a top view of a device according to the invention on which are represented different section planes and angles of view used for the production of other figures;
• [ Fig 7 ] there figure 7 illustrates a partial sectional view along a plane parallel to the pin of the device of the figure 1 at the temporary fastener loading station, with a temporary fastener support module at the temporary fastener loading station;
• [ Fig.8 ] there figure 8 illustrates a partial sectional view along a plane parallel to the pin of the device of the figure 1 at the temporary fastener loading station, with a rivet support module at the temporary fastener loading station;
• [ Fig.9 ] there figure 9 illustrates a perspective detail view of a gripper and its drive means;
• [ Fig. 10 ] there figure 10 illustrates a perspective detail view of a gripper and its drive means from another angle;
• [ Fig.11 ] there figure 11 illustrates a detail sectional view of a gripper and its drive means from another angle;
• [ Fig. 12 ] there figure 12 illustrates a detail view in section of the drive means in movement of a coating nozzle and a pusher element;
• [ Fig. 13 ] there figure 13 shows a detail view of the figure 12 ;
• [ Fig. 14 ] there figure 14 illustrates a detail view of loading a rivet into a rivet holder module.

6. Description of particular embodiments 6.1. Architecture Fixing means to handling means

We describe, in relation to the figures 1 to 14 an example of a multitasking device according to the invention.

As shown in these figures, such a multi-task device 1 comprises a frame 2.

This frame 2 is equipped with means 3 for fixing to a motorized handling device (not shown) to which it is intended to be secured so as to be able to be moved at least in part relative to a structure to be worked (not shown).

• les bras robot ;
• les robots marcheurs par exemple selon le principe décrit dans le document de brevet FR-B1-2 809 034 ;
• les grilles numériques par exemple selon le principe décrit dans le document de brevet WOA-2-200349899 .

These motorized handling means belong to the group comprising in particular:

• robot arms;
• walking robots, for example, according to the principle described in the document patent FR-B1-2 809 034 ;
• digital grids for example according to the principle described in the patent document WOA-2-200349899 .

Such fixing means 3 are known per se and are therefore not described. They can for example include a plate and bolt type system, quick connection means of the collar type, a clamp or cam system, etc.

The motorized handling means are capable of moving at least partially (in particular when the controller is fixed) the multitasking device in space relative to the surface of the structure to be worked between at least one approach position in which the device is close to the surface while being remote from it and a docking position in which the device is applied against the surface, for example in order to be secured there if securing means are implemented.

Output single pin

The device comprises a single drive spindle 7 movable in rotation and/or in translation along the same axis.

The device also comprises motor means and a transmission to make it possible to drive the spindle with a movement of rotation and/or translation along its longitudinal axis. These drive means are known per se and are not described in more detail here.

Controller

The device conventionally comprises a controller 4 comprising the control and power electronics making it possible to control and supply energy to the device.

This controller 4 is preferably contained in a box remote from the frame 2 and stored in a fixed manner on site.

Controller 4, or at least some of its components, could nevertheless be embedded in frame 2.

Means of attachment to a structure to be worked on (optional)

The device can optionally, but preferably, comprise means 5 for securing to the structure to be worked on.

These securing means can be of different types.

They can for example comprise suction cups 51 secured to the frame 2 and suitable to be connected to vacuum means such as for example a vacuum pump to improve the attachment to the surface of the structure to be worked. These suction cups can be put together in groups to form suction cup pads.

When no means of securing to the structure to be worked on is implemented, the handling device can constitute not only a means of positioning the frame relative to the structure to be worked on but also a means of immobilizing it. in position with respect to the structure to be worked on.

Pressure element (optional)

The device may optionally comprise a presser element 6 of tubular shape mounted to move in translation with respect to the frame 2 along the axis of movement of the spindle 51 and in the extension of the latter.

The pressing element is a hollow tube to allow the passage of the pin.

Such a pressing element 6 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.

Functional modules

The device is capable of onboarding a plurality of functional modules MF.

Each of these MF functional modules makes it possible to carry out a specific task such as, for example, a drilling and/or countersinking operation, a riveting operation, a temporary fixing operation (for example a staple), a deposit (or coating) on a fixing element (a rivet or a screw) of a bead of sealing mastic. Other functions could be envisaged such as screwing.

• les modules de perçage et/ou fraisurage ;
• les modules de support de rivets enduit ou non de mastic ;
• les modules de support de fixations temporaires.

