阅读说明：本技术 紧固件匣盒及其相关的供应系统和方法 (Fastener magazine and related supply system and method ) 是由 W·格斯提拉 S·E·布莱克特 于 2018-12-05 设计创作，主要内容包括：本发明公开了一种用于将铆钉供应到铆钉安装工具的铆钉供应系统,铆钉安装工具包括：冲头,可延伸的机头布置和模具。铆钉供应系统包括：至少一个用于将铆钉输送到机头布置的铆钉输送轨道；至少一个用于保持或释放在铆钉接收区域接收的铆钉的铆钉传递装置；以及至少一个可填充匣盒,用于在安装工具附近存储铆钉。匣盒包括至少所述铆钉输送轨道的匣盒部分,其中,铆钉可被存储在匣盒内,或者可穿过匣盒传递以被输送至安装工具。匣盒还包括至少一个对接接口,用于例如从批量进料器重新填充匣盒。匣盒与机头布置处于铆钉供应关系,因此能够在需要时将铆钉供应给安装工具,并且能够与机头布置一起移动。因此,不再需要挠性输送管用于将铆钉从匣盒输送到安装工具,并且能够保持供应的连续性。(A rivet supply system for supplying rivets to a rivet setting tool, the rivet setting tool comprising: a punch, an extendable nose arrangement and a die. The rivet supply system includes: at least one rivet delivery track for delivering rivets to the head arrangement; at least one rivet transferring device for holding or releasing a rivet received in the rivet receiving area; and at least one fillable magazine for storing rivets adjacent the installation tool. The magazine includes at least a magazine portion of the rivet delivery track, wherein rivets can be stored within the magazine or can be passed through the magazine to be delivered to an installation tool. The cartridge further comprises at least one docking interface for refilling the cartridge, e.g. from a batch feeder. The magazine is in rivet supplying relationship with the head arrangement so that rivets can be supplied to the installation tool when required and can be moved with the head arrangement. Thus, a flexible feed tube is no longer required for feeding rivets from the magazine to the setting tool, and the continuity of the feed can be maintained.)

1. A rivet supply system for supplying rivets to a rivet setting tool, the rivet setting tool comprising: a punch for setting the rivet; a head arrangement defining at least one rivet receiving area for receiving rivets, in preparation for a setting operation; and a die disposed opposite the head arrangement for reacting the punch, the head arrangement being movable toward the die for engagement with a workpiece, the rivet supply system comprising:

at least one rivet delivery track for delivering rivets to the rivet receiving area;

at least one rivet delivery device for retaining and subsequently releasing rivets received at the rivet receiving area;

at least one fillable magazine for storing rivets in the vicinity of the setting tool,

the magazine comprising at least a magazine portion of the rivet delivery track, wherein rivets can be stored within the magazine or can be passed through the magazine,

the cartridge comprises at least one docking interface for docking the cartridge to a bulk supply for refilling the cartridge,

wherein the magazine is in rivet supplying relationship with the head arrangement and is supported for movement with the head arrangement; and

wherein a length of the substantially non-deformable rivet delivery track extends to the rivet receiving area.

2. The rivet supply system of claim 1, wherein the rivet supply system is adapted to operate by gravity;

and/or adapted to be operated by suction generated by a vacuum pump;

wherein the docking interface comprises an inlet for receiving a rivet, the inlet being open to atmospheric fluid;

and/or wherein the cartridge is removably supported on the installation tool and/or on a C-shaped frame supporting the installation tool;

optionally, wherein the cartridge is replaceably supported such that a replacement cartridge can replace the replaceable cartridge;

alternatively, wherein the cartridge is permanently mounted on the installation tool;

and/or wherein the system comprises two such cassettes and two such non-deformable lengths arranged in a mirror image configuration on opposite sides of the installation tool.

3. The rivet supply system of claim, wherein each magazine includes a first elongate body portion extending generally parallel to an axial direction defined by said punch and/or said installation tool;

optionally, wherein each cartridge comprises a second elongate body portion disposed downstream of the first elongate body portion and arranged at an angle to the head;

optionally, wherein the first elongate body portion and/or the second elongate body portion comprises at least a portion of the length of the non-deformable rivet delivery track.

4. The rivet supply system according to any one of the preceding claims, wherein said rivet supply system further comprises a chute comprising a chute portion of said rivet conveying track, said chute portion comprising at least a portion of said substantially non-deformable rivet conveying track length, wherein said magazine is in rivet supply relationship with said nose arrangement via said chute;

optionally, wherein the cassette is directly coupled to the chute;

alternatively, wherein the cassette and the chute are coupled via a flexible feed tube.

5. The rivet supply system of claim 4 wherein said magazine is pivotally supported on said installation tool.

6. The rivet supply system of claim 5 wherein said magazine includes a plurality of separate magazine portions of said rivet delivery track, said plurality of rivet delivery track portions being optional for supplying rivets to said rivet receiving area according to a respective angular orientation of said magazine on said setting tool;

optionally wherein at least one of the plurality of rivet delivery track sections has a curved longitudinal extension to facilitate re-filling of rivets into the magazine and/or feeding of rivets from the magazine to a rivet receiving area in the head arrangement;

optionally wherein at least two of said plurality of rivet delivery track portions are provided with said curved longitudinal extension and the respective curved portions define opposed recesses which tend to converge towards the pivot axis of the magazine;

optionally, wherein the pivot is located substantially at the centre of the cassette;

optionally, wherein the magazine comprises three of the plurality of rivet delivery track portions, wherein the three portions comprise a first straight portion extending generally longitudinally, and the second and third portions have the curved longitudinal extension and are disposed on either side of the first portion.

7. The rivet supply system of claim 6 wherein said magazine includes two or more rivet processing devices, each associated with one of said plurality of magazine rivet delivery track portions to selectively stop, capture and/or release one or more rivets on a respective magazine portion of said rivet delivery track;

optionally wherein the rivet handling apparatus is disposed at a distal end of the magazine;

optionally, wherein the rivet handling devices are each in the form of an actuated tandem rivet selection device;

optionally, wherein the actuated tandem rivet selection device comprises a rotary cam escapement for selectively stopping, capturing and/or releasing one or more rivets on a respective magazine portion of the rivet delivery track based on a rotational angle of the rotary cam escapement;

optionally, wherein the rotary cam escapement mechanism comprises a rotatable cam member for selectively stopping, capturing and/or releasing one or more rivets on a respective magazine portion of the rivet delivery track based on the angle of rotation of the rotatable cam member;

optionally, wherein the rotatable cam member comprises an arcuate cam;

optionally, wherein the actuated tandem rivet selection devices are each resiliently biased to a default configuration, optionally a default rotational configuration of the rotary cam escapement mechanism and/or the rotatable cam member, for stopping and/or capturing rivets on a respective magazine portion of the rivet delivery track;

and/or wherein each rivet processing device is disposed generally at a distal end of the magazine and is configured to be actuated via an actuating pin mechanism disposed on the chute, the actuating pin mechanism being received on one or more apertures also disposed at a distal end of the magazine, wherein the actuating pin mechanism is configured to align the magazine in position according to a predetermined angular orientation and actuate the rivet processing device.

8. A rivet supply system according to any one of claims 1 to 4, wherein the magazine includes at least one rivet handling device associated with a magazine portion of the rivet delivery track for selectively stopping, capturing and/or releasing one or more rivets;

optionally, wherein the one or more rivets are stopped, captured and/or released on the rivet delivery track portion;

optionally, wherein the rivet handling device is located at a distal end of the magazine;

optionally, wherein the rivet handling device is in the form of an active tandem rivet selection device;

optionally, wherein the active tandem rivet selection device comprises a rotary cam escapement for selectively stopping, capturing and/or releasing one or more rivets on the portion based on a rotation angle of the rotary cam escapement;

optionally, wherein the rotary cam escapement mechanism comprises a rotatable cam member for selectively stopping, capturing and/or releasing one or more rivets on the portion based on the angle of rotation of the rotatable arcuate member;

optionally, wherein the rotating cam member comprises an arcuate cam;

optionally, wherein the active tandem rivet selection device is resiliently biased to a default configuration, optionally a default rotational configuration of the rotary cam escapement mechanism and/or the rotatable cam member and/or the arcuate cam, for stopping and/or capturing one or more rivets;

optionally, when dependent on claim 4, wherein the rivet processing device is disposed substantially at a distal end of the magazine and is configured to be actuated via an actuating pin mechanism disposed on the chute and received on a corresponding hole also disposed at a distal end of the magazine, wherein the actuating pin mechanism is configured to align the magazine in position and actuate the rivet processing device.

9. The rivet supply system of claim 8 wherein said rivet handling device is disposed partway along said magazine portion of said rivet delivery track;

and/or wherein the rivet supply system comprises two or more separate magazine sections of the rivet delivery track, two or more separate rivet handling devices being associated with each of the two or more magazine sections of the rivet delivery track to selectively stop, capture and/or release one or more rivets;

optionally, wherein the one or more rivets are stopped, captured and/or released on the portion;

optionally, wherein the two or more separate magazine portions of the rivet delivery track are upper magazine portions configured to supply rivets to a common lower section of the rivet delivery track;

optionally, wherein at least a portion of the common lower section of the rivet delivery track is disposed within the magazine;

optionally wherein the magazine comprises an actuated track selection device for selecting one of the two or more separate upper magazine sections of a rivet delivery track to supply rivets to the common lower section of the rivet delivery track.

10. A rivet supply system according to any preceding claim, wherein the magazine includes docking means provided at the docking interface for allowing or inhibiting refilling of rivets from the bulk supply into the magazine;

optionally wherein the docking means is a passive in-line rivet release adapted to allow said refilling when the magazine is docked to the bulk supply and to inhibit the flow of filled rivets out of the magazine when the magazine is demounted from the bulk supply;

optionally wherein the passive in-line release comprises at least one resiliently biased jaw member provided on a side of the magazine portion of the rivet delivery track;

optionally wherein the release means is provided at a proximal end of the rivet delivery track and/or a proximal end of the magazine;

optionally wherein the passive in-line release comprises a pair of opposed resiliently biased jaw members disposed on opposite sides of the magazine portion of the rivet delivery track at the proximal end of the rivet delivery track and/or magazine;

and/or wherein the rivet supply system further comprises a docking block comprising one or more delivery tubes for connecting the magazine to the bulk supply apparatus, wherein the docking block is adapted to dock with the magazine via the docking interface;

optionally, wherein the delivery tube is flexible;

alternatively, wherein the delivery tube is rigid or semi-rigid.

11. A rivet supply system according to any preceding claim, wherein the rivet delivery device is a passive in-line rivet release device adapted to retain rivets at the rivet delivery zone and subsequently release;

optionally, wherein the rivet release means comprises at least one resiliently biased jaw member disposed to one side of the rivet delivery track at a distal end of the rivet delivery track;

optionally, wherein the rivet release means comprises a pair of opposed resiliently biased jaw members disposed on opposite sides of the rivet delivery track at a distal end of the rivet delivery track;

alternatively, wherein the rivet delivery device is in the form of an active tandem rivet selection device configured to selectively stop, capture and/or release one or more rivets at the rivet delivery region;

optionally, wherein the rivet selection device comprises a linear pin escapement.

12. A machine for setting rivets, the machine comprising a rivet supply system according to any one of the preceding claims.

13. A method of supplying rivets to a rivet setting tool having a punch for setting rivets; a head arrangement defining at least one rivet receiving area for receiving rivets, in preparation for a setting operation; and a die disposed opposite the head arrangement for reacting the punch, the head arrangement being movable towards the die for engagement with a workpiece, the method comprising:

feeding at least one rivet through at least one rivet delivery track to deliver rivets to the rivet receiving area;

retaining and/or releasing rivets at the rivet receiving area by at least one rivet transferring device;

storing and/or transporting the rivets in a fillable rivet magazine in the vicinity of the setting tool,

the magazine includes at least a magazine portion of the rivet delivery track,

the cartridge comprises at least one docking interface for docking the cartridge to a bulk supply for refilling the cartridge,

wherein the magazine is in rivet supplying relationship with the head arrangement and is supported for movement with the head arrangement;

wherein a substantially non-deformable rivet delivery track length extends to the rivet receiving area.

14. A fillable replacement magazine for storing and supplying rivets to a rivet setting tool having a punch for setting rivets and a nose arrangement for receiving rivets in preparation for a setting operation, the magazine comprising:

at least one inlet for receiving a rivet disposed at a proximal end of the magazine;

at least one outlet for supplying rivets to a nose arrangement of the setting tool, said outlet being provided at a distal end of the magazine;

at least one rivet delivery track extending from the inlet to the outlet, wherein rivets can be stored within or transported through the magazine, the rivet delivery track being substantially non-deformable;

at least one docking means located generally at said proximal end of said cartridge and arranged to cooperate with said inlet to refill said cartridge from a bulk supply;

at least one rivet dispensing device for dispensing rivets through said outlet to or towards said head arrangement.

15. A rivet supply system comprising a magazine according to claim 14.

16. A rivet setting tool comprising the rivet supply system of claim 15.

17. Apparatus for replacing a rivet or other fastener cartridge on a rivet or other fastener setting tool, said apparatus comprising:

rivets or other fastener installation tools;

a first rivet or other fastener magazine and a second rivet or other fastener magazine having first and second connection features, respectively, for connecting each magazine to a complementary connection feature, the first magazine being mounted on the installation tool;

a robotic arm for moving the installation tool and the first cassette within a work area, the installation tool being mounted on the robotic arm;

a first support structure located within the working area and comprising such first complementary connection feature;

a second support structure also located within the working area and including a second complementary connecting feature of the type on which the second cassette is supported by a corresponding second connecting feature;

wherein the content of the first and second substances,

the robotic arm is operable to cooperate with first connection features of the first magazine and the first support structure, respectively, to transfer the first magazine from the installation tool to the first support structure; and/or

The robotic arm is operable to cooperate with second connection features of the second magazine and the second support structure, respectively, to transfer the second magazine from the second support structure to the installation tool.

18. A method of replacing a rivet or other fastener cartridge on a rivet or other fastener setting tool, the method comprising:

providing a first rivet or other fastener magazine and a second rivet or other fastener magazine having a first attachment feature and a second attachment feature, respectively, for attaching each magazine to a complementary attachment feature, wherein the first magazine is mounted on the installation tool;

providing a robotic arm for moving the installation tool and the first cassette within a work area, the installation tool being mounted on the robotic arm;

providing a first support structure located within the working area and comprising such first complementary attachment feature;

providing a second support structure also located within the working area and comprising such a second complementary connecting feature, the second cassette being supported on the second support structure by a corresponding second connecting feature;

operating the robotic arm to cooperate with first connection features of the first magazine and the first support structure, respectively, to transfer the first magazine from the installation tool to the first support structure; and/or

Operating the robotic arm to cooperate with second connection features of the second cassette and the second support structure, respectively, to transfer the second cassette from the second support structure.

19. A replacement magazine for storing rivets or other fasteners for supply to a rivet or other fastener setting tool, the magazine comprising:

at least one magnetically patterned surface.

20. A method of structurally supporting a replacement cartridge, the method comprising:

providing a first magnetically patterned surface on the cartridge;

providing a second complementary magnetically patterned surface on the structure;

magnetically engaging the surface to connect the cartridge to the structure.

21. A method of disconnecting a replacement cassette from a structure, the method comprising:

providing a first magnetically patterned surface on the cartridge;

providing a second complementary magnetically patterned surface on the structure;

wherein the cartridge and the structure are magnetically connected by the surface;

magnetically disengaging the surface to disconnect the cartridge from the structure.

22. Riveting device includes:

a rivet setting tool;

one or more magazines for storing rivets, each magazine carrying information relating to the type and/or size of rivets stored in the magazine;

a reader for reading the information on the cartridge;

a controller operatively associated with the rivet setting tool and the reader; wherein the content of the first and second substances,

the controller is configured to control the rivet setting tool in response to a signal received from the reader.

23. A method of riveting, the method comprising:

providing a riveting apparatus according to claim 22;

reading, by the reader, the information carried on one or more cassettes;

controlling the installation tool via the controller in response to a signal received from the reader.

24. The riveting method according to claim 23, further comprising:

and identifying the riveting point.

25. A method of manufacturing a vehicle or part thereof by installing one or more rivets, wherein the method comprises a method according to any one of claim 13, claim 18, claim 20, claim 21, claim 23 or claim 24.