The functional modules belong for example to the group comprising at least:

• drilling and/or countersinking modules;
• rivet support modules coated or not with mastic;
• temporary fixing support modules.

A temporary fastener used in the aeronautical industry is a mechanical component making it possible to clamp at least two walls, one against the other, in order to carry out the production operations necessary for a definitive assembly of these walls, such as counter-drilling or installing screws or rivets.

By definition, these temporary fixings are removed as the screws or rivets fulfill their function of assembling the walls.

The temporary fixings are placed in holes made in the walls after the initial relative positioning of these walls.

Temporary fixings only require access from one side of one of the walls.

Such functional modules are described in particular in the patent documents PCT/EP2020/069158 , PCT/EP2020/069159 , PCT/EP2020/069160 , PCT/EP2020/069161 , PCT/EP2020/069162 , filed by the Applicant.

In the present embodiment, the device comprises a rivet support module and a temporary fastening support module. It could, however, comprise several rivet support modules or several temporary fastener support modules or several modules of each. It may for example be modules such as those described in the documents mentioned above.

Functional positions

• un poste P1 de chargement de rivets qui comprend des moyens d'alimentation en rivets 8, comme par exemple un tiroir ou un carrousel, et des moyens d'introduction de rivets 9 uns à uns dans le module de support de rivet 10, comprenant ici un vérin de poussée 90 ;
• un poste P2 de chargement de fixations temporaires qui comprend des moyens d'alimentation en fixations temporaires 11 et des moyens d'introduction de fixations temporaires une à une dans le module de support de fixation temporaire 19 ;
• un poste P3 d'enduction avec du mastic de rivets comprenant des moyens de dépose de mastic sur des rivets, les moyens de dépose de mastic comprenant une buse d'enduction 13 (dans ce mode de réalisation, les postes P2 et P3 se trouvent au même endroit, ils pourraient toutefois se trouver à des endroits différents) ;
• un poste de travail P4 dans le prolongement de la broche.

The device comprises various functional stations. It includes in particular:

• a rivet loading station P1 which comprises means 8 for supplying rivets, such as for example a drawer or a carousel, and means for introducing rivets 9 one by one into the rivet support module 10, comprising here a thrust cylinder 90;
• a station P2 for loading temporary fasteners which comprises means for supplying temporary fasteners 11 and means for introducing temporary fasteners one by one into the temporary fastener support module 19;
• a coating station P3 with rivet mastic comprising means for depositing mastic on rivets, the mastic depositing means comprising a coating nozzle 13 (in this embodiment, the stations P2 and P3 are located at same place, they could however be in different places);
• a P4 workstation in the extension of the spindle.

The coating nozzle 13 is mounted movable in translation along an axis orthogonal to the axis of the rivet support module 10 by means of a jack 130. It is also mounted movable in translation along an axis parallel to the axis of the rivet support module 10 by means of a geared motor 131 capable of rotating a ring 132 with which cooperates a threaded rod 133 immobile in rotation and free in translation, the end of which is linked with a support 134 carrying the jack 130. The gearmotor 131, the threaded ring 132, and the threaded rod 133 thus constituting an electric jack able to drive the nozzle support in translation relative to the piston 182 of a cylinder 180 used to drive a pusher element 18 in motion, as will be described in more detail later. The body of the jack 180 is integral with the threaded rod 133. The movements of the nozzle and of the pusher element are independent.

The device comprises means making it possible to bring the various on-board modules into alignment with pin 7 to perform a task. These means may for example comprise a carousel 14, a bandolier or the like.

Such functional stations and means of moving the functional modules are described in particular in the patent documents PCT/EP2020/069158 , PCT/EP2020/069159 , PCT/EP2020/069160 , PCT/EP2020/069161 , PCT/EP2020/069162 , filed by the Applicant.

Means of checking the conformity of a rivet or a temporary fixing

The device comprises means for checking the conformity of a rivet or of a temporary fixing according to at least one predetermined conformity criterion.

• le diamètre ou la longueur du rivet ou de la fixation temporaire ;
• la régularité de la dépose mastic, conformité géométrique de la spire de dépôt ou diamètre du filet.

The predetermined conformity criteria can be for example:

• the diameter or length of the rivet or temporary fastener;
• the regularity of the mastic removal, geometric conformity of the deposit coil or diameter of the thread.