Technical Field

The present application relates to a magazine for supplying fasteners, such as rivets, to a rivet setting tool. The present application also relates to systems for supplying rivets to a setting tool, including one or more rivet magazines, and related methods thereof. In particular, the present application relates to a magazine, system and method for supplying self-piercing rivets. More particularly, the present application relates to a magazine, system and method of the type for supplying rivets and/or self-piercing rivets to a setting tool having a nose arrangement, which is mounted on a support, such as a C-frame, and a punch for setting the rivets. The C-frame may be mounted on a movable arm, such as a robotic arm. These magazines store the fasteners near the installation tool in preparation for any installation operations performed by the installation tool. While the focus of the present disclosure is on rivets (and particularly on self-piercing rivets), certain aspects are instead more readily and more generally applicable to fasteners, as will be appreciated from the detailed description set forth below.

Background

Various systems and methods for setting fasteners, such as rivets and self-piercing rivets, are known and use a bulk supply apparatus to supply rivets to a setting tool. In some systems, the setting tool includes a nose arrangement and a punch for setting the rivet. The installation tool is mounted on a support structure such as a C-frame. The C-frame may be mounted on a robotic arm so that the robot can perform a number of automated operations at desired locations. A nose arrangement is typically mounted below the punch and guides the punch and rivet during the mounting operation.

The die assembly is also typically disposed on a support structure opposite the head arrangement to react the forces applied to the workpiece by the punch during the mounting operation. In this manner, the workpiece is clamped between the head arrangement and the die assembly during the setting operation, and the punch is operated to set the rivet.

Systems of the type described herein typically feed rivets to the nose arrangement through a suitably contoured flexible delivery tube. The rivets can thus be conveyed to the setting tool by means of compressed air and/or gravity.

The rivets are provided in individual or groups and it is therefore often necessary to provide one or more rivet handling mechanisms along the supply line so that only the required rivet or rivets are provided when necessary. These mechanisms typically involve some form of mechanical interaction with the rivets, and this may occur at various stages along the path of the rivets from the bulk supply to the setting tool.

The flexible delivery tube may be connected to one or more magazines to locally store up to a predetermined number of rivets in a location closer to the installation tool in preparation for installation. It is known to provide some kind of removable, replaceable cartridge to simplify the supply operation. However, the prior art systems have some problems.

For example, rivets are prone to get stuck in the flexible conveying pipe due to the ingress of dust or dirt, due to any part of the flexible pipe exhibiting a high curvature, or due to wear of the pipe itself. For these reasons, flexible delivery tubes may need to be replaced frequently, which may result in unexpected downtime.

Furthermore, flexible delivery tubes may require a range of work to operate flexibly, which may require special consideration of how the installation tool is mounted on the robotic arm. As a result, prior art systems may not work fully satisfactorily and/or at least may lack the desired compactness.

Therefore, it is desirable to minimize or eliminate the flexible delivery tube.

It is also desirable to deliver rivets along the rivet supply line with the least possible interruption.

It is also desirable to keep the rivet in its path without dislocation.

It is also desirable to move the rivets seamlessly so that they can be stopped gently, for example, and restarted along the rivet supply line if necessary.

If all of the various communicating rivet supply assemblies in the rivet supply line have been connected and are open to the delivery of rivets, it is desirable to deliver rivets into the head arrangement in a continuous (i.e., uninterrupted) but reliable manner.

Thus, it is also desirable to eliminate any potential points of grip of the rivet, especially in the "open" condition described above.

When rivets are supplied to the magazine from a bulk supply, they typically pass through a docking interface which allows the magazine to be refilled when it is empty. Thus, the magazine may need to be opened during docking and/or loading operations and closed when full to prevent any rivets from falling and seal the magazine end so that a source of compressed air can be coupled to the magazine to power the magazine with rivets when needed. Such doors are complex, particularly when the system is designed to operate under the power of compressed air, and can add considerable cycle time and cost.

It is also desirable to provide an improved cartridge design that eliminates or at least reduces any sealing requirements and/or can work equally well under pressure or suction or at atmospheric pressure. It is therefore also desirable to provide a rivet supply line or at least a portion thereof which can be easily or at least advantageously sealed against air leakage and/or dust ingress.

After the rivet has completed its path through the rivet supply system, a rivet transfer system is typically provided to transfer the rivet to a stand-by position below the punch in preparation for the installation operation. The transfer system may involve direct transfer by gravity, air propulsion, mechanical pusher or probe, and/or a dedicated transfer mechanism that captures and senses the presence of rivets. The dynamic transport of such rivets from the rivet supply system to the standby position is often problematic in terms of rivet stability, dust ingress and sensing, and often requires numerous moving mechanical parts, which may also be subject to wear. This is undesirable because it may cause a malfunction or cause another cause of downtime.

Accordingly, it is also desirable to increase the speed, efficiency and/or reliability of delivering fasteners to a standby position below the punch in preparation for installation.

Known rivet supply systems and methods only have the capability to handle different types of rivets and/or different sizes thereof.

Accordingly, it is also desirable to provide a magazine, rivet delivery system, and method that can process multiple rivet types and/or sizes simultaneously or interchangeably to provide maximum flexibility and customization potential to the end user.

More generally, it is desirable to reduce the number of moving parts in the system in question.

More generally, it is also desirable to improve the performance of the systems referred to herein over the prior art.

Disclosure of Invention

According to an aspect of the present disclosure, there is provided a rivet supply system for supplying rivets to a rivet setting tool, the rivet setting tool comprising: a punch for setting the rivet; a head arrangement defining at least one rivet receiving area for receiving rivets, in preparation for a setting operation; and a die disposed opposite the head arrangement for reacting the punch, the head arrangement being movable toward the die for engagement with the workpiece, the rivet supply system comprising:

at least one rivet delivery track for delivering rivets to a rivet receiving area;

at least one rivet transferring device for holding or releasing a rivet received in the rivet receiving area;

at least one fillable magazine for storing rivets in the vicinity of the setting tool,

the magazine includes at least a magazine portion of a rivet delivery track, wherein rivets can be stored within the magazine, or can be passed through the magazine,

the cartridge comprises at least one docking interface for docking the cartridge to a bulk supply for refilling the cartridge,

wherein the magazine is in rivet supplying relationship with the head arrangement and is supported for movement with the head arrangement; and

wherein the length of the substantially non-deformable rivet conveying track extends to the rivet receiving area.

Thus, the rivet supply system may minimize or eliminate the need for a flexible feed tube of any length.

The at least one rivet delivery device is said to be used to retain or release (or be configured to retain or release) a rivet received at the rivet receiving area, and may be configured to retain and subsequently release a rivet received at the rivet receiving area;

the rivet receiving area refers to the area where the rivet is waiting to pass under the punch in preparation for the setting operation.

The conveying track (and hence the rivet conveying track length) is upstream of the rivet receiving area. The rivet transfer device is upstream of the rivet receiving area. Optionally, the magazine further comprises a rivet transfer device. Optionally, the rivet transfer means is provided at the distal end of the magazine.

The rivet supply system may be adapted to operate by gravity.

The rivet supply system may be adapted to be operated by suction generated by a vacuum pump.

The docking interface may include an inlet for receiving the rivet, the inlet being open to atmospheric fluid.

The cassette may be removably supported on the installation tool and/or on a C-frame supporting the installation tool.

The cartridge may be replaceably supported such that a replacement cartridge may replace a replaceable cartridge.

The cassette may be permanently mounted on the installation tool.

The system may comprise two such cassettes and two such non-deformable lengths arranged in a mirror image configuration on opposite sides of the installation tool.

Each cartridge may comprise a first elongate body portion extending generally parallel to an axial direction defined by the punch and/or the installation tool.

Each cartridge may include a second elongate body portion disposed downstream of the first elongate body portion and arranged at an angle to the head.

The first elongate body portion and/or the second elongate body portion may comprise at least a portion of the length of the non-deformable rivet delivery track.

The first elongate body portion of the magazine and/or the magazine portion of the rivet delivery track may be substantially parallel to said axial direction.

The rivet supply system may further comprise a chute comprising a chute portion of the rivet delivery track comprising at least a portion of the length of said substantially non-deformable rivet delivery track, wherein the magazine is in rivet supply relationship with said nose arrangement via said chute.

The cassette may be directly coupled to the chute.

The cassette and the chute may be coupled via a flexible feed tube.

The cartridge may be pivotally supported on the installation tool.

The magazine may comprise a plurality of separate magazine sections of the rivet delivery track.

A plurality of rivet delivery track sections are optional for supplying rivets to the rivet receiving area according to the corresponding angular orientation of the magazine on the installation tool.

At least one of the plurality of rivet delivery track portions may have a curved longitudinal extension to facilitate the refilling of rivets into the magazine and/or the supply of rivets from the magazine to the rivet receiving area in the head arrangement.

At least two of the plurality of rivet delivery track portions may be provided with said curved longitudinal extension.

The respective bends may define opposed recesses which tend to converge towards the pivot axis of the cassette.

The pivot is located substantially in the centre of the cassette.

The magazine may include three of the plurality of rivet delivery track portions.

The three portions may include a first straight portion extending generally longitudinally. The second and third portions have said curved longitudinal extension. The second and third portions may be disposed on either side of the first portion.

The magazine may include two or more rivet handling devices, each associated with one of the magazine rivet delivery track portions, to selectively stop, capture and/or release one or more rivets on the respective magazine portion of the rivet delivery track.

The rivet handling device may be disposed at a distal end of the magazine.

The rivet handling means may be in the form of actuated tandem rivet selection means, respectively.

The actuated tandem rivet selection device may include a rotary cam escapement for selectively stopping, capturing and/or releasing one or more rivets on a respective magazine portion of the rivet delivery track based on a rotational angle of the rotary cam escapement.

The rotary cam escapement mechanism can include a rotatable cam member for selectively stopping, capturing and/or releasing one or more rivets on a respective magazine portion of the rivet delivery track based on a rotational angle of the rotatable cam member.

The rotatable cam member may comprise an arcuate cam.

The actuated tandem rivet selection devices may each be resiliently biased to a default configuration.

The default configuration is optionally a default rotational configuration of the rotary cam escapement mechanism and/or the rotatable cam member for stopping and/or capturing rivets on a respective magazine portion of a rivet delivery track.

Each rivet handling device may be disposed substantially at the distal end of the magazine. Each rivet handling device may be configured to be actuated via an actuating pin mechanism disposed on the chute.

The actuator pin mechanism may be received in one or more apertures also provided at the distal end of the cartridge.

The actuator pin mechanism may be configured to align the cartridge in position according to a predetermined angular orientation.

The actuating pin mechanism may be configured to actuate the rivet handling device.

The magazine may include at least one rivet handling device associated with a magazine portion of the rivet delivery track for selectively stopping, capturing and/or releasing one or more rivets.

One or more rivets may be stopped, captured and/or released on the rivet delivery track portion.

The rivet handling device may be located at a distal end of the magazine.

The rivet handling means may be in the form of an active tandem rivet selection means.

The active tandem rivet selection device may be as described above.

The active tandem rivet selection device may be resiliently biased to a default configuration.

The default configuration may be a default rotational configuration of the rotary cam escapement and/or the rotatable cam member and/or the arcuate cam for stopping and/or capturing the one or more rivets.

The rivet handling device may be disposed substantially at the distal end of the magazine.

The rivet handling device may be configured to be actuated via an actuating pin mechanism provided on the chute and received on a corresponding hole also provided at the distal end of the magazine.

An actuator pin mechanism may be configured to align the cartridge in place.

An actuating pin mechanism may be configured to actuate the rivet handling device.

The rivet handling apparatus may be provided midway along the magazine portion of the rivet delivery track.

The system may include two or more separate magazine sections of the rivet delivery track.

Two or more independent rivet handling devices can be associated with each of the two or more magazine sections of the rivet delivery track to selectively stop, capture and/or release one or more rivets.

One or more rivets may be stopped, captured and/or released on two or more portions.

The two or more separate magazine sections of the rivet delivery track may be upper magazine sections.

The upper magazine portion may be configured to supply rivets to a common lower section of the rivet delivery track.

At least a portion of the common lower section of rivet delivery track may be disposed within the magazine.

The magazine may include an actuated track selection device for selecting one of two or more separate upper magazine sections of the rivet delivery track to supply rivets to said common lower section of the rivet delivery track.

The magazine may include docking means provided at the docking interface for allowing or inhibiting refilling of rivets from the bulk supply into said magazine.

The docking means may be a passive tandem rivet release adapted to allow said refilling when docking said magazine to the bulk supply.

The docking means may be adapted to inhibit the flow of filled rivets out of said magazine when said magazine is removed from the bulk supply.

The passive in-line release may include at least one resiliently biased jaw member disposed on a side of the magazine portion of the rivet delivery track.

The release means may be provided at the proximal end of the rivet delivery track and/or at the proximal end of said magazine.

The passive in-line release may include a pair of opposed resiliently biased jaw members

The resiliently biased jaw members may be provided on opposite sides of the magazine portion of the rivet delivery track.

A resiliently biased jaw member may be provided at the proximal end of the rivet delivery track and/or the magazine.

The system may further comprise a docking block comprising one or more delivery or feed tubes for connecting the cassettes to the bulk supply.

A docking block may be adapted to dock with the cassette via the docking interface.

The delivery or feed tube may be flexible, rigid or semi-rigid.

The rivet transferring means may be a passive in-line rivet releasing means adapted to hold or release rivets at the rivet transferring zone. The rivet delivery device may be a passive tandem rivet release device adapted to retain a rivet in the rivet delivery area and subsequently release the rivet.

The rivet transfer device may include at least one resiliently biased jaw member as described herein. The resiliently biased jaw members may be disposed to one side of the rivet delivery track. A resiliently biased jaw member may be provided at the distal end of the rivet delivery track.

The rivet delivery device may be in the form of an active tandem rivet selection device configured to selectively stop, capture and/or release one or more rivets at a rivet delivery area.

The rivet selection device may include a linear pin escapement mechanism.

According to an aspect of the present disclosure, there is provided a machine for setting rivets, the machine comprising a rivet supply system as described herein.

According to one aspect of the present disclosure, there is provided a method of supplying rivets to a rivet setting tool having a punch for setting rivets; a head arrangement defining at least one rivet receiving area for receiving rivets, in preparation for a setting operation; and a die disposed opposite the head arrangement for reacting the punch, the head arrangement being movable towards the die for engagement with a workpiece, the method comprising:

feeding at least one rivet through at least one rivet delivery track to deliver rivets to the rivet receiving area;

retaining and/or releasing rivets at the rivet receiving area by at least one rivet transferring device;

storing and/or transporting the rivets in a fillable rivet magazine in the vicinity of the setting tool,

the magazine includes at least a magazine portion of the rivet delivery track,

the cartridge comprises at least one docking interface for docking the cartridge to a bulk supply for refilling the cartridge,

wherein the magazine is in rivet supplying relationship with the head arrangement and is supported for movement with the head arrangement;

wherein a substantially non-deformable rivet delivery track length extends to the rivet receiving area.

According to an aspect of the present disclosure there is provided a fillable replacement magazine for storing and supplying rivets to a rivet setting tool having a punch for setting rivets and a nose arrangement for receiving rivets in preparation for a setting operation, the magazine comprising:

at least one inlet for receiving a rivet disposed at a proximal end of the magazine;

at least one outlet for supplying rivets to a nose arrangement of the setting tool, said outlet being provided at a distal end of the magazine;

at least one rivet delivery track extending from the inlet to the outlet, wherein rivets can be stored within or transported through the magazine, the rivet delivery track being substantially non-deformable;

at least one docking means located generally at said proximal end of said cartridge and arranged to cooperate with said inlet to refill said cartridge from a bulk supply;

at least one rivet dispensing device for dispensing rivets through said outlet to or towards said head arrangement. The design of this replaceable but repaired magazine allows for a number of control options to be provided for feeding rivets when needed.

The cartridge may be adapted to be directly coupled to the head arrangement.

The cassette may be adapted to be coupled to a chute.

The chute may be directly coupled to the head arrangement.

The head arrangement may be movable and the cassette may be adapted to be supported so as to be movable with the head arrangement generally in a direction defined by the punch.