The conformity control means are able to analyze the visual appearance of a rivet loaded by a rivet support module or of a temporary fixing loaded by a temporary fixing support module, and to deduce the conformity or non-compliance of the rivet or the temporary fixing with respect to a reference visual aspect.

In this embodiment, the conformity control means comprise at least one camera 150 and means 151 for controlling the camera and for analyzing 152 the images captured by the camera.

The means for controlling the camera and for analyzing the images captured by it are suitable for comparing the rivet or temporary fastening images captured by said camera, to compare them with reference images and to deduce the conformity/non-conformity of a rivet or a temporary fixing.

When a rivet setting operation or temporary fixing setting operation must be carried out, the controller 4 controls the rivet or temporary fixing supply so that the rivet or the temporary fixing introduced into the rivet support module or into the temporary fixing support module corresponds to the type of rivet or temporary fixing that it is desired to put in place. For various reasons, it is possible, although rare, that the rivet or temporary fastener loaded into the rivet or temporary fastener support module is in practice not the correct type. In this case, the analysis means detect that the image or images of the rivet or the temporary fastener captured by the camera are different from the reference images and qualify the rivet or the temporary fastener loaded in the corresponding module as non-compliant. In the case where the rivet is coated with mastic, the analysis means detect that the image or images of the coated rivet captured by the camera are different from the reference images and qualify the coated rivet loaded in the corresponding module as non-compliant.

In this embodiment, the camera is located at the temporary fixture loading station. It could, however, be located elsewhere, in particular at the rivet loading station or at another station such as, for example, a conformity control station.

Means of evacuation of a non-compliant rivet or temporary fixing

The device comprises evacuation means to a waste area of a rivet or a temporary fastener identified as non-compliant by the control means.

Rivet evacuation

In this embodiment, the non-compliant rivet evacuation means comprise gravity evacuation means.

• une position de préhension dans laquelle dans laquelle elle est apte à saisir un rivet non conforme solidaire du module de support de rivet, et
• une position d'évacuation dans laquelle elle est susceptible de relâcher le rivet non conforme vers une zone de rebut (cf. figure 3).

They include a clamp 16, also called evacuation clamp. This gripper is mobile between at least:

• a gripping position in which it is capable of gripping a non-compliant rivet secured to the rivet support module, and
• an evacuation position in which it is likely to release the non-compliant rivet towards a scrap area (cf. picture 3 ).

Clamp 16 is rotatable between these positions along an axis essentially parallel to the axis of the module, that is to say to the axis of spindle 7.

A pneumatic cylinder is used to ensure the rotation of the gripper 16 around an axis 161. For this it drives a kinematic chain which includes the following components.

A cylinder 162 connected in translation to a fork 1612 comprising two wings 16121 parallel and distant. A pin 1611 is located between these wings. This pin is carried by a support 1610 itself linked to the axis 161 of rotation of the clamp.

Thus when the cylinder 162 is actuated it therefore moves the fork 1612 in translation which itself pushes the pin 1611. This action on the pin causes the rotation of the axis 161 and thus the rotation of the gripper.

Thus the extension of the cylinder causes the movement of the gripper in the gripping position and its retraction the movement of the gripper in the discharge position.

The axis 161 is the piston of a jack 1600 which makes it possible to move the gripper in translation along an axis parallel to that of the spindle.

• une position rétractée dans laquelle le piston 161 est rentré dans sa chambre 1601, et
• une position de désengagement de la tête d'un rivet maintenue dans un module de support de rivet par la bague élastique 100 de celui-ci ; cette position est prise après un déplacement de la tige du vérin 161 dans un sens éloignant la pince de l'extrémité du module de support de rivet, et sur une course suffisante pour que la tête du rivet sorte de la bague élastique 100 du module de support de rivet.

In this embodiment, the clamp is also movable in translation along the axis of the axis 161 between at least:

• a retracted position in which the piston 161 is retracted into its chamber 1601, and
• a position of disengagement of the head of a rivet held in a rivet support module by the elastic ring 100 thereof; this position is taken after the rod of the cylinder 161 has moved in a direction moving the clamp away from the end of the rivet support module, and over a sufficient stroke for the head of the rivet to come out of the elastic ring 100 of the module of rivet holder.

• un état resserré dans lequel les mâchoires sont rapprochées l'une de l'autres pour maintenir enserré un rivet, et
• un état relâché dans lequel les mâchoires sont éloignées l'une de l'autre pour saisir ou libérer un rivet

The clamp comprises two jaws 163, 164 capable of being brought together or moved apart so that the clamp can take, at each of its positions, at least:

• a constricted state in which the jaws are brought together to hold a rivet together, and
• a relaxed state in which the jaws are moved apart to grip or release a rivet

The two jaws are movable relative to each other in translation to pass from one to the other of their states along an axis orthogonal to the axis of a rivet clamped in the clamp.

A jack 165 makes it possible to act on the jaws to make them pass from one state to the other. This cylinder comprises a piston 166 whose rod has at least one inclined ramp 167 along a plane orthogonal to a plane passing through the axis of translation of the jaws and inclined with respect to this axis. This ramp acts, when the cylinder rod is moved to exit the chamber of the cylinder, on one of the jaws so as to move it away from the other to open the gripper. When the cylinder rod is retracted, a reverse closing movement is generated and facilitated if necessary by a return spring.

In a preferred variant, the end of the cylinder rod comprises two inclined ramps arranged in opposition. Each of these ramps acts on one of the jaws when the cylinder rod moves.

The gripper can assume a rest state in which it is in the evacuation position and in the released state.

Evacuation temporary fixings

In this embodiment, the means for evacuating non-compliant temporary bindings comprise means for evacuating by suction.

More specifically, the means for evacuation by suction of non-compliant temporary fixings comprise an evacuation pipe 17 and means for generating a vacuum in the pipe, such as a vacuum pump, not shown.

This pipe 17 leads to the loading station for temporary fasteners P2. It not only makes it possible to evacuate non-compliant temporary fasteners, but also to supply the loading station with temporary fasteners. It therefore also partly constitutes the means for supplying and introducing temporary fixing into the temporary fixing support module.

This tubing is connected to a switching device (not shown), controlled by the controller, which is itself connected to several storage areas each storing a different type of temporary binding. The switching device is also connected to a scrap area.

The device comprises means for initiating the evacuation by suction of non-compliant temporary fasteners.

These priming means comprise a pusher element 18 capable of being positioned beyond the end of the non-compliant attachment, opposite to that placed on the side of the tubing. The pusher element 18 is mounted movable in translation along an axis orthogonal to the bridle 7 by means of a jack 180. The pusher element is mounted movable in translation along the axis of said rivet or of said temporary fixing, this is ie along the axis of a functional module. For this, the cylinder 180 is secured to a support 181 fixed to the end of the piston 182 movable in translation in the chamber 183 of a pneumatic cylinder 184.

The pusher element 18 can also provide a feeler function, the purpose of which is to define the starting position of the nozzle during the mastic coating of a rivet. Such a function is described in more detail in the patent application PCT/EP2020/069160 .In this embodiment, the pusher element performs two functions. It not only makes it possible to initiate evacuation by aspiration. It also plays the role of feeler at the coating station. In its feeler function, it is moved until it comes into abutment against the end of a rivet secured to a rivet support module placed at the coating station (here the temporary fastener loading station) to determine the length of the rivet, ensure the rotational guidance of the rivet and allow its correct coating according to the principle described in the patent applications PCT/EP2020/069158 , PCT/EP2020/069159 , PCT/EP2020/069160 , PCT/EP2020/069161 , PCT/EP2020/069162 , filed by the Applicant.

Evacuation variants

In this embodiment, the gravity evacuation means make it possible to evacuate non-compliant rivets, coated or not, and the suction evacuation means make it possible to evacuate non-compliant temporary fasteners. In a preferred variant, the means of evacuation by suction allow the evacuation of non-compliant and uncoated rivets.

In variants, the gravity evacuation means could allow the evacuation of non-compliant temporary fixings.

Variants of layouts

In this embodiment, the coating station, the temporary fixing loading station and the suction evacuation means are located at the same station. However, they could be arranged differently.

In this embodiment, the rivet loading station and the gravity evacuation means are located at the same station. However, they could be arranged differently.

6.2. Functioning

To carry out a task on a structure to be worked on, the handling means are initially implemented to move the multi-tasking device to the location of the structure where the task must be carried out. Marking elements can be provided beforehand or arranged on the structure to be worked on to mark the place or places where tasks must be carried out. These marking elements can for example be pre-existing holes.

These holes are made by qualified operators at the location of the rows of future holes to be made by the effector. Their number is of the order of one pre-existing hole for several tens of future holes.