The magazine may be adapted to be supported on the installation tool and/or on a C-frame for supporting the installation tool. The cartridge may be adapted to be slidably guided within a carriage provided on or supported by the C-frame when the cartridge is moved with the head arrangement.

To move the rivet within the magazine, the magazine may be adapted to receive as a rivet motive force:

gravity;

and/or suction.

The suction may be generated by a vacuum pump in fluid communication with a rivet delivery track at the distal end of the magazine.

The cartridge can thus be unsealed.

The cartridge may include a first elongate body portion extending generally longitudinally.

The rivet delivery track can also extend generally longitudinally through the first elongate body portion.

The cartridge may include a second elongate body portion disposed downstream of and angled from an elongate body portion.

The angle may be greater than 90 degrees and less than 180 degrees.

The first and second elongated body portions may be connected by a curved elbow.

The cassette may include a pivot attachment for attaching the cassette to an installation tool.

The magazine may include two or more rivet delivery tracks.

The rivet delivery track may be independent and may be arranged to be selectable to supply rivets to the head arrangement depending on the angular orientation of the magazine on the installation tool.

At least one of the plurality of rivet delivery tracks may have a curved longitudinal extension to facilitate refilling of rivets into the magazine and/or feeding of rivets from the magazine towards the head arrangement.

At least two of the plurality of rivet delivery tracks may have curved longitudinal extensions, and the respective curved portions have opposing recesses that tend to converge toward the pivot attachment.

The pivot attachment may be located substantially in the centre of the cassette.

The magazine may include three of the plurality of rivet delivery tracks.

The three tracks may include a first straight track extending generally longitudinally.

The second and third tracks may have curved longitudinal extensions and may be provided on either side of the first track.

The magazine may comprise two or more rivet dispensing devices, each associated with one of said rivet delivery tracks.

The rivet dispensing devices may each be in the form of a rivet handling device for selectively stopping, capturing, and/or releasing one or more rivets on a respective track as described herein.

Alternatively, the rivet dispensing device may be in the form of a rivet handling device associated with a rivet delivery track for selectively stopping, capturing and/or releasing one or more rivets on the track as described herein.

Alternatively, the rivet dispensing device may be in the form of a passive in-line rivet release device adapted to hold or release rivets to a nose arrangement as described herein.

The magazine may also include rivet handling means provided midway along the rivet delivery track to selectively stop, capture and/or release rivets on the track described herein.

The rivet handling device may define upper and lower portions of the rivet delivery track.

The magazine may include two or more separate upper portions of the rivet delivery track.

Two or more respective rivet handling devices may each be associated with a separate one of the upper portions.

The magazine may be configured such that the two or more separate upper portions may each feed one or more rivets onto the lower portion of the rivet delivery track.

The magazine may include an actuated track selection device for selecting one of two or more separate upper rivet delivery track sections to supply one or more rivets to a lower portion of the rivet delivery track.

The docking means may be in the form of a passive tandem rivet release arrangement. The device may be adapted to allow said refilling when the cartridge is docked to the bulk supply apparatus. The device may be adapted to prevent the filled rivets from flowing out of the magazine when the magazine is removed from the bulk supply apparatus.

The rivet release device may include at least one resiliently biased jaw member as described herein. This may be provided at the proximal end of the cartridge.

The cartridge can include one or more magnetically patterned surfaces.

The cartridge may include a patterned magnet, which may be a permanent magnet.

The magnetically patterned surface may be a first associated magnet surface for magnetic interaction with one or more second associated magnet surfaces. They may be provided on a support structure for supporting the cartridge. A support structure for supporting the cartridge may be provided on the setting tool. Alternatively, the support structure may be provided as a separate support structure in addition to the mounting tool.

According to an aspect of the disclosure there is provided a rivet supply system comprising a magazine as described herein.

According to an aspect of the present disclosure, there is provided a rivet setting tool comprising a rivet supply system as described herein.

According to an aspect of the present disclosure, there is provided a method of supporting a cassette, the method comprising:

providing a support structure comprising one or more of said second associated magnet surfaces for supporting a cartridge on said support structure;

disposing said first and second associated magnet surfaces in magnetic engagement;

optionally, wherein the support structure for supporting the cartridge is provided on the installation tool;

optionally, wherein the method of supporting a magazine further comprises butting a magazine against an installation tool in rivet supplying relation;

optionally wherein the method of supporting a cassette further comprises replacing a cassette on an installation tool with the supported cassette;

optionally wherein the support structure for supporting the cassette is provided as a bracket provided on a C-shaped frame supporting the installation tool;

alternatively, wherein the support structure is provided as a separate support structure for supporting the cartridge, rather than on the installation tool;

optionally, wherein the method of supporting a cartridge further comprises refilling the supported cartridge.

According to an aspect of the present disclosure there is provided apparatus for replacing a rivet or other fastener cartridge on a rivet or other fastener setting tool, the apparatus comprising:

rivets or other fastener installation tools;

a first rivet or other fastener magazine and a second rivet or other fastener magazine having respective first and second connection features for connecting each magazine to a complementary connection feature, the first magazine being mounted on the installation tool;

a robot arm for moving a mounting tool and a first magazine within a work area, the mounting tool being mounted on the robot arm;

a first support structure located within the working area and comprising such first complementary connection feature;

a second support structure also located within the working area and including a second complementary connecting feature of the type on which the second cassette is supported by a corresponding second connecting feature;

wherein the content of the first and second substances,

the robotic arm is operable to cooperate with first connection features of the first magazine and the first support structure, respectively, to transfer the first magazine from the installation tool to the first support structure; and/or

The robotic arm is operable to cooperate with second connection features of the second magazine and the second support structure, respectively, to transfer the second magazine from the second support structure to the installation tool.

The first support structure and/or the second support structure may be a fixed support structure.

The magazine may be a rivet magazine.

The setting tool may be a rivet setting tool.

The fixed support structure may include one or more brackets or struts.

The racks or posts may be grouped to form one or more shelves for supporting a plurality of cassettes.

One or more of the racks or posts may be a remote rack or post for refilling cassettes from a bulk supply. The first support structure and/or the second support structure may be a movable support structure. The movable support structure may be provided on one or more turntables. Each carousel may be adapted to support a plurality of cassettes.

The installation tool may comprise one or more brackets adapted to support the first cassette on the installation tool.

The first cassette may be adapted to be magnetically supported on the support.

A pair of associated magnet surfaces may be provided one on the outer surface of said first cassette and the other on at least one of said supports.

The installation tool may comprise a C-shaped frame.

The installation tool and the C-frame may be mounted on a robotic arm.

At least one of the brackets may be disposed on the C-shaped frame.

One or more brackets may be provided on the longitudinally extending main portion of the C-shaped frame.

The first magazine may be arranged on the setting tool in a rivet-supplying engagement.

The setting tool may include a punch for setting the rivet, a nose arrangement for receiving the rivet in preparation for a setting operation, and a die disposed on the die opposite the nose arrangement for reacting the punch.

The head arrangement may be moved towards the die to disengage the first rivet magazine from the rivet supplying engagement on the setting tool to facilitate transfer of the first rivet magazine from the setting tool to the first support structure.

The first rivet magazine may be supported for movement with the head arrangement. When the first rivet magazine is supported on the first support structure, the head arrangement may be moved towards the die to disengage the first rivet magazine from the rivet supplying engagement on the setting tool.

The first cartridge connecting feature and/or the second cartridge connecting feature can each comprise a cartridge plate structure.

The cartridge plate structure may be in the form of a cartridge pad provided on said cartridge.

The cartridge pad may include a layer of compliant material.

The cassette plate structure may be grooved or ridged to form a key-like profile.

The cartridge plate structure may be magnetic.

The cartridge magnetic plate structure may include a permanent magnet.

The cartridge magnetic plate structure can include a magnetically patterned surface.

The first and second complementary connecting features may each comprise a support plate-like structure.

The support plate-like structure may be in the form of support pads provided on said first and/or second support structure.

The support pad may include a layer of compliant material.

The support plate-like structure may be complementarily ridged or grooved, respectively, relative to the cassette plate-like structure to form a complementary key-like profile.

The support plate-like structure may be magnetic.

The magnetic plate-like structure may comprise permanent magnets.

The magnetic plate-like structure may comprise a magnetically patterned surface.

The cartridge and the support plate structure may comprise at least one further pair of associated magnet surfaces.

Another pair of associated magnet surfaces may be adapted to properly magnetically align a first rivet magazine on the first support structure and/or a second rivet magazine on the second support structure.

Another pair of associated magnet surfaces may be adapted to magnetically latch the first cassette on the first support structure and/or to magnetically latch the second cassette on the second support structure.

The further pair of associated magnet surfaces may be adapted to magnetically release the first cassette from the first support structure when the first cassette and the first support structure are misaligned relative to each other.

The further pair of associated magnet surfaces may be adapted to magnetically release the second cassette from the second support structure when the second cassette and the second support structure are misaligned relative to each other.

The apparatus may further comprise at least one further cassette having a further connecting feature for connecting the further cassette to a further complementary connecting feature which is different and incompatible with the complementary connecting features associated with the first and second cassettes, and at least one further support structure located within said working area, said further support structure comprising one such further complementary connecting feature.

Additional attachment features may include a pair of magnetically repelling surfaces. The magnetically repulsive surfaces can each comprise a magnetically patterned surface.

According to one aspect of the present disclosure, there is provided a method of replacing a rivet or other fastener cartridge on a rivet or other fastener setting tool, the method comprising:

providing a first rivet or other fastener magazine and a second rivet or other fastener magazine having a first attachment feature and a second attachment feature, respectively, for attaching each magazine to a complementary attachment feature, wherein the first magazine is mounted on the installation tool;

providing a robotic arm for moving the installation tool and the first cassette within a work area, the installation tool being mounted on the robotic arm;

providing a first support structure located within the working area and comprising such first complementary attachment feature;

providing a second support structure also located within the working area and comprising such a second complementary connecting feature, the second cassette being supported on the second support structure by a corresponding second connecting feature;

operating the robotic arm to cooperate with first connection features of the first magazine and the first support structure, respectively, to transfer the first magazine from the installation tool to the first support structure; and/or

Operating the robotic arm to cooperate with second connection features of the second cassette and the second support structure, respectively, to transfer the second cassette from the second support structure.

According to an aspect of the present disclosure there is provided a replacement magazine for storing rivets or other fasteners for supply to a rivet or other fastener setting tool, the magazine comprising:

at least one magnetically patterned surface.

The cartridge may have an elongated generally tubular shape.

At least one rivet delivery track can extend internally through the magazine. A magnetically patterned surface can be disposed on an exterior surface of the cartridge.

The magnetically patterned surface may be provided on a plate-like structure located on the cartridge.

The plate-like structure may be in the form of a cartridge pad comprising a layer of compliant material.

The magnetically patterned surface may be a first associated magnet surface for coupling with a second associated magnet surface provided on the cassette refill.

According to one aspect of the present disclosure there is provided a cartridge as described herein in combination with a cartridge refill.

The cassette refill may be a cassette filling device.

The filling device may comprise a rivet feed tubular member.

The cassette may include a plurality of upper rails.

The rivet feed tubular member may include a corresponding plurality of rivet feed channels.

A first associated magnet surface may be provided on a magazine docking interface provided on a magazine for docking/undocking said magazine to a rivet supply line extending through said magazine filling device.

The cassette docking interface may be disposed on an upper surface of the cassette.

The cartridge interface and filling device may be adapted for sealing engagement to reduce or prevent air loss therebetween during a cartridge filling operation using compressed air as a rivet motive force.

The second associated magnet surface may be provided on a filling docking interface located on the filling device.

The filling docking interface may be provided on a lower surface of the filling device.

The first and second associated magnet surfaces may be adapted to generate an alignment force therebetween when the magazine is magnetically engaged with the filling device such that rivets may be transferred from the filling device to the magazine.

The first and second associated magnet surfaces may be adapted to generate a repulsive release force therebetween upon magnetic disengagement of the cartridge and the filling device.

The rivet filling apparatus may be supported on at least one compliant mount.

The rivet filling apparatus can be supported on a plurality of compliant mounts.

The rivet filling apparatus may include a first support structure and a second support structure, and one or more compliant mounts may be disposed between respective distal and proximal ends of the first and second support structures.

The first support structure may be a tripod and three compliant mounts may be provided between the tripod and the second support structure.

The first support structure may comprise at least one first rhombus-shaped plate and the second support structure may comprise at least one second rhombus-shaped plate arranged externally with respect to said first rhombus-shaped plate.

The one or more compliant mounts may be adapted to absorb forces resulting from contact between the filling device and the magazine when the magazine and rivet filling device are coupled to fill the magazine with rivets. The one or more compliant mounts may be adapted to return the filling device to an initial position of equilibrium after the filling device has been displaced from the initial position of equilibrium.

The filling device may comprise stop means for limiting the movement of the filling device within a predetermined range of positions in at least one direction.

The stop means may comprise two spaced apart annular members for limiting the vertical position of the rivet feed tubular member.

The magazine supplement may be a chute for docking the magazine to the nose arrangement of the rivet setting tool.

A first associated magnet surface may be provided on a magazine docking interface provided on the magazine for docking/undocking the magazine to a rivet supply line extending through said chute.

The cassette docking interface may be provided on a lower surface of the cassette.

The second associated magnet surface may be disposed on a chute docking interface located on the chute.

The chute interface may be disposed on an upper surface of the chute.

The cassette refill may include a cradle.

The first associated magnet surface may be provided on a side of the cassette facing the installation tool.

The bracket may be provided on the mounting tool or on a C-frame supporting the mounting tool.

The second associated magnet surface may be provided in a recess for receiving a cassette provided on said support. In addition to the installation tool, the cassette refill may include a separate support structure.

The cassette support structure can include a support plate structure as described herein.

The first associated magnet surface may be provided on an outwardly facing side of the cartridge.

According to an aspect of the present disclosure, there is provided a method of structurally supporting a replacement cassette, the method comprising:

providing a first magnetically patterned surface on the cartridge;

providing a second complementary magnetically patterned surface on the structure;

magnetically engaging the surface to connect the cartridge to the structure.

The cartridge and said structure may be adapted to define a mechanical engagement designed to facilitate said magnetic engagement of said surface to connect the cartridge to said structure, such that when a replacement cartridge is supported on said structure, the cartridge and structure are mechanically connected in addition to being magnetically connected.

The mechanical engagement may comprise an abutment between the cartridge and the structure.

The abutment may comprise first and second complementary key-like profiles provided on the cartridge and said structure respectively.

First and second key-like contours may be provided on the first and second magnetically patterned surfaces, respectively.

The mechanical engagement may define at least one possible direction for magnetically engaging the surface to connect the cartridge to the structure. The mechanical engagement may define a unique direction for magnetically engaging the surface to connect the cartridge to the structure.

The magnetically patterned surfaces may be adapted to magnetically engage each other if the surfaces can be spaced apart within a predetermined maximum distance.

The magnetically patterned surface may be adapted to magnetically align the cartridge and the structure when engaged.

According to an aspect of the present disclosure, there is provided a method of disconnecting a replacement cassette from a structure, the method comprising:

providing a first magnetically patterned surface on the cartridge;

providing a second complementary magnetically patterned surface on the structure;

wherein the cartridge and the structure are magnetically connected by the surface;

magnetically disengaging the surface to disconnect the cartridge from the structure.

The cartridge and structure may be adapted to define a mechanical engagement as described herein which is designed to facilitate said magnetic disengagement from said surface to disconnect the cartridge from said structure, such that when a replacement cartridge is disconnected from said structure, the cartridge and structure are mechanically disconnected in addition to the magnetic disconnection.

The mechanical engagement may define at least one possible direction to magnetically disengage said surface to disconnect the cartridge from said structure.

The mechanical engagement may define a unique direction for magnetically disengaging the surface to disconnect the cartridge from the structure.

The method may further comprise moving the cartridge and/or said structure relative to each other beyond a predetermined minimum distance. The magnetically patterned surface may be adapted to magnetically repel each other of said cartridge and said structure upon detachment.

According to an aspect of the present disclosure, there is provided a riveting apparatus including:

a rivet setting tool;

one or more magazines for storing rivets, each magazine carrying information relating to the type and/or size of rivets stored in the magazine;

a reader for reading the information on the cartridge;

a controller operatively associated with the rivet setting tool and the reader; wherein the content of the first and second substances,

the controller is configured to control the rivet setting tool in response to a signal received from the reader.