The multiple checks carried out by the operator guarantee the perfect positioning of these pre-existing holes.

They can thus serve as a reference for the positioning of the effector or for the installation of temporary fixings used to maintain the relative position of the parts to be assembled and for this to be counter-drilled.

After the multitasking device is positioned at the place where it is desired to perform a task, it is placed in its approach position in which it extends to a certain distance, for example of the order of a few centimeters, of the surface of the structure to be treated. The approach position is such that the axis of the pin is normal to the surface of the structure and intersects the surface of the structure to be worked at the place where it is desired to make a hole or place a temporary fixing or a rivet.

However, inaccuracies in the referencing of motorized handling means relative to the surface require control with possible position correction.

If the initial marking element is a pre-existing hole, the handling means begin by centering the pin of the multi-task device on this hole then move the effector relative to this hole to reach the location of the hole to be made, the relative positioning of these pre-existing holes and to be drilled being known to the control means of the handling means.

Means for checking the orthogonality of the axis of the spindle relative to the surface, such as for example a camera coupled to lasers projecting a pattern on the surface of the structure, are implemented to check whether the axis of the pin is or is not orthogonal to the surface. Otherwise, the orientation of the device is modified by means of the handling means so as to correct the inclination of the axis of the spindle with respect to the surface.

Once the position of the device and the orthogonality of the spindle are correct, the device is moved into its docking position by the handling means.

The securing means, for example the suction cups, are if necessary activated to secure the frame to the structure to be worked on.

After securing, the pressing element is, if necessary, moved in the direction of the surface of the structure to be worked in order to press it against the surface of the structure to be worked.

When the device is suitably positioned and/or secured, the module corresponding to the operation that one wishes to perform is placed in the axis of the spindle and then paired with it.

riveting operation

Prior to performing an operation for placing a rivet, a hole is made in the structure to be worked at the location where the rivet is to be placed. This hole is chamfered.

To proceed with the installation of a rivet 200, the controller controls the movement of the rivet support module to the rivet loading station.

• un tiroir 400, situé en amont de l'entrée du module de support de rivet, est positionné au moyen d'un vérin 402 piloté par le contrôleur de telle sorte qu'un tube flexible 401 d'amenée de rivet soit dans le prolongement du module de support rivet 10 ;
• le contrôleur pilote ensuite les moyens d'alimentation et de chargement pour introduire dans le tube d'amenée 401 le rivet qu'il est souhaité de poser ; ce rivet à poser arrive dans le module de support de rivet 10, à travers l'orifice d'arrivée 403 ménagé dans le tiroir, avec un certain élan sous l'effet d'air comprimé utilisé pour le déplacer dans son tube d'amenée 401 et arrêt du rivet lorsqu'il entre en contact avec la face de la pince d'évacuation orientée vers la sortie du module de support de rivet, la pince étant préalablement placée par le contrôleur en position de préhension, à l'état resserré, et en position rétractée. La pince 16 liée à son vérin 1600 en position rétractée, amortie le choc du rivet à son arrivée ;
• puis la pince 16 est tournée dans sa position d'évacuation grâce à l'action du vérin 162 ;
• déplacement du tiroir 400 au moyen du vérin 402 de telle sorte que le vérin de poussée du rivet 90, soit dans le prolongement du module de support de rivet 10 ;
• la tige du vérin 90 rentre dans le module de support de rivet 10 et pousse le rivet 200 de façon à ce que la tête 201 du rivet 200 soit engagée dans la rainure périphérique de blocage 101 de la bague élastique 100 du module 10.

The operation of inserting a rivet into a rivet support module 10 follows the following operations:

• a drawer 400, located upstream of the inlet of the rivet support module, is positioned by means of a jack 402 controlled by the controller so that a flexible tube 401 for supplying the rivet is in the extension of the rivet support module 10;
• the controller then controls the supply and loading means to introduce into the supply tube 401 the rivet that it is desired to place; this rivet to be set arrives in the rivet support module 10, through the inlet orifice 403 provided in the drawer, with a certain momentum under the effect of the compressed air used to move it in its supply tube 401 and stoppage of the rivet when it comes into contact with the face of the evacuation gripper oriented towards the outlet of the rivet support module, the gripper being previously placed by the controller in the gripping position, in the tightened state, and in the retracted position. The clamp 16 linked to its jack 1600 in the retracted position, dampens the impact of the rivet on its arrival;
• then the clamp 16 is turned into its evacuation position thanks to the action of the jack 162;
• displacement of the drawer 400 by means of the cylinder 402 so that the thrust cylinder of the rivet 90 is in the extension of the rivet support module 10;
• the rod of the cylinder 90 enters the rivet support module 10 and pushes the rivet 200 so that the head 201 of the rivet 200 is engaged in the peripheral locking groove 101 of the elastic ring 100 of the module 10.

Once the rivet is in place in the rivet support module, the controller drives the gripper to return it to its rest position, that is to say in the released state and in the evacuation position.

If it is desired to coat the rivet with sealant, the controller controls the movement of the rivet support module at the coating station then drives the coating means to coat the rivet. Once the coating is complete, the controller commands the camera to take at least one view of the rivet so that the analysis means can check whether the rivet is compliant or not.

If it is not desired to coat the rivet, the controller nevertheless controls the movement of the rivet support module to the coating station. The controller commands the camera to take at least one view of the rivet so that the analysis means can verify whether the rivet is suitably coated or not.

If the coated or uncoated rivet is considered non-compliant by the analysis means, the controller commands the movement of the rivet support module to the rivet loading station. He activates the gripper to place it in its gripping position. It then controls the passage of the clamp in its tightened state in which it grips the rivet to be evacuated. It then controls the movement of the pliers into its disengaged position so as to disengage the rivet from the elastic ring of the rivet support mold. Finally, he controls the movement of the gripper into its evacuation position, in which he places the gripper in its released state to evacuate the non-compliant rivet by gravity towards a waste zone provided for this purpose or directly on the ground.

If the coated or uncoated rivet is considered compliant by the analysis means, the controller controls the movement of the rivet support module to the workstation. It actuates the spindle so that it is paired with the rivet support module and then moves it so as to proceed with the installation of the rivet.

Once the rivet has been placed, the controller controls the disconnection of the spindle then the movement of the rivet support module to a waiting station or to the rivet loading station if it is desired to proceed with the placement of a rivet. another rivet.

Temporary fixing operation

To proceed with the placement of a temporary fastener 300, the controller controls the movement of the temporary fastener support module to the temporary fastener loading station. The controller then controls the supply and loading means to introduce into the temporary fixing support module the temporary fixing that it is desired to install. The feeler is then used to stop the temporary fixture at the correct height inside the support module. Then, the temporary fixing is locked in the temporary fixing holder module with means provided for this purpose. Once the temporary fixture is in place in the temporary fixture support module, the controller commands the camera to take at least one view of the temporary fixing so that the analysis means can verify whether or not it is compliant.

If the temporary fixing is considered non-compliant, the controller commands the activation of a suction in the tubing, then the displacement of the probe in the direction of the tubing, by means of the pneumatic cylinder 184, over a short distance to provide a pulse and facilitate aspiration of the temporary fixation. It simultaneously controls the vacuuming of the tubing so that the temporary fixation is sucked into it to be evacuated. The controller also commands the routing device to route the non-compliant temporary fixture to the desired area, for example the scrap area or a storage area so that the non-compliant temporary fixture can later be used, particularly if the non-conformity is due to the fact that the type of temporary fixing introduced into the module is not the correct one but that it does not present any other functional defect.

If the temporary fixing is considered to be compliant by the analysis means, the controller commands the movement of the temporary fixing support module to the workstation. He actuates the spindle so that it is paired with the temporary fixation support module and then moves it so as to proceed with the installation of the temporary fixation.

Once the temporary fixation has been placed, the controller controls the unpairing of the spindle then the movement of the temporary fixation support module to a storage station or to the temporary fixation loading station if it is desired to proceed with the installation of the temporary fixation. another temporary fixation.

Other tasks can then be carried out in the same place at another place in the structure to be worked on.