One or more of the magazines may be engaged with a rivet supply on a rivet setting tool.

One or more cartridges may each be as described herein.

Each cassette may comprise an electronically readable label carrying said information.

The reader may comprise an electronically readable tag reader.

The electronically readable label may be located on the side of the cassette facing the tool.

An electronically readable tag reader may be located on the stand to support the one or more magazines in the rivet supplying engagement on the rivet setting tool.

The rivet setting tool may be mounted on a robotic arm.

The controller may be configured to control the robotic arm.

The cartridge may be replaceable.

The controller may be configured to control the robot arm to perform a cassette replacement operation.

The controller may be configured to control the robotic arm to perform a cassette replacement operation as described herein.

The rivet setting tool may include a replaceable and/or adjustable die assembly.

The controller may be configured to control the installation tool to replace and/or adjust the replaceable and/or adjustable mold assembly.

According to an aspect of the present disclosure, there is provided a riveting method including:

providing a riveting apparatus as described herein;

reading, by the reader, the information carried on one or more cassettes;

controlling the installation tool via the controller in response to a signal received from the reader.

According to an aspect of the present disclosure, there is provided a riveting method including:

providing a riveting apparatus as described herein;

reading, by the reader, the information carried on one or more cassettes;

in response to a signal received from the reader, the robot arm is controlled via the controller to perform a cassette replacement operation.

According to an aspect of the present disclosure, there is provided a riveting method including:

providing a riveting apparatus as described herein;

reading, by the reader, the information carried on one or more cassettes;

controlling, via the controller, an installation tool to replace and/or adjust the replaceable and/or adjustable mold assembly in response to signals received from a reader.

According to an aspect of the present disclosure, there is provided a riveting method as described herein, the method further comprising:

and identifying the riveting point.

According to an aspect of the present disclosure, there is provided a method of manufacturing a vehicle or part thereof by installing one or more rivets, wherein the method comprises any process described herein.

The invention will now be described with reference to the accompanying drawings, in which:

drawings

FIG. 1 is a side view of a rivet setting tool including a rivet supply system for supplying rivets to a setting tool mounted on a C-shaped frame (shown only schematically) operated by a robotic arm, and incorporating two fillable and replaceable rivet cartridges;

FIG. 2 is an enlarged side view of the installation tool of FIG. 1 with the nose arrangement of the installation tool in a partially extended configuration;

FIG. 3 is a side view of the installation tool of FIGS. 1 and 2 with the cassette partially undocked from the supply system and with a front cover portion cut away to reveal the rotary cam escapement contained in the cassette;

FIG. 4 is an enlarged side view of the installation tool of FIG. 3;

FIG. 5 is a side view of the installation tool of FIGS. 3-4 with the magazine fully undocked from the rivet supply system;

FIG. 6 is an enlarged side view of the installation tool of FIG. 5;

FIGS. 7A-7B are side views of components of the rivet supply system of the arrangement of FIGS. 3 and 4, respectively; and FIG. 7A is an enlarged partial side view thereof;

fig. 8A to 8C are respectively plan views (with the front panel removed) as viewed from the front; a plan view from the back side with a cut-away portion; a plan view from the bottom; it is each view of the distal end of the cartridge of fig. 1-7 and its actuator, showing the rotating cam escapement in a default configuration, which stops two rivets;

fig. 9A to 9C are respectively plan views (with the front panel removed) as viewed from the front; a plan view from the back side with a cut-away portion; a plan view from the bottom; it is each view of the distal end of the cartridge of fig. 1-7 and its actuator, showing the rotary cam escapement in an actuated configuration, which releases the rivet;

fig. 10A to 10B are perspective views from the front, respectively; and a perspective view from the back; each view is of the assembly shown in fig. 9A-9C;

11A-11C illustrate an alternative cartridge having a spring biased jaw escapement associated with each of the inlet and outlet of the cartridge;

FIG. 12 is a front perspective view of the rivet setting tool of FIGS. 1-6, schematically illustrating first and second turntable systems on either side of the setting tool for supporting various replacement cartridges and replacement die assemblies;

FIG. 13 is a front perspective view of the rivet setting tool of FIGS. 1-6, schematically showing first and second fixed support systems on either side of the setting tool, each fixed support system including a rack for holding up to four replacement cassettes and having a corresponding docking block for refilling the cassettes;

FIG. 14 is a side view of the rivet setting tool of FIGS. 1-6 (with the magazine disconnected), the C-shaped frame including a bracket for supporting four replacement magazines on either side of the C-shaped frame, and four fixing posts disposed about the setting tool, each for supporting a magazine during a filling operation or a magazine replacement operation;

FIG. 15 is a schematic view of a docking arrangement for refilling a cartridge, showing the cartridge and a filling station including a pair of associated magnet docking interfaces;

FIG. 16 is an alternative docking arrangement, further including associated magnet surfaces;

fig. 17A-17C are three examples of related magnet docking interfaces;

FIG. 18 is a side view of another rivet supply system for supplying rivets to a setting tool mounted on a C-shaped frame (again only schematically shown) manipulated by a robotic arm, the system including two fillable and replaceable pivot rivet magazines each at a first angular configuration with the front panel removed;

FIG. 19 is an elevational view of the rear plate member of the pivot rivet magazine of FIG. 18, showing the longitudinal extensions of the three magazine rivet track portions with respective rivets stopped thereon by respective rotary cam escapements;

FIGS. 20A-20B show enlarged views of the proximal and distal ends, respectively, of the back plate of FIG. 19;

FIG. 21 is a side view of the rivet supply system of FIG. 18 with the pivot magazines each disposed in a second angular configuration;

FIG. 22 is a front plan view of the rivet supply system of FIG. 21;

FIG. 23 is a partially exploded side view of the rivet supply system of FIGS. 18-22;

FIG. 24 is a side view of the rivet supply system of FIGS. 18-23 with the head arrangement of the installation tool in a partially extended configuration;

FIG. 25 is a side cross-sectional view of a component of the rivet supply system of FIGS. 18-24 having a pin member for actuating the rotary cam escapement in a retracted configuration;

FIG. 26 is a side cross-sectional view corresponding to FIG. 25 with the pin member partially extended;

FIG. 27 is a side cross-sectional view corresponding to FIGS. 25 and 26 with the actuator fully extended;

FIG. 28 is a side cross-sectional view corresponding to FIGS. 25, 26 and 27 with the actuator partially retracted;

FIG. 29 is a side view of the rivet supply system of FIGS. 18-28 showing the docking block docked in one magazine on each side of the installation tool for in situ refilling of the magazines;

FIG. 30 is a front perspective view of a pivoting cassette of FIGS. 18-29 detached from the installation tool and supported on a bracket of FIG. 14, showing the docking block in a disengaged, docked configuration;

FIG. 31 is a front perspective view corresponding to FIG. 30 with the docking block docked to the cassette to refill the cassette when the cassette is supported on the cradle;

FIG. 32 is a side view showing a single-sided magazine arrangement including alternative, single-rail fillable and replaceable rivet magazines for but not equipped with rivet handling devices and opposing elongate carriers disposed midway along the magazine;

FIG. 33 is a side view of a double-sided arrangement including two mirror image single track cassettes of the type also shown in FIG. 32;

FIG. 34 is a side perspective view of a double-sided arrangement including two mirror image single track cassettes, each equipped with a linear pin escapement disposed midway along the cassette (note that these cassettes are identical to the cassettes shown in FIGS. 11A-11C);

FIG. 35 is a side view of a double-sided arrangement, including two mirrored dual track cassettes, each cassette being provided with two linear pin escapements on its upper track, and a rotary track selector located downstream of the linear pin escapements;

FIG. 36 is a perspective view of another rivet supply system for supplying rivets to a setting tool mounted on a C-shaped frame operated by a robotic arm (again only shown schematically), the system including two dual rail fillable and replaceable rivet magazines disposed on either side of the setting tool, of the type also shown in FIG. 35;

FIGS. 37A-37B are side perspective views of the cassette of FIG. 34, respectively, in a single-sided configuration; and an enlarged perspective view of a portion thereof;

FIGS. 38A-38B are side perspective views, respectively, of a single-sided arrangement including an alternative dual track cassette including two alternative rotary cam escapements disposed on an upper track of the cassette, and a rotary selector downstream of the rotary cam escapements; and an enlarged perspective view of a portion thereof;

FIGS. 39A-39B are side perspective views of the cassette of FIG. 34 in a single-sided configuration, respectively; and an enlarged perspective view of a portion thereof;

40A-40B are side perspective views of an alternative single track rivet magazine in a single-sided configuration with the rotary cam escapement of FIGS. 38A-38B, respectively; and an enlarged perspective view of a portion thereof;

FIG. 41 is a perspective view of the internal arrangement of the cassette of FIGS. 38A-38B, showing two conventional rivet sensors;

42A-42B are plan views of the interior arrangement of the cassette of FIGS. 38A-38B, respectively showing a rivet released on one or the other of the upper rails of the cassette, with the rotary selector oriented accordingly to select the desired upper rail;

FIGS. 43A-43B illustrate in more detail the operation of the cassette of FIG. 34 and its linear pin escapement;

fig. 44A-44C illustrate in more detail the operation of the linear pin escapement of fig. 43A-43B;

fig. 45A-45C illustrate in more detail the operation of the linear pin escapement of fig. 43A-43B;

FIG. 46 illustrates a first mold adjustment option using an external mold adjustment means;

FIG. 47 shows a mold replacement option;

FIG. 48 illustrates a second mold adjustment option using an internal mold adjustment means;

FIGS. 49A-49C are front perspective views of the mold assembly of FIG. 46, respectively; FIG. 46 is a side sectional view of the mold assembly; and a partial top view of the mold assembly of FIG. 46; and

FIGS. 50A-50C are front perspective views of the mold assembly of FIG. 47, respectively; FIG. 47 is a partial cross-sectional elevation view of the mold assembly; and a side cross-sectional view of the mold assembly of fig. 47.

Detailed Description

In this specification, the meanings associated with certain terms or phrases used herein will be first introduced. The contents of the presently described fastening operation will also be briefly discussed.

The most important features of the present disclosure will then be described with reference to fig. 1 to 17.

Finally, fig. 18 to 50 will also be described, although to a lesser extent than fig. 1 to 17, and in particular many alternative arrangements to those described with reference to fig. 1 to 17 will be discussed.

Introduction to

We describe in particular a self-piercing rivet setting machine of the type which sets self-piercing rivets, for example on panels of various thicknesses, for use in the manufacture of bodies such as automotive frames and/or panels. The skilled person will nevertheless appreciate that at least some of the teachings herein are equally applicable to the more general description of different installation tools and/or fasteners.

The self-piercing rivet setting machines described herein are typically incorporated into robotic arms so that they may be advanced according to many different directions and positioned at desired locations within a work area. To this end, a rivet setting tool having a punch for setting rivets is mounted on a C-shaped frame, which in turn is mounted on a robotic arm. The robotic arm may translate and/or rotate the installation tool according to multiple degrees of freedom. The robot arm is only schematically shown in the drawings and will not be described in detail here. However, the operation of the robotic arm will be described in greater detail in connection with certain aspects of the present disclosure. It will be apparent that the rivet supply arrangement described herein is particularly suited to installation tools mounted on such C-frames and/or robotic arms.

As described herein, "nose arrangement" identifies the arrangement of the working end of the rivet setting tool. A punch is advanced through the nose arrangement to guide the rivet toward and into the workpiece. The head arrangement described herein is mounted on a piston/cylinder arrangement which is operated by a servo mechanism on the mounting tool. Thus, the head arrangement described herein is movable and extends away from the installation tool to contact the workpiece in preparation for the installation operation.

In or near such a nose arrangement, one or more designated "rivet receiving areas" or "rivet transfer areas" are provided, wherein rivets (which have already ended their travel along the rivet supply system from the batch feeder or other batch storage system to the nose arrangement) wait there so that they can be transferred in turn to a standby position below the punch, one at a time, for insertion into the workpiece. The "nose assembly" identifies a subassembly of the nose arrangement that is used more specifically to guide the rivet and punch, after which the punch has engaged the rivet during the rivet setting operation. The handpiece assembly is not described in detail herein.

During the installation operation, the action of the punch on the workpiece is resisted by a "die assembly" located at the receiving end of the C-shaped frame. Certain mold assemblies are described in more detail herein.

As described above, the "rivet setting operation" identifies the stroke of the punch to place the rivet in the workpiece. However, the principles of these operations are not described in detail herein, as the present description is primarily concerned with how the rivets are stored and then provided to the setting tool, and how the rivets are replenished into the magazine as needed.

Since the rivet supply system described herein is adapted to supply rivets from a bulk storage device to a setting tool, attributes such as "proximal" and "distal" generally refer to a one-way direction of travel of rivets through the supply system. Thus, for example, the "proximal end" of a rivet magazine represents the end of the magazine where the rivet enters the magazine. The "distal end" of the magazine refers to the end of the magazine where the rivets exit the magazine and arrive at or travel towards the nose arrangement.

The various features shown in the figures have been assigned reference numerals as is conventional. However, for the sake of clarity, where the same or equivalent features are shown in connection with different arrangements, the features have (at least in the vast majority of cases) been assigned the same reference numerals.

Multiple instances of the same feature shown in the drawings have been labeled with a lower case letter suffix that is the reference number assigned to the feature. For example, the magazine sections of the rivet delivery track are labeled 11a, 11b, 11 c. However, when making a general reference to this feature, reference numerals without a lower case letter suffix may be used. For example, to generally designate the magazine sections of the rivet delivery track, reference numeral 11 may have been used.

The self-piercing rivets described herein are labeled with capital letters such as A, B, C and the like. However, it should be apparent that other fasteners may be suitable for providing to an installation tool in accordance with the principles described herein. However, it is a preferred feature of at least some aspects disclosed herein that the fastener be in the form of a rivet or self-piercing rivet.

The different positions or orientations assumed by a given component have been marked with vertices following the reference numbers assigned to that component or to the features identifying that position. For example, the pivoting cassettes in the position shown in FIG. 21 have been labeled 10a ', 10b', reference numeral 10 generally identifying the cassette, while reference numerals 10a, 10b refer to the respective cassettes on the right and left sides of the installation tool. Given their different positions, the leading rivet a and the trailing rivet a shown in fig. 10A-10B are labeled a' and a "as well.

The attribute "independent" with respect to any rivet trajectory or portion thereof has been used to indicate that the independent trajectories/portions do not intersect, or are otherwise irrelevant with respect to the flow of rivets therethrough. In other words, the tracks/portions do not share any common sections. Thus, the passage of rivets in each individual track/section can be independently adjusted or controlled on these individual tracks/sections.

The attribute "independent" with respect to any described external means for supporting the cartridge has been used to indicate that these means are provided as separate entities with respect to the mounting tool, the C-frame and/or the robotic arm on which the mounting C-frame is mounted.

The "passive" nature of the mechanism means that there is no dedicated actuator operated by an external device. Thus, for the purposes of this specification, even a pair of resiliently biased jaws for controlling rivet filling of a cartridge proximal end are categorized as passive mechanisms, even if the jaws are initially biased in a closed position by a set of springs, and may be opened by, for example, a cartridge abutment (i.e., coupling or docking) with a cartridge filling device such as a docking block, as will be further described herein.

The "active" nature of the mechanism indicates the presence of a dedicated actuator operated by an external device, such as an electric servo or a pneumatic mechanism operated by a pneumatic circuit, to control the position and/or configuration of one or more elements of the mechanism itself according to an external command or signal. Thus, for example, a rotary cam mechanism operates on a rivet delivery track under operation of a dedicated actuator to selectively release one or more rivets on the track, and is classified as active when operated upon receipt of an appropriate signal or command by a controller or the like.

The term "replaceable" refers to a rivet magazine disposed in a rivet supply line in rivet supplying relationship or rivet supplying engagement and therefore can be removed for replacement (i.e., replacement) with another identical or similar magazine, such as another magazine that can store the same or a different type of rivet, while the replaceable magazine is empty. Alternatively, the other cartridge is referred to as a "replacement" cartridge. When used in conjunction with one or more cassettes, the attribute "replace" thus represents one or more cassettes that are ready to replace a replaceable cassette, e.g., because the replaceable cassette is empty (e.g., because all of the fasteners originally stored therein have been used) and the replacement cassette is full or partially full. It will be appreciated that the examples are not limited to replacing a replaceable empty cassette with a replacement full cassette. Alternatively, it may be necessary to replace a partially filled magazine with a magazine storing rivets of a different type and/or size, depending on, for example, the requirements of a particular fastening sequence. The replacement magazine may be full, or may be only partially filled with rivets. Alternatively, replacement may be between an operable cassette and a cassette known to have been damaged or inoperable for any reason.