Claims (21)

Multi-tasking device comprising at least: - a rivet support module able to contain a rivet and/or a temporary fixing support module able to contain a temporary fixing; - Means for inserting a rivet or a temporary fixing inside said modules at at least one loading station; - Means for moving said at least one module to a workstation for installing rivets or temporary fasteners in an orifice provided in a structure to be worked on; characterized in that said device comprises means for checking the conformity of said rivet or of said temporary fastening according to at least one predetermined conformity criterion, and means of evacuation to a scrap area for a rivet or a temporary fixing identified as non-compliant by said control means. Multi-task device according to Claim 1, in which the said conformity control means are able to analyze the visual appearance of the said rivet or of the said temporary fixing and to deduce therefrom its conformity or non-conformity with respect to a visual aspect of reference. Multitasking device according to Claim 2, in which the said conformity control means comprise at least one camera and means for controlling the said camera and for analyzing the images captured by the said camera, the said control and analysis means being capable of comparing the rivet or temporary fixing images captured by said camera, of comparing them with reference images and of deducing therefrom the compliance/non-compliance of a rivet or of a temporary fixing. Multi-tasking device according to any one of Claims 1 to 3, in which the said means for evacuating a rivet or a non-compliant temporary fixing comprise means for evacuating by gravity. Multi-task device according to Claim 4, in which the said means for evacuating a rivet or a non-compliant temporary fastener comprise a gripper movable between at least one gripping position in which it is capable of gripping a non-compliant rivet or temporary fixing integral with said non-compliant rivet or fixing support module and an evacuation position in which it is capable of releasing said non-compliant rivet or temporary fixing towards a waste area, said gripper being able to assume, at each of its positions, a tightened state and a relaxed state. Multi-task device according to Claim 5, in which the said gripper is rotatable between its gripping and evacuation positions along an axis essentially parallel to the axis of the said module. Multi-tasking device according to Claim 5 or 6, in which the said gripper is mounted to move in translation along the axis of the said spindle between at least: - a retracted position in which it extends close to an outlet end of said rivet support module, and - a disengagement position in which it is remote from said output end of said rivet support module. A multi-tasking device according to any one of claims 1 to 3 wherein said means for removing an uncoated rivet or non-conforming temporary fastener comprises means for removing by suction. Multi-tasking device according to Claim 8, in which the said means for evacuation by suction of an uncoated rivet or a non-conforming temporary fixing comprise an evacuation pipe and means for generating a vacuum in the said pipe. A multitasking device according to claim 9 wherein said means for introducing temporary fixture into said module comprises said tubing. Multi-task device according to claims 8 or 9 and 10 incorporating means for priming said evacuation by suction comprising a pusher element able to be positioned beyond the end of said rivet or of said non-compliant fastener, opposite to that placed on the side of said pipe, said pusher element being mounted movable in translation along the axis of said rivet or of said temporary fixing. Multi-tasking device according to any one of Claims 1 to 11, comprising a coating station comprising means for depositing mastic on the said rivet, the said means for depositing mastic comprising a coating nozzle. Multi-tasking device according to Claims 4 and 12 in combination or not with any one of Claims 5 to 11, in which the said gravity evacuation means are able to evacuate a non-compliant coated rivet. A multi-tasking device according to claims 8 and 12 whether or not in combination with any of claims 6 to 11, wherein said vacuum evacuation means is adapted to evacuate a non-conforming uncoated rivet or a non-conforming temporary fixing . Multi-task device according to claim 12, 13 or 14 wherein said coating station comprises a feeler able to determine the length of a rivet integral with a support module placed at said coating station. A multitasking device according to claim 15 wherein said pusher element is said feeler. Multi-task device according to any one of claims 1 to 16 constituting a multi-task device comprising at least one rivet support module and one temporary fixing support module, said workstation device comprising a single spindle capable of be driven in translation and/or in rotation along the same axis, said device comprising means for supplying each of said rivet support and temporary fixing modules individually to said workstation, said single spindle being capable of cooperating with a module rivet support or temporary fixing placed at said workstation to allow the installation of a rivet or a temporary fixing. Multi-tasking device according to claims 15 or 16 and 17 wherein said coating station, said temporary fixing loading station and said non-compliant rivet or temporary fixing suction evacuation means are located at the same station. Multi-tasking device according to Claim 17, in which the said rivet loading station and the said non-conforming rivet or temporary fixing gravity evacuation means are located at the same station. Multi-tasking device according to any one of claims 1 to 19 comprising: - a frame; - Means for fixing said frame to motorized handling means able to move at least partly said device in space with respect to a structure to be worked; - Means for positioning and/or securing said device to said structure to be worked on. Method for carrying out a task by means of a multi-task device according to any one of claims 1 to 20, said method comprising a step of checking the conformity of said rivet or of said temporary fixing according to at least a predetermined conformity criterion, and a step of evacuation to a scrap area of a rivet or of a temporary fastener identified as non-compliant by said control means.

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