Each cartridge described herein, in its most basic form, is a generally elongate tubular structure through which a portion of the rivet supply line passes internally. Thus, rivets can be stored in the magazine in rows or columns and can be released from the magazine to supply the installation tool when required. The cross-sectional shape of the rivet supply line described herein is a "T-shape" that is adapted to generally conform to the shape of the self-piercing rivet described herein. Thus, the rivets travel generally transversely relative to the magazine through which the generally longitudinal direction of the rivet supply line extends. However, other cross-sectional shapes are in principle possible and will depend primarily on the shape and/or size of the fastener. Further, in principle, rivets or other types of fasteners may be advanced to maintain a longitudinal orientation, rather than a transverse advance. However, this alternative may not be preferred in the self-piercing rivet fastening applications described herein.

The magazine described herein is generally constructed by joining together a rear plate member and a front plate member, each plate member being formed with suitable grooves to obtain a T-shaped cross-section of the rivet delivery track when the plate members are joined together to form the magazine. Throughout this specification we will not provide any further details regarding the specific construction of the cartridge, but it will be apparent that a variety of cartridge designs, constructions and materials are possible, including conventional materials, such as metals, including ferromagnetic metals, or non-ferromagnetic materials, such as suitable polymeric materials.

The cartridges and other accessory structures described herein may include one or more "patterned magnets," i.e., magnets having a surface with patterned areas characterized by opposite magnetic polarities or signs (i.e., "north" and "south," or "positive" and "negative") due to magnetic structures (i.e., magnetic domains) arranged in alternating order within the patterned magnet.

In contrast to conventional magnets, patterned magnets concentrate the magnetic field they generate near their surface. Thus, a patterned magnet may be used to generate a dense local magnetic field that may be used to strongly attract ferromagnetic material disposed proximate to the magnet without affecting other spaced apart ferromagnetic elements. The exposed surfaces of these patterned magnets are referred to herein as "magnetically patterned surfaces".

The above-mentioned patterns/surfaces may be arranged to obtain different resultant magnetic fields. Thus, pairs of magnetically patterned surfaces may also be programmed to generate position-dependent forces to achieve various desired mechanical effects between such magnets and, thus, between structures that receive such magnets. Therefore, we also refer to these pairs of patterned magnets as "correlated" magnets or "programmed" magnets. Thus, pairs of "related" or "complementary" magnetically patterned surfaces can be designed to achieve various mechanical properties beyond simple magnetic attraction or retention. We describe herein certain mechanical properties that can be obtained by providing suitable pairs of magnetically related surfaces, which is advantageous, for example, in applications such as docking a rivet magazine to a filling station, to a setting tool, or a support structure that supports the rivet magazine on the setting tool or elsewhere. These magnetically-associated patterned surfaces are also referred to herein as "associated magnet surfaces" due to their magnetic association with each other. Reference is made to a study conducted by Larry w.fullerton about ten years ago, the results of which are known from literature, including patent literature.

For the purposes of this description, the magnetically-related surfaces or associated magnet surfaces may be obtained in a number of different ways, including the use of permanent magnets, electromagnets, or other equivalent field emission structures (although the latter may not be preferred in the rivet fastening application described herein). Furthermore, such associated magnet surfaces may vary widely with respect to the specific geometry of their patterns. Also, such a surface may be part of one or more magnetic inserts, e.g. incorporated into e.g. one or more patterned magnets in a cartridge. Alternatively, as described above, if the cassettes are made at least partially of ferromagnetic material, it is possible to sense them on any cassette surface (similar to "printing").

The individual magnetic elements (also referred to as "maxels") that are induced or printed can thus be arranged to form associated pairs of patterned magnets that interact via their associated magnet surfaces. These magnetically related surfaces may be designed to achieve the desired mechanical function, and may be of different sizes and may be arranged in a number of different ways. It is not within the scope of the present application to describe any particular pattern or geometry in relation to the relevant magnet surfaces and their mechanical function. Alternatively, it is noted that sufficient patterned magnets to form useful pairs of Correlated magnets can be readily purchased from, for example, calibrated Magnetics Research, LLC, when writing this specification from website www.polymagnet.com. Otherwise, a suitable associated magnet surface may be manufactured.

For example, product reference 1001107 from www.polymagnet.com is a two-dimensional (2D), one-square inch aligned patterned magnet that can be paired with another patterned magnet of the same type via opposing surfaces having complementary (i.e., correlated) polarity patterns. Thus, one surface has a given polarity pattern on one patterned magnet, while the opposing pair of surfaces has a corresponding negative polarity pattern on the other patterned magnet. Thus, pairs of 1001107 associated magnets may provide a two-dimensional alignment function with retention and alignment shear resistance. This means that when the relevant magnet surfaces of these patterned magnets are perfectly aligned, a holding force perpendicular to the magnetic engagement surfaces of the 2D magnets and a small or ineffective alignment (shear) force are generated. When the magnet is out of alignment (which can be done with less force), the holding force is reduced from the fully aligned position. At the same time, the alignment force increases and tends to realign the magnets.

Although contact may be a preferred feature, contact between the engaged magnetic surfaces is not a requirement for magnetic interaction between a pair of associated magnets. For example, if there is a small gap between the respective magnetically associated surfaces, vertical and shear forces will still be generated that maintain similar magnitudes between the associated magnets as described above. However, the resultant force will be weakened accordingly. This may be the case if a layer of protective or compliant material (e.g. a protective film) is used to coat the relevant magnet surface. The mechanical properties of the associated magnet may also be affected by other characteristics, such as the presence and/or size of a layer of backing material disposed on the back side of the associated magnet.

Pairs of different associated magnets with different magnetically associated surfaces provide different mechanical functions defined by different sets of magnetically generated forces depending on the relative positions between the associated magnets and the actual shape of the pattern. Note that to achieve some of these functions, it may be necessary to limit the associated magnet to at least one degree of freedom.

As seen above in the context of the associated magnet 1001107, the magnetically generated mechanical forces described herein may perform different functions including "alignment". However, other possible mechanical functions may also be used for the purposes described in this specification, such as:

"coupled" (also referred to herein as "connected"), i.e., producing a generally attractive holding force (with a shear and/or perpendicular component). Note that coupling may also be achieved by "aligning" the associated magnets 1001107 as described above. For example, when the alignment magnets 1001107 are fully aligned, they may generate a coupling (or connecting) force;

"latch", which involves switching between a light repulsive force and a relatively strong coupling force when two associated magnets are close to each other;

a "spring" will generate a stronger attraction or repulsion force when two associated magnets are respectively moved away from or close to each other in the axial direction. This function can be used to bias, for example, a cassette toward a docking interface, as will be described in more detail below; and

"release" relates to the generation of a relatively strong repulsive force when two associated magnets shear apart from each other.

The above list is not exhaustive. For example, similar functions (e.g., "torsional alignment," "torsion spring," or "torsional latch") are contemplated in relation to the angular positioning or degree of rotation between the associated magnets.

It will also be appreciated that the general mechanical behaviors described above are not mutually exclusive, as a given pair of associated magnets may behave simultaneously according to multiple behaviors at a given time, depending on the relative positions between the magnets.

As mentioned above, it is important that the mechanical behavior of the associated magnet generally varies with the relative position of the magnets to provide an overall "mechanical experience". However, at any given location, one of the above behaviors may be dominant. Within the broad scope of fastener supply and storage applications, within the scope of the present application, various possible practical uses of the mechanical properties described in connection with pairs of associated magnets are proposed.

As used herein, "docking interface" refers to a surface of a component (which may be a cartridge, for example) having suitable features to establish rivet supply communication with another component, the rivet supply communication being in the presence of a corresponding or complementary docking interface provided on the other component. Thus, in this specification, the term "butt joint" is always used in connection with at least one rivet supply track. For example, the rivet supply track may be placed in rivet supply relationship with the bulk supply, either by docking the magazine directly to the bulk supply, or by docking the magazine to an intermediate docking device having a suitable docking interface. The docking means may be a docking block connected to the bulk supply via, for example, one or more flexible tubes.

Alternatively, describing the mechanical connection more generally for the purpose of supporting a component (e.g. a replacement cassette) on a support structure such as a rack, general terms such as "supported", "connected" or more specific terms indicating the manner of support or connection are used, e.g. "latched", "guided". Thus, when the replacement magazine is in a non-rivet-supplying relationship within the rivet supply line (e.g., when the magazine is not docked to the rivet supply line), the replacement magazine can be supported on the stand. To support the cartridge on the support, magnetic pads may be provided on the cartridge, for example. The magnetic pad may include a patterned magnet. The support may include an associated patterned magnet. However, alternative support means are also possible. To dock the cassette on the punch arrangement, a U-shaped guide may be provided on the C-shaped frame, for example, to guide the cassette in a direction substantially parallel to the punch. A number of passive and active rivet handling devices are described herein which serve multiple purposes during different stages of rivet advancement through a rivet delivery line. Detailed description of these devices is beyond the scope of this application. However, their role in handling rivets through a rivet supply line will be described.

The first type of rivet handling device encountered hereafter may be defined as an "active in-line rivet selection device". These devices are actuated via an external actuator, the purpose of which is to release selected rivets on the rivet delivery track at the required time. Examples of active tandem rivet selection devices are "rotary cam escapement" and "linear pin escapement". Both of which will be briefly described herein. The main difference between these two types of devices is that the rotary cam escapement utilizes rotational actuation of the cam device to release a selected rivet, while the linear pin escapement utilizes linear actuation to move one or more pin-shaped barriers to release a selected rivet. The cam device and pin-shaped barrier may in principle have many different forms, and some of them are described in more detail herein.

A second example of a rivet handling device briefly described herein may be defined as an "active track selection device". These devices are also actuated via external actuators and their purpose is to connect one or another of the multiple upper portions of the rivet delivery track to a common lower portion of the rivet delivery track within the magazine. One example of an active track selection device is a "rotary track selector". In a rotary track selector, a rotary member rotates to engage one of many possible upstream portions of a rivet delivery track with a common downstream portion of the rivet delivery track via a curved rivet delivery track portion located in the rotary selector so that rivets can pass from a selected upper (or upstream) track to the common lower (or downstream) track. However, different active track selection means would be possible.

A third type of rivet handling device, briefly described herein, may be defined as a "passive tandem rivet releasing device". These devices do not actuate as required by the devices described above. Rather, these passive devices are biased to a default position, such as a closed position, by default. Depending on their use, these means may for example prevent one or more rivets from leaving the magazine or may prevent one or more rivets from entering the magazine in the closed position. For example, by bringing the magazine into contact with other mechanical components of the system designed to cooperate with the magazine, for example with rivet transferring means or docking interfaces provided in the arrangement of the punch, these means can be switched to their open position to transfer the rivets to a standby position below the punch, respectively, or to refill the magazine with new rivets.

It will now be clear that the focus of this patent specification is on the storage and supply of rivets in the vicinity of the setting tool. A complete rivet supply line typically extends from the bulk storage facility to the installation tool. However, we are not concerned with the bulk supply end of such rivet supply lines. Instead, we focus on the last part of these rivet supply lines near the setting tool, and we provide at least one (usually removable and replaceable) magazine to store a certain number of rivets near the setting tool. In use, the magazine is in rivet supplying relationship with the head arrangement of the installation tool. Thus, it is possible, and in some cases preferred, to mount the cassettes such that they are supported by a head arrangement that is part of the mounting tool. However, the installation tool is ultimately supported by the C-frame, and therefore the cassette is ultimately also supported by the C-frame.

The C-frame typically incorporates suitable brackets, guides or other similar mechanical elements to guide and facilitate the interface between the cassette and the head arrangement, or between the cassette and an accessory such as a chute, and between the cassette and the head arrangement. Furthermore, these components may also facilitate replacement of the docking cartridge in reverse order. In this way, the replaceable cartridge is undocked from the installation tool. These support members may be provided according to a variety of designs. Only some of these designs are described in detail herein. In a preferred design, another function of these brackets is to guide the cassette so that it is adequately supported when it is moved in unison with the head arrangement in preparation for the installation operation. This will be described further below.

FIGS. 1 to 17

Referring now to fig. 1-2, there is shown some key components of the presently described arrangement, in particular a rivet supply system 1 as described herein. The system 1 is used to supply rivets to a rivet setting tool 2. The rivet setting tool has a punch (not shown) for setting the rivet. As is known in the art, the installation tool is mounted on the C-shaped frame 3. The C-frame 3 is disposed at the working end of the robot arm 200.

The setting tool 2 comprises a nose arrangement 4, which nose arrangement 4 defines at least one rivet receiving or transferring area 5a, 5b in or near its interior. Here, as shown in fig. 2, two rivet transfer areas 5a, 5b are defined on the left and right sides of the setting tool 2, respectively. In each of these zones, the conveyed rivet waits to be transferred under the punch in preparation for the setting operation. A mould assembly 6 is provided in relation to the head arrangement 4. The head arrangement 4 is mounted on a piston/cylinder mechanism 7 which is part of the installation tool 2 and is therefore movable to access the mould assembly 6 (and retract from the mould assembly 6). Fig. 2 shows the head arrangement 4 in an extended configuration relative to the configuration shown in fig. 1, wherein the piston/cylinder mechanism 7 is clearly shown in an extended position, as evidenced by the distance between the head arrangement 4 and the upper working end 9 of the C-shaped frame. The C-frame 3 may be moved to position a workpiece (not shown) between the head arrangement 4 and the die assembly 6. This provides for a rivet setting operation to be performed by the setting tool 2.

As shown in fig. 1, two cassettes 10a, 10b are provided in a mirror image configuration on the left and right sides of the installation tool 2. Thus, in this arrangement, two rivet delivery tracks 8a, 8b are provided through the magazines 10a, 10b, one on each side of the setting tool 2. These rails 8 extend internally through the magazine 10 in an axial/longitudinal direction substantially parallel to the punch. The cassettes 10a, 10b are docked to respective chutes 16a, 16 b. Thus, the chute 16 connects the cassette 10 to the head arrangement 4 in rivet-supplying engagement. In the mirror-image feeding arrangement shown in fig. 1 to 2, two rivet feed lines are provided opposite each other and rivets can be fed to the head arrangement 4 from the left or right side.

At the distal ends 13a, 13b of the chutes 16a, 16b, two passive in-line rivet delivery devices (not shown in fig. 1-2, but shown in fig. 11A-11C) hold and then release rivets delivered from the cassette 10 to the chute 16 as needed. The rivet magazine 10 shown in fig. 1-2 can be docked or undocked with a corresponding chute 16, and this feature will be described in further detail below. However, the chute 16 and the cassette 10 may alternatively be formed as an integral or "one-piece" cassette provided on the right and/or left side of the installation tool. These integrated cassettes will be directly interfaced to the head arrangement 4. One such cartridge is shown, for example, in fig. 11A-11C. Specifically, FIG. 11C shows a rivet transfer device 14 of the type described herein that is disposed at the distal end of the magazine 10 rather than the distal end 13 of the chute 16. This is the same transfer device, although not visible, provided at each distal end 13a, 13b of each chute 16a, 16b in the arrangement of fig. 1-2.

Each rivet delivery track 8a, 8b thus extends through the respective magazine 10a, 10b and, if a chute 16 is provided, also through the respective chute 16a, 16 b. Thus, the magazine section 11 of the rivet delivery rail 8 can be identified in each magazine 10. Thus, in the arrangement shown in fig. 1 to 2, a chute portion 33 (visible in fig. 5 and 6) of the rivet conveying track 8 is also defined on each side of the setting tool 2. The chute section 33 of the rivet delivery track 8 extends through the chute 16 in exactly the same manner as the magazine section 11 of the rivet delivery track 8 extends through the magazine 10. On each side of the setting tool 2, the magazine section 11 of the rivet delivery track and the chute section 33 of the rivet delivery track 8 together define the complete rivet delivery track 8, as described herein. It is not necessary that the two (or more) rivet delivery tracks 8 supply rivets to the setting tool. In an alternative arrangement, only one magazine 10 is provided on one side of the head arrangement 4 (see for example the arrangement shown in fig. 32) to supply rivets to the installation tool 2.

Each cassette 10a, 10b defines an upper docking interface 12a, 12b on its proximal end 15a, 15b for refilling the cassette 10a, 10b from a bulk storage device (not shown). Thus, if desired, the cassette 10 can be filled in situ by docking the cassette 10 to a bulk storage device via the upper docking interface 12 according to any of a variety of possible refilling procedures, some of which are described in the following paragraphs.

For example, a docking block 70 (one shown in FIG. 13) having a mating docking interface 66 may be provided to dock with the cassette 10 in situ. Alternatively, the C-frame 3 may be moved by the robotic arm 200 adjacent the bulk storage device and the cassette 10 moved with it, and the cassette may then be connected directly to the bulk storage device. Alternatively, the magazine 10 may be removed from the installation tool and the magazine 10 refilled at a separate location, or the magazine 10 may be filled while still installing the magazine 10 on the installation tool 2, but at an intermediate filling station which is again refilled from the bulk storage device, or continuously fed from the bulk storage device.

As can also be seen in fig. 11A to 11C, in the arrangement described, the cassettes 10 are each provided with a docking means 114, which docking means 114 cooperates with the upper docking interface 12 of the cassette to control the entry of rivets into the cassette. In the arrangement depicted, the docking means 114 is provided in the same form as the rivet transfer means 14 described above, i.e. it is provided as a passive in-line rivet release mechanism, the only difference being the location and role performed by these means. The rivet transfer device 14 is arranged to hold and then release the rivet to transfer the rivet under the punch. The docking means 114 is provided to prevent the escape of rivets from the magazine during inversion of the installation tool and to provide access for refilling of the magazine 10 when the magazine 10 is docked to the bulk supply. However, it is clear that other rivet transferring and/or abutting means are possible.

The cassette 10 is supported on the installation tool 2 and the C-frame so as to be moved together with the head arrangement 4 in preparation for the installation operation. At the distal ends 20a, 20b, the cassettes 10a, 10b are connected to the proximal ends 17a, 17b of the respective chutes 16a, 16 b. The chute 16 is securely connected to the head arrangement 4 such that when the head arrangement 4 moves towards the die assembly 6, the head arrangement 4 moves the cassette 10 in the "v" direction shown in fig. 1.

A set of brackets 18 attached to each chute 16a, 16b is provided to dock the cassette 10 to the respective chute 16. These brackets 18 move with the head arrangement 4, guided by a pair of C-shaped brackets 19 attached to the upper working end 9 of the C-shaped frame 3 on either side of the installation tool 2. The brackets 18, 19 ensure that each magazine is properly held in rivet supplying engagement with the chute 16 when the head arrangement 4 is moved in preparation for an installation operation, as shown in fig. 2. In fig. 2, it is noted that the vertical distance between the C-shaped bracket 19 and the proximal ends 17a, 17b of the chutes 16a, 16b increases, which represents an extended configuration of the head arrangement 4. However, other support arrangements will be possible which will ensure that the chute 16 and the magazine 10 move sufficiently with the head arrangement 4, while it is possible to properly maintain the magazine 10 on each rivet supply line 8 in rivet supply engagement. For example, in some applications, each cassette 10 may be designed to be self-supporting on the corresponding chute 16 without any supports 18, 19 similar to those shown in fig. 1-2.

Thus, in the arrangement described, the complete rivet delivery track 8 on each side of the setting tool 2, i.e. the magazine section 11 of the rivet delivery track 8 and the chute section 33 of the rivet delivery track 8, are moved in unison with the head arrangement 4 in preparation for the setting operation. Thus, no flexible tubing is required at least downstream of the upper docking interface 12 of the cartridge 10.

Further, since the rivet supply engagement with the magazine 10 is always maintained, the installation tool 2 can be continuously supplied from the magazine 10 for a plurality of riveting operations without being retracted or fully retracted.

In other arrangements, the cartridge 10 may be supported so as not to follow the movement of the head arrangement 4, in other words to fix the cartridge relative to the installation tool 2 and/or the C-frame 3. For example, the cassette 10 may be mounted on a C-shaped frame 3. The cassettes 10 can still be operated to release and feed one or more rivets to the chute 16. However, this can only be done when the cassette 10 is docked to the chute 16. Rivets can then wait at the rivet receiving area 5, and the head arrangement 4 can then be moved in line with the chute 16 in preparation for the installation operation without moving the magazine 10. In this case, only a limited number of rivet operations can be performed before the nose arrangement 4 must be fully retracted to load more rivets.

In other arrangements, a small section of flexible, semi-rigid or rigid delivery tubing can be used between the cassette 10 and the chute 16. However, in these arrangements, the cassette and chute will move with the head arrangement 4 when the head arrangement 4 is extended. The transport tube will move in correspondence with the cassette and chute as a unit or it may allow differential movement between the cassette and chute, including when the cassette is fixed relative to the tool, the chute moves with the head arrangement. Chute arrangements other than those illustrated and described herein may be devised. For example, the chute may be arranged perpendicularly with respect to the punch axis and may include a substantially right angle bend to interface with the cassette.

The cassettes 10 described herein are replaceable in that they can be removed from the respective chutes 16 and the supports 18, 19 provided for this purpose on the installation tool 2 and the C-frame 3. Referring now to fig. 3 to 6, there is shown the cartridge of fig. 1 to 2 with 10 in a partially (fig. 3 to 4) and fully (fig. 5 to 6) disengaged/undocked configuration. For clarity of presentation, a portion of the surface of the proximal end 17 of the right angled slot 16 is cut away to reveal details of the distal end 20 of the right cassette 10. As best seen in FIG. 6, the distal end 20 of the magazine 10 includes a rivet handling device 21 in the form of a rotating cam mechanism 31 for selectively stopping, capturing or releasing one or more rivets from the magazine 10. An actuating pin mechanism 22 is provided at the proximal end 17 of the chute 16 and operates the rotating cam mechanism 31. Basic details of the operation of the device 31 will be described further below.

The operation of the rotating cam mechanism 31 of fig. 4 to 6 is explained in more detail in conjunction with fig. 7 to 10. A pin member 23 associated with the actuating pin mechanism 22 and actuated by the actuating pin mechanism 22 is received in a hole provided on the bottom docking interface 24 of the cassette 10. The pin member 23 is moved by passing through a suitable amount of compressed air which is transmitted to the actuating pin mechanism 22 via a suitable pneumatic line 25. The pin member 23 operates the rotary cam member 26 disposed in the rotary cam mechanism 31 to release one rivet a at a time from the magazine 10.

Referring now to fig. 8 to 10, a through-beam optical sensor 27 is also mounted on each chute 16 to check and confirm the presence of a rivet prior to operating the rotary cam mechanism 31. As shown in any of fig. 8B, 9B or 10B, the correlation optical sensor 27 emits a beam of light in a transmitter-receiver fashion through a corresponding aperture 28 provided through the cassette 10, as is known in the art. The interruption of the light beam signal indicates that the rivet a' is in the leading position. As shown in fig. 8B to 8C, the leading rivet a' is engaged by the arcuate cam 29 and is thus prevented from advancing further in the magazine portion 11 of the rivet delivery track 8. The arcuate cam 29 in the lead rivet position may also "catch" the lead rivet a rather than "stop" after a slight counterclockwise rotation from the default configuration shown in fig. 8A-8C. This option can be used if it is desired to hold the captured leading rivet a' in the leading position, for example if the supply 1 and the installation tool 2 are inverted by gravity operation.

If the inversion of the installation tool 2 is not considered, the catch function may be superfluous and the rotary cam mechanism 31 operates in a binary manner as follows:

the rotating cam 29 is first rotated to a default configuration, as shown in fig. 8B to 8C, by means of a resiliently biased pin member 30, which pin member 30 impinges on a suitable profile 32 on the front surface of the rotating cam member 26; and

when the presence of a rivet a' is detected, the pin member 23 is pneumatically actuated, rotating the rotating cam member 26 by actuating the pin mechanism 22 and thus rotating the arcuate cam 29 provided on the back face of the rotating cam member 26 to the position shown in fig. 9B.

Thus, the arcuate cam 29 releases the leading rivet a' and stops the trailing rivet a "(and any other set of rivets). Fig. 10A to 10B are equivalent to fig. 9A to 9C, but the perspective view may better visualize the relative positions of the arcuate cam 29 and the leading and queue rivets a', a "of the magazine portion 11 of the rivet track. As shown in fig. 10B, the magazine portion 11 of the rivet track 8 defines a recess 47 to accommodate the rotating cam member 26.

Turning now to fig. 5, 3 and 1 in sequence, it can be described how the cassette 10 is docked to the chute 16 on each side of the installation tool 2. As shown in fig. 5 and 6, this is done by first placing the magazine 10b so that the magazine portion 11b of the rivet delivery track 8b is aligned with the chute portion 33b of the rivet delivery track; then as shown in FIG. 5, by linearly moving the cassette 10b in the "v" direction toward the angled slot 16b until the pin member 23 of the actuating pin mechanism 22 engages the hole on the cassette lower interface 24; the cassette 10b is then finally docked to the chute 16b as shown in fig. 3 and 1. Alternatively, the installation tool 2 may be moved towards the magazine 10 by the robot arm 200, and/or the installation tool 2 and the magazine 10 may be moved relative to each other in the docking direction.

To facilitate initial alignment of the cassette 10b with the chute 16b, the elongated body 34b of the cassette 10b is received in the U-shaped portion 35b of the bracket 18 provided with the chute 16 b. The cassette 10b can then be smoothly guided down until docking is complete. Alternative or additional features for facilitating docking of the cassette 10b on the chute 16b are possible, for example using patterned magnets on the cassette 10b and/or chute 16b, or on the cassette 10b and/or rack 18, or associated magnets between the cassette 10b and chute 16b or between the cassette 10b and rack 18. These features may include coupling, alignment and/or latching via the respective associated magnet surfaces. One example will be described in more detail in connection with fig. 14.

To disengage the docking magazine, the reverse sequence is applied, for example as described with reference to fig. 1, 3 and 5 in sequence, until the magazine 10b becomes fully disengaged from the proximal end portion 17b of the chute 16b on the right side of the installation tool 2, as shown in fig. 5. At this stage, the cartridge 10 can be removed by, for example, also moving it in the direction "h" as shown in fig. 5. Alternatively, the cassette may be held in place and the robotic arm 200 may also move the C-frame 3 in the "h" direction away from the cassette 10 b. Alternatively, both the installation tool 2 and the magazine 10 may be remote from each other.

As shown in fig. 1, 3 and 5, an outer pad 36b located along the approximate middle of the cassette 10b aligns with the U-shaped portion 35b of the bracket 18 to signal to the operator the visual indication of the docking of the cassette 10b on the installation tool 2. However, the outer pads 36b may be disposed further up or down the cassette 10 b. Each pad 36 is substantially covered with a sheet of compliant material, such as a thin layer of rubber (or other material). Note that the pad 36b may be adapted to constitute an error-preventing feature (also referred to as "Poka-Yoke") for visual inspection by an operator. For example, the outer pads 36b may be color coded or bar coded to correspond to the particular type and/or size of rivets being supplied by the magazine 10 b. This information can be easily verified by an external operator, such as an operator carrying a bar code reader, or an operator trained to interpret the visual information provided by color-coded pad 36 b. Other possible uses of these external pads 36 in connection with replacement operations of the cassette 10 on the installation tool 2 will be described below.

Optionally, color-coded labels, bar codes, or other Poka-Yoke features (including one or more fully mechanical, electromechanical, or electronic Poka-Yoke features) may be provided elsewhere on the cartridge. For example, a fully mechanical Poka-Yoke feature may be provided by the fit (or lack thereof) between the distal end 20 of the cassette 10 and the proximal end 17 of the chute 16. Thus, certain chutes 16 may be adapted such that the installation tool 2 may only accept a particular type of magazine 10 corresponding to a predetermined type and/or size of rivet. Alternatively, the bracket 18 of the cassette 10 supported on the installation tool 2 may be adjusted to be suitable.

As another example, a rivet information reader 201 in the form of an electromechanical rivet inspection device may be provided on the setting tool 2, as shown in fig. 14. This may be, for example, a device comprising one or more levers or buttons on longitudinally extending members 181 of a bracket 18 provided on the installation tool 2 to support the cassette 10. These levers or buttons may be actuated to confirm the correct (or incorrect) type of rivet or other fastener stored in the magazine 10 by corresponding features (e.g., ridges, grooves, etc.) formed on the tool-facing side 203 of the magazine 10. The side of the cassette 203 facing the tool is shown in fig. 33. Note that FIG. 33 also shows and indicates a bar code 202 as a cassette Poka-Yoke feature, by way of example only. The electromechanical rivet inspection device 201 is capable of generating and transmitting one or more signals to the controller 1203, as indicated by the downward arrow in FIG. 14. These signals are associated with and/or representative of the type and/or size of rivets stored in the magazine 10.

The controller 1203 may be a controller of the robotic arm 200 or a separate controller operably coupled to the robotic arm 200. In its most basic form, the controller 1203 will include a processor and memory. However, these details are not discussed further in this disclosure. However, the skilled artisan will recognize that a variety of suitable controllers are possible, including, for example, one or more personal computers, which may be dedicated to operation of the robotic arm 200 or may operate the robotic arm 200 in addition to other machines (e.g., the fastener installation tool 2 and/or the batch feeder apparatus). Further, the controller 1203 and the reader device 201 may be provided as components of the same machine, or may be implemented on different machines communicating therebetween.

The one or more signals transmitted by the rivet information reader 201 may be representative of the status of the installation tool 2, and the installation tool 2 may be capable of delivering the rivets required for a predetermined installation operation. In the present disclosure, this is associated with the ability of the rivet setting tool 2 to read rivet type and/or size information from the correct magazine 10 docked to the setting tool 2. This capability is enabled by the presence of the rivet information reader 201 described herein. Alternatively, the one or more signals sent by the rivet information reader 201 may indicate a condition of the installation tool 2 that the installation tool 2 is unable to deliver the correct rivet. In the present disclosure, this is related to the incorrect cassette 10 being docked on the installation tool 2. Note that the rivet information reader 201 may be adapted so that if no signal is generated, it may indicate that the type and/or size of fasteners stored in the magazine 10 on the installation tool 2 are correct or incorrect.

The cassette controller 1203 is configured to receive and interpret any information received from the rivet information reader 201. In response thereto, if the fasteners stored in the cassette 10 are not of the type and/or size required by the current fastening application, the controller 1203 generates one or more signals (which may also include no signal) to cause the robotic arm 200 to perform the cassette replacement operation described herein. If, instead, the cassette 10 in question is correct (i.e., it stores one or more rivets of the type and/or size desired in the current fastening operation), the controller 1203 may issue one or more signals to positively support the fastener installation operation. For example, the controller 1203 may issue a signal that triggers a fastener installation operation, as described herein. Alternatively, the controller 1203 may issue a signal that triggers the robotic arm 200 to reposition the installation tool 2 to a location where rivets need to be installed, or a signal indicating that any of the above operations may be performed later by the robotic arm 200 and/or the installation tool 2. In this case, the system has identified that the correct rivet is available and therefore does not prevent the system from performing the rivet setting operation. In other words, there is no need to replace (or refill) any cartridge 10 docked to the installation tool 2 first. These signals are schematically represented by the arrows pointing to the right in fig. 14.

It is clear that the electronic Poka-Yoke feature may be preferred. For example, to check the suitability of the tool mounting magazine 10 with respect to the current or ongoing fastening operation, a rivet information reader 201 in the form of a bar code reader or RFID reader may be used. In this case, the cassette 10 would accordingly have to be bar code marked or RFID marked. For example, in FIG. 33, the cassette 10 is bar code marked (see bar code 202), and in FIG. 14, the rivet information reader 201 is represented by a bar code reader. However, other chips, such as near field chips, may be equally used. Any of these chips and devices may or may not require contact for reading. Contactless chips and chip reading devices may be preferred.

Either of the above measures can help ensure that the supply of rivet types is safe-provided that the magazine has been properly filled with rivets or other fasteners of the desired type and/or size.

Referring to fig. 12, a rotary cassette carousel 37 and a rotary die assembly carousel 38 are provided on either side of the installation tool 2, as shown for example in fig. 1 to 6. The cassette carousel 37 and the die assembly carousel 38 support a plurality of replacement cassettes 10b, 10c, 10d, 10f, 10g, 10h and a plurality of replacement die assemblies to replace the replaceable cassettes 10a, 10e, respectively, mounted on the installation tool, and the replaceable die assemblies 6.

In fig. 12, each cassette 10 has a magnetically patterned surface 39 for holding the cassette on attachment points 40, which attachment points 40 are located on supports 41 on the cassette carousel 37. The attachment points may be plates made of ferromagnetic material. These plates may be coated with, for example, a layer of compliant material (e.g., rubber), and thus the plates are also referred to as "pads" (conversely, the cassette pads described herein may simply be plates). However, in the arrangement described, all of the cassettes 10 including the replaceable cassettes 10a, 10e have respective magnetically patterned surfaces 39a, 39e for connection with magnetically associated surfaces 44a, 44e provided on free attachment points 40a, 40e provided on the alternate support structures 41a, 41 e. The attachment points 40, including the free attachment points 40a, 40e, are provided in the form of support pads 43a, 43e, which are the same size as the external pads 36a, 36e provided on the cassette 10a, 10 e. However, other forms are possible. The magnetically patterned surface 39 is provided on the cartridge 10 on the corresponding pad 36 purely for convenience. Said magnetically patterned surface 39 may alternatively be provided at least in principle on any part of the outwardly facing surface 42 of the docking cartridge 10 a. However, a dedicated pad 36 is preferably provided for this purpose.

The undocking procedure for undocking the right replaceable cassette 10a will now be described. The C-frame 3 can be moved by the robot arm 200 in the "h" direction towards either of the two cassette carousels 37. The C-frame is moved to the right to undock the right cassette 10a until the corresponding pads 36a, 43a are adjacent to each other. In this arrangement, the magnetically related surface 39a on the cassette 10a is in almost magnetic engagement with the corresponding related surface 44a on the attachment point 40a on the right side of the installation tool 2. The C-frame 3 may then make small movements in the "v" and "p" directions shown in fig. 12, or out of plane in the "h" direction (also shown in fig. 12), in a direction coplanar with the support pads 36a, 43a, until the cartridge 10a is properly magnetically attracted to and ultimately held at the attachment point 40a on the alternate support structure 41 a. Once connected to the support 41a, the cassette 10a can be undocked from the installation tool 2 by withdrawing the installation tool 2 downwardly in the "v" direction. The shear force generated by the associated magnet surfaces 39a, 44a, the cassette can be held in place against any downward force applied thereto as the installation tool is withdrawn in the "v" direction. Alternatively or additionally, the cassette may be held in position on the cassette carousel 37 by a reaction (interaction) key-like abutment or protrusion provided on the support plate 43. These features (not shown) may be provided to operate in the docking and undocking orientations in the "v" direction shown in fig. 12. For example, these key-like abutments or projections may be provided on the upper and lower edges of the support plate 43. Alternatively, the cartridge carousel 37 is rotated proximally to disengage the cartridge 10 in the "p" direction.

In the arrangement depicted, it is the robotic arm 200 that moves the C-frame 3 and installation tool 2 toward the cassette carousel 37 to undock the cassette 10 a. In principle, however, the turntable 37 may instead be moved towards the installation tool 2. Once undocked, the magazine 10a rests on the previous spare support structure 41a in exactly the same way as other replacement magazines 10b, 10c, 10d rest on the corresponding additional support structures 41b, 41c, 41d on the right side of the tool 2, as shown in fig. 12.

The same steps can be performed for an undocked replaceable cassette 10e to be supported on the spare support structure 41e on the left turntable 37. The other carousel supports three other replacement cassettes 10f, 10g, 10h, as shown in FIG. 12.

By following the reverse sequence, alternatively, for example, one of the replacement cassettes 10f, 10g, 10h may be docked on the left side of the installation tool 2. To this end, assuming that a replacement cassette 10f is selected between the available replacement cassettes 10f, 10g, 10h on the left side of the installation tool, the cassette body 34f is first received in the U-shaped section 35f of the bracket 18 on the installation tool 2 by moving the robot arm and/or the dial 37 (as the case may be). Note that the left cassette carousel 37 shown in FIG. 12 may have to be rotated 90 degrees clockwise to facilitate this operation. The empty installation tool 2 and/or the movable head arrangement 4 is then moved upwards in the "v" direction to dock the cassette 10f on the distal end 17e of the chute 16 e. The magnetic attraction between the attachment points 40f on the support structure 41f and the outer pads 36f of the replacement cassette 10f allows the cassette 10f to be disengaged from the turntable 37. Once the cassette 10f is docked in position on the chute 16e, the cassette 10 is constrained by the chute 16e so that the installation tool 2 can be moved away from the left turntable 37 in the "h" direction and/or the "v" direction to overcome the magnetic force between the associated magnet surfaces 39f, 44f which holds the cassette 10f in position on the respective support pads 43 f. Alternatively or additionally, the docking procedure may include the key-like abutments or protrusions described above in relation to the undocking procedure, and the docking procedure will follow the reverse of the undocking procedure.

The magnetic holding force holding the replacement cartridge 10f on the support 41f may be relatively high. Therefore, it is not recommended to break the magnetic force between the magazine 10f and the support pads 43f by abruptly moving away from the installation tool 2 in a predetermined direction, because this would in principle damage the magazine 10f or the chute 16e (or both), because excessive stress may be generated on the joint between the magazine 10f and the proximal end of the chute 17 e. First, a slight movement of the installation tool 2 in the "p" direction or in the "v" direction may be performed to slightly misalign the cassette pad 36f with the support pad 43f on the support 41 f. When the pads 36f, 43f are fully aligned, this may suitably weaken the magnetic bond between the magnetically related surfaces 39f, 44f, and this may in turn facilitate release of the cassette 10f from the carousel 37. This feature can be achieved by the nature of the associated magnets on the replacement cartridge 10f on one side and the magnetic force generated on the support structure 41f on the other side. Now, the replacement magazine 10f has replaced the replaceable magazine 10e on the left side of the installation tool 2.

Each cassette carousel 37 comprises four support structures 41 arranged in quadrants, one or more of which may freely receive a replaceable cassette 10a, 10e as shown in figure 12. Otherwise, the four support structures 41 on each carousel 37 may support four cassettes 10 simultaneously at the start of a new installation procedure, for example when an installation tool 2 has not yet been loaded. The fact that the turntable 37 can rotate facilitates the loading/unloading operation of the cassette. Thus, an empty support structure 41a or a required replacement cassette 10b, 10c, 10d may be provided to face the installation tool 2 in preparation for the loading/unloading operation described above.

Filling can occur while any cassette 10 is supported on the carousel 37. At the same time, the loaded installation tool 2 is ready for a new installation operation until any replaceable cassette 10a, 10e will need to be replaced with any available replacement cassette 10b, 10c, 10d, 10f, 10g, 10 h. In fig. 12, all of the cartridges contain the same rivets, but it is understood that different cartridges may contain different rivets and share the same magnetically patterned surface 39 on the outer pad 36.

The pairs of magnetically associated surfaces 39, 44 provided on the cartridge 10 and on the support 41 provided on the turntable 37, respectively, may be designed to facilitate the docking and undocking operations described above. For example, in addition to magnetic retention, the pair of magnetically related surfaces 39, 44 may provide mechanical alignment of the respective pads 36, 44. Alternatively or additionally, a mechanical latch as described above may also be implemented. Additionally, a mechanical release may also be achieved, such as by having the pads 36, 44 misaligned more than a predetermined distance to trigger the release.

Furthermore, the properties of the magnetically relevant surfaces 39, 44 may in principle also serve as a Poka-Yoke feature, i.e. to ensure that only predetermined cassettes with appropriate magnetically relevant surfaces are supported on any particular support 41. This can be achieved, for example, by assigning a spring-type mechanical function between those cassettes and any support 41 not intended for the cassettes. Alternatively, a coupling function may be specified between the cartridges and a support intended to support them on one of the turntables 37.

The process of refilling the replaceable or replaceable cartridge 10 is now described with reference to fig. 13, 15, 16 and 17A to 17C. Figure 13 shows an arrangement similar to that of figure 12. However, in the arrangement of fig. 13, the replacement cassettes 10b, 10c, 10d, 10f, 10g, 10h are supported on upstanding shelves 41 on the left and right sides of the installation tool 2, rather than on the rotating carousel 37. A docking block 70 is provided to refill up to four replacement cartridges 10 on each upright shelf 41 simultaneously. Each docking block 70 has a lower docking interface 66 as shown in fig. 13 with docking features for coupling with the upper docking interface 12 of up to four corresponding cassettes 10, all of which are supported on one of the shelves 41. Accordingly, four rivet feed hoses 71 extend away from each docking block 70 and feed rivets to the cassette 10 via the lower docking interface 66 of the docking block. As shown in fig. 13, pairs of opposed optical sensors 27 may be used in conjunction with a replacement cartridge 10 to confirm that the cartridge has been filled with fasteners. However, the sensor is not mounted on the cartridge 10. Instead, they may be provided as an attachment to the docking block 70. The operation of these optical sensors is described in detail above in conjunction with fig. 8 to 10 and will not be described again. It should be noted, however, that each magazine 10 defines at its proximal end 15a pair of suitable holes in light transmission alignment with the magazine portion 11 of the rivet delivery track 8, as shown for example in fig. 13. Thus, the magazine 10 can be filled with rivets and then stored in the magazine rivet delivery track section 11 until the sensor 27 confirms that the magazine 10 is full. Alternatively, the cassette 10 may be weighed while upright to check for replenishment level. Weighing the cartridge to determine the fill level is an absolute measure of restocking thereof. This process may therefore be considered more reliable and therefore preferred over the above-described method of counting the number of discrete rivets passing through an optical sensor.

Although a variety of docking mechanisms are possible, a preferred method includes providing the upper docking interface 12 of the cartridge 10 with a corresponding magnetically patterned surface 45 for connection and, more preferably, connection and alignment with one or more corresponding magnetically related surfaces 46 provided on the lower docking interface 66 of the docking block 70 (as shown in fig. 13), or on the lower docking interface of another filling device 48 (as shown in fig. 15).

In the arrangement shown in fig. 15, the filling device 48 is a rivet feed tubular member 49 having a pair of internal channels 50 for conveying rivets from the batch feeder to the magazine 10. The cassette is a dual track cassette having two upper cassette rails 60 that allow for simultaneous filling of the cassette 10 once the cassette 10 is docked to the filling device 48. The two upper rails 60 of the cassette 10 may be independent, or may merge and share a common lower cassette rail, as shown, for example, in FIGS. 35-38, 41 and 42. These cartridges are described further below. Only the proximal end 15 of the cartridge 10 is shown in fig. 15, as this is the only relevant part of the cartridge 10 for the filling operation. The positioning and alignment of the automatically installed cassette 10 may require a high degree of accuracy and repeatability of the robotic arm 200. Conversely, when considering that the maximum freedom of position of the cartridge 10 is six, this may require considerable programming skill to fuse the two surfaces together. It is therefore desirable to mount the filling device 48 in such a way that it has a smaller freedom of movement, but a greater freedom of movement in the translational direction (e.g., the vertical direction in fig. 15). A predetermined rest position of the filling device 48 is provided, i.e. a reset position which the filling device 48 can reach when the cartridge 10 is not docked thereto. Thus, the rivet feed tubular member 49 is mechanically restrained in the axial (vertical) direction by a mechanical stop 51, which in the arrangement shown is a pair of spaced apart rings 52 that allow some axial (vertical) movement. One or more mechanical springs (not shown) may additionally be provided in this arrangement to center the rivet feed tubular member in the rest position. The rivet feed tubular member 49 can therefore only move vertically within a predetermined range of vertical positions, as permitted by the spaced apart rings 52, and will return to the default position when no magazine is docked thereto.

The rivet feed tubular member 49 is supported on a first support structure 53 which, in the arrangement shown, is in the form of a tripod 54 (only two arms of which are shown in the purely schematic view of figure 15). The tripod 54 is mounted on the second support structure 55 via three compliant mounts 56. In this example, the second support structure 55 is a fixed bracket 59. However, in other examples, the second support structure 55 may be mounted on a robotic arm or a movable vehicle. Various types of compliant mounts 56 are possible, for example using mechanical means such as springs or a layer of compliant material such as rubber. The compliant mounts 56 as shown in fig. 15 are provided by three pairs of spring-type correlated magnet surfaces 58. Note that only two of these pairs 57 are shown in fig. 15. For each pair 57, a first associated magnet surface 58a is provided at the distal end 68 of the tripod 54; the second associated magnet surface 58a is disposed at a proximal end 69 of the bracket 59. The three pairs of compliant mounts 56 are arranged to provide omni-directional compliance so that the cassette 10 is not damaged by the filling device 48 when the cassette 48 is docked or undocked. Further, it should be apparent that the compliant mounts 56 may additionally be designed to replace some of the one or more springs mentioned above, which may be used to center the filler device 48 between the pair of spaced apart rings 52.

The arrangement is such that when a magazine 10 loiters near the associated magnet surface 46 provided on the filling device 48, the filling device 48 is pulled gently into contact with the docking interface 12 of the magazine 10 and the filling channel 50 is aligned with the two upper magazine rails 60 in preparation for the magazine to receive rivets from the batch feeder (not shown). This capability is made possible by the alignment function performed by a pair of associated magnet surfaces 45, 46 provided on the cartridge docking interface 12 and the lower docking interface 66 of the filling device 48, respectively, as shown in fig. 15. As shown in fig. 15, the associated magnet surfaces 45, 46 are obtained by inserting pairs of associated magnets 63, 35 on the cartridge 10 and on the respective docking interfaces 12, 66 on the rivet feed tubular member 49. The arrangement shown in figure 15 is preferred for refilling a cassette mounted on an installation tool. Thus, the docking process for refilling cartridge 10 is quick, simple and accurate. However, this arrangement could potentially also be used to refill replacement cassettes supported on, for example, carousel 37 as shown in FIG. 12 or upright rack 41 as shown in FIG. 13.

When the filling operation is complete, with the filling device 48 released (which may be determined, for example, by relative shear movement between the magazine 10 and the filling device 48), the compliant mount 56, in cooperation with any additional springs provided therefor, returns the rivet feed tubular member 49 to the default position shown in fig. 15. Thus, the cartridge 10 may be undocked by, for example, moving the installation tool 2 laterally to misalign the interfaces 12, 66, to overcome the alignment force generated by the magnets 63, 65 to realign the interfaces 12, 66. The magnets may preferably be patterned so as to generate a repulsive release force when the misalignment exceeds a predetermined limit. Alternatively, the cartridge 10 may be driven in the axial (vertical) direction to break the magnetic holding force.

Fig. 16 shows an alternative arrangement of compliant mounts 56. Each compliant mount is again provided as a pair of magnetically associated surfaces 58a, 58b capable of performing at least a compression spring type function and preferably also a vertically aligned type function. First associated surface 58a is disposed on a corresponding inner surface 75 of an outer cluster of first diamond plates 76 that are inclined with respect to the axial (perpendicular) direction. The first diamond plate 76 is equivalent to the tripod 54 of fig. 15. Second associated surface 58b is disposed on a corresponding outer surface 77 of a corresponding inner tuft of second rhombus-shaped plate 78, second rhombus-shaped plate 78 being substantially parallel to first rhombus-shaped plate 76, as shown in FIG. 16. Some or all of the second diamond plates 78 may be used to mount a filling device 48 similar to that of fig. 15. The second diamond plate 78 is equivalent to the support structure 55 in fig. 15. The filling device can then be drawn down by the approaching cassette as described above. This attraction will displace the first cluster of diamond plates 76 and the corresponding first associated magnet surface 58a from the default position shown in fig. 16. The second correlated magnet surface 58b will then generate a return or realigned vertical force with the displaced first correlated magnet surface 58 a. In the event that the first tuft diamond plate 76 is displaced horizontally by action of the cassette 10 on the filling device 48, the displaced first associated magnet surface 58a will then produce a returning or realigning horizontal force with the second associated magnet surface 58 b.

Fig. 17A schematically shows two patterned magnets 65 mounted on the lower docking interface 66 of the filling device 48 of fig. 15 and creating magnetically related docking surfaces 46. Two permanent magnet inserts with the same magnetic pattern are used. Thus, it will also be clear that "magnetically relevant surfaces" do not require that the surface be fully magnetically patterned. Rather, the magnetically-related surfaces described herein are intended to serve as surfaces that are at least partially magnetically patterned to achieve a desired mechanical function or overall user experience.

Fig. 17C shows an alternative arrangement, schematically illustrating the same patterned magnet 65, however, arranged at right angles to a portion of the lower docking interface 66 on which the outlet of the rivet feed channel 50 shown in fig. 15 is located. This arrangement may be convenient because the outlet and the magnet 65 are not in the same plane. This may therefore prevent dust or debris from accumulating on the magnets, potentially compromising the mechanical function or user experience provided by them. Thus, in principle, this can also affect the alignment of the outlet 50 of the filling device 48 and the upper part 60 of the rivet track in the magazine 10.

Alternatively, fig. 17B shows the cartridge upper docking interface 12 designed to dock with the interface 66 of fig. 17C. The patterned magnets 63 on the magnetically relevant surface 45 have a complementary pattern relative to the relevant magnets 65, as shown in fig. 17B to 17C (although it will be noted that the pattern representations in fig. 17A to 17C are merely schematic and are not consistent with the patterns that will be used in practice). As shown in fig. 17C, the upper docking interface 12 fits in a recess 77 defined by the lower docking interface 66.

The associated magnet 65 may be mounted flush with the recessed mounting surface shown in fig. 17C, or slightly below flush without significantly affecting the magnetic performance. However, this may facilitate accurate positioning of the interface 12, 66 and thus the cartridge relative to the filling device. The arrangement in fig. 17B to 17C differs from that of fig. 17A for three additional reasons:

a) it allows shear forces to act on the coupled magnets when the cartridge is axially withdrawn, thereby reducing the force required to break the docking interface 12, 66 (keeping in mind that shear forces in a given patterned magnet are typically about one fifth of the axial retention force);

b) it provides a patterned magnet positioned further from the rivet (or other fastener) feed path to avoid any magnetic interference with the fastener; and

c) it generally improves the compactness of the proximal end of the cartridge, thereby improving the accessibility of the proximal end of the cartridge.

Fig. 14 is similar to fig. 12 and 13 in that it shows the installation tool 2 pre-set on a cassette 10 of the type described herein. A set of four fixed vertical supports 41a, 41n, 41c, 41d surround the installation tool 2: two struts 41a, 41d are located on the right side of the installation tool 2, and two struts 41b, 41c are located on the left side; two struts 41a, 41b are located at the rear of the installation tool 2 and two struts 41c, 41d are located at the front of the installation tool 2.

Each vertical post 41 has features similar to the support 41 described in connection with cassette carousel 37 of fig. 12 or the upright shelf 41 described in connection with fig. 13. Thus, each post 41a, 41b, 41c, 41d has an attachment pad 43a, 43b, 43c, 43d for supporting the cassette 10. As shown in fig. 14, each attachment pad 43a, 43b, 43c, 43d defines a respective attachment point 40a, 40b, 40c, 40 d. The attachment points 40 may in principle comprise various attachment means. However, it is preferred that the cartridge 10 is supported by a corresponding magnetically patterned surface 44a, 44b, 44c, 44d provided on said attachment pads 43a, 43b, 43c, 43d as described above. Thus, a cartridge 10 made of ferromagnetic material may be attached to the attachment pad 43 via a magnetic field generated by a corresponding patterned magnet. Alternatively, the attachment pads may comprise ferromagnetic material and the cartridge may incorporate one or more patterned magnets. However, as shown in FIG. 14, it is preferred to provide magnetically associated patterned surfaces 39 on respective exterior surfaces 42 of the cassette 10 to interact with corresponding associated magnet surfaces on vertical posts 41. Furthermore, the associated magnet surfaces 39 are preferably provided on corresponding external pads 36 on each cassette 10. These outer pads have been described above, and four such pads 36a, 36b, 36c, 36d are also shown in fig. 14. The associated magnet surfaces 39, 44 will not be described further herein, but they may have any of the features described in connection with fig. 12, 13 and 15-17.

The magnetically patterned surface to aid in docking of cartridge 10 may also be included in any of the one or more recessed surfaces of U-shaped portion 35 of leg set 18 that may be on installation tool 2. These recesses are clearly shown in fig. 14. Cartridge 10 will then include a corresponding magnetically patterned surface on a corresponding one or more faces. The mechanical functions performed by these associated magnets may be a combination of coupling, alignment, latching, spring biasing, and/or release to suit the docking operation.

In addition, the arrangement shown in FIG. 14 has two shelves 80 for supporting replacement cassettes 10 on either side of the C-shaped frame 3. Each shelf 80 can support up to four replacement cartridges 10. However, fewer or more cassettes 10 are possible, and this will generally depend on the overall size of the cassette 10 and the size of the C-frame 3 and the installation tool 2. The posts 41 may each represent a remote cassette filling station. Thus, a robotic arm may be used as described in connection with the support and upright rack 41 of fig. 12 and 13 to unload any replacement cassette mounted on the installation tool or any replacement cassette 10 supported on the rack 80 of any one or more remote cassette filling stations 41 for remote refilling of the cassette 10.

In addition, the arrangement of FIG. 14 allows the robotic arm 200 to perform a complete cassette replacement operation in cooperation with one or more filling stations. Any replaceable cassettes mounted on the installation tool 2 can first be unloaded on one or more of the posts 41. Alternatively, the cassettes may then be refilled and then loaded back onto one of the shelves 80 provided on the C-frame. The robotic arm 200 can then unload one or more replacement cassettes 10 on any one of the shelves 80 at one or more of the posts 41. Finally, the robotic arm 200 may select any replacement cartridges supported on the post 41 and then dock them on the installation tool in a rivet supplying engagement in a procedure similar to that described in connection with fig. 12 and 13. Thus, the arrangement of fig. 14 is advantageous in that any replacement cassette is carried on the C-shaped frame, and the robot can then automatically replace any replacement cassette with any replacement cassette when required (e.g. when the rivets of the replacement cassette run out) by cooperating with one or more external structures (e.g. the struts 41 shown in fig. 14 provided for this purpose).

The use of associated magnet surfaces in the procedure for refilling and/or replacing the cartridge can advantageously reduce the positioning accuracy requirements for the robotic arm 200. Thus, the robotic arm 200 may be required only to place the cassette generally, for example, in a position proximate to the filling device 48 of FIG. 15 or any of the support structures 41 shown in FIGS. 12-14. The interface between the interface 48 and the cartridge 10 can then be facilitated by the associated magnet surfaces on one and the other of these components. Also, the connection between one support 41 and the cartridge 10 is facilitated by the presence of the relevant magnet surface.

FIGS. 18 to 50

Referring to fig. 18 to 24, an alternative installation tool 2 is shown comprising pivoting cassettes 10a, 10b provided on the right and left sides of the tool 2 respectively. The right-hand magazine 10a comprises three separate magazine sections 11a, 11b, 11c of the respective rivet delivery track 8a, as shown in fig. 18. The rivet delivery track 8a extends further than the magazine 10a to reach the head arrangement 4, as in the previous arrangement. The rivet delivery track 8a also includes a corresponding chute portion 33a (shown in fig. 24) of the rivet delivery track 8 a. The cassette 10a is supported so as to be movable with the head arrangement 4 as it extends towards the die assembly 6. The same considerations apply to the left cassette 10 b.

The pivotal arrangement of the magazine 10a, 10b is used to select a supply of rivets from any one of three separate magazine sections 11 of the rivet delivery track 8 on each side of the setting tool. For example, in the arrangement shown in fig. 18, on the right side is the central magazine section 11b of the rivet delivery track 8a, which is in rivet feeding relationship with the chute 16 a. Any rivets present in the other magazine rails 11a, 11c are retained within the magazine by respective rivet processing means 21 located at the distal end 20a of the magazine 10 a. Three rivet handling devices 21 are provided on the distal end 20 of each magazine. Since they both take the form of the rotary cam escapement 31 described above, they will not be described in detail. In fig. 18, three rotating cam escapements 31a, 31b, 31c can be seen, each associated with a respective independent cartridge track portion 11a, 11b, 11 c.

FIG. 19 shows an extension of the cassette rail portions 11a, 11b, 11c in the pivoting cassette 10a shown in FIG. 18. There is a central track portion 11b having a substantially straight extension along the central axis of the cassette 10 a. As shown in fig. 19, the second and third curved tracks 11a, 11c extend with opposite curvatures on either side thereof. At the proximal end of the rail 11, three docking means 114a, 114B, 114c of the same type as described in connection with FIG. 11B are provided to allow refilling of the magazine from a batch feeder (not shown) and to prevent spilling of rivets when the magazine is inverted. Thus, similar to that shown in fig. 13, the upper docking interface 12a of the cassette 10a is easily docked with the lower docking interface 66 of the docking block 70 (as shown in fig. 29-31), but the lower docking interface 66 is curved to match the curvature of the cassette docking interface 12 a.

Docking means 114 is also shown in an enlarged form in FIG. 20A, which shows the proximal end 15a of cassette 10A in more detail. The circular apertures 28a, 28b, 28c visible in fig. 20A represent the entry of the respective light beams emitted by the correlation optical sensor as described above (but not shown here). Each emitter-receiver pair of the sensor can be used to check whether each of the three individual magazine rails 11 on each magazine 10 has been completely filled with rivets.

At the distal end 20a of cassette 10a, shown in more detail in FIG. 20B, the three arcuate cams 29a, 29B, 29c of the respective rotary cam escapements 31a, 31B, 31c described above are visible. In the configuration shown in fig. 19 and 20B, these arcuate cams stop the corresponding rivets Ba, Bb, Be located at the distal ends of the respective rails 11a, 11B, 11 c. The rotary cam escapement 31 operates in a similar manner to the rotary cam escapement described above, for example in connection with fig. 7-8. The operation of the rotary cam escapement 31 of the pivoting cartridge 10 is briefly further described below in conjunction with fig. 25-28. By rotating the magazine 10a about its pivot 81 (as shown in fig. 19) and by operating the actuating mechanism 22a provided therefor, the supply of rivets B can be selected from any of the three independent magazine rails 11a, 11B, 11c on either side of the rivet setting tool 2 in the mirror image magazine configuration of fig. 18 to 24. In particular, fig. 21 shows the pivoting cartridge 10a ', 10b' of fig. 18 in a clockwise rotated configuration. Thus, in FIG. 21, a separate cassette rail 11c is selected on the right pivoting cassette 10 a'. Note that the rivets B stored on each of these tracks 11 may be identical or may have different shapes and/or sizes. Fig. 22 is a front view of the installation tool 2 in the configuration shown in fig. 21. This figure allows a better understanding of the position of the respective pivots 81a, 81b of the cassettes 10a, 10 b. The actuating pin mechanisms 22a, 22b on either side of the installation tool 2 may also be better visualized.

With continued reference to FIG. 22, the rivet B thus enters the magazine 10B, for example, on the left side, via the docking interface 12B. Depending on the pivotal configuration of the magazine 10B as it enters the magazine 10B, the rivet B is stored and transported through one of the respective magazine rails 11 in the magazine 10B. When the appropriate track 11 is in rivet supply communication with the respective chute 16B, the nose transfer area 5B to which the rivets B are released from the magazine 10B is determined by operating the rotary cam escapement 31 associated with the magazine 10B. The rivets enter the chute 16b and are carried therefrom from the proximal end 17b to the distal end 13b until they reach the rivet transfer zone 5 b. This describes the path of the rivets through the left hand supply system 1 b. A similar path will occur on the right supply system 1 a.

FIG. 23 shows additional construction details of the pivot arrangement of the cassettes 10a, 10 b. A pivot key 82a is provided on the right hand side for coupling with a corresponding recess (not shown) provided on the right hand cassette 10 a. The pivot key 82b of the left cassette 10b is visible in FIG. 23, disposed about the cassette pivot 81 b. A rotary actuator such as an electric motor 83a is responsible for the pivoting arrangement of the magazine 10a on the right hand side to select between the individual rivet tracks 11a, 11b, 11c provided on the magazine in connection with any rivet filling or rivet supplying operation into and out of the magazine 10 a. Fig. 24 is an enlarged view of the portion of fig. 23, with the head arrangement 4 in an extended configuration to expose the chute portions 33a, 33b of the rivet delivery tracks 8a, 8 b. In the arrangement described herein, the pivoting magazine 10a, 10b is supported so as to be movable with the head arrangement 4 when the head arrangement 4 is extended in preparation for an installation operation. Alternatively, however, the pivot magazine may be fixed relative to the installation tool and/or the C-frame and one or more rivets loaded into the chute in preparation for one or more installation operations.

As described above, fig. 25-28 sequentially illustrate the operation of one 31b of the rotary cam escapement mechanisms 31a, 31b, 31c associated with pivoting the cassette 10. This operation is exactly the same as the rotary cam escapement described in connection with fig. 7 to 10. Accordingly, the aspects already described above will not be repeated, but explicit reference will be made to this description and to those parts of fig. 7 to 10. However, in the arrangement of fig. 25 to 28, the pin member 23 of the actuating pin mechanism 22 also aligns the cassette 10 in position prior to releasing rivets from the cassette 10 on the chute 16, in preparation for the installation operation. Thus, referring to FIG. 25, the cassette is rotated on its pivot to select the desired cassette track. This is the central cassette track as shown in fig. 25. Then, as shown in fig. 26, the pin member 23 is partially extended by the actuator 22. Successful results of this portion of the actuation routine indicate that alignment is being performed at the selected magazine track relative to the proximal end of the chute 17. The magazine 10 and chute 16 are now in rivet supply relationship. In the present arrangement, the proximal end of the chute 17 is in the form of a chute block rather than a chute sleeve, as in the case of the non-pivoting cassette described above. If alignment at the pivoting cassette 10 is indicated to be unsuccessful, the motor 83 will operate accordingly until alignment is complete. The pin member 23 can then be fully extended (see fig. 27) to operate the rotating cam member 26 of the rotating cam escapement 31. The rotating cam member has a profile 32 which, in cooperation with the movement of the pin member 23, determines the clockwise rotation of the rotating cam member 26 and, in turn, the rotation of the arcuate cam 29 to release the rivet. The rotating cam mechanism then regains its default rivet retaining position due to the retraction of the pin member 23 (see figure 28) and the passive, opposing action of the corresponding resiliently biased pin member 30b on the profile 32 of the rotating cam member 26.

In FIG. 29, each pivot cartridge 10 is docked to a respective docking or packing block 70. Each of the fillers 70 is permanently connected to the batch feeder device via three flexible filler tubes 71. Each tube services exclusively one of the individual cassette rails 11 that pass through the cassette 10. Note that this may be a permanent arrangement for supplying rivets from the batch feeder to the magazine 10, while the magazine is mounted on the installation tool 2. Alternatively, the filling block 70 may be releasable (see fig. 30) and may dock to any cassette as necessary. For example, one of the cassettes 10 can be supported on a support structure 41 as shown in FIGS. 30-31. Furthermore, the cassettes shown in fig. 30 to 31 may be supported on respective support structures 41 by patterned magnets mounted on the cassette back or support structure 41. This requires that the other of said parts 10, 41 is made of a ferromagnetic material. Alternatively, the cartridge and support structure 41 may be supported via the relevant magnet surfaces exactly as discussed in connection with fig. 12-17, and reference is made herein to the corresponding parts of this description.

Fig. 32-35 show an alternative cassette 10 that does not require a chute. Each of these cartridges 10 is directly docked to the head arrangement 4. Each of these magazines therefore comprises at its outlet a rivet delivery device 14 of the type already described in connection with fig. 11 (although not visible in fig. 32 to 35).

In fig. 32, a single magazine arrangement is shown in which rivets are supplied to the rivet setting tool 2 from the right side only. To provide sufficient support for this arrangement, the bracket 18 supporting the cartridge 10 extends on the left to reach and connect with the head arrangement 4. This prevents the rivet transfer area on the left side of the handpiece arrangement from being unnecessarily exposed to dust from the outside. Furthermore, this arrangement clearly allows the supply system 1 to be supported symmetrically on the installation tool despite the presence of a single cassette 10. It will be appreciated that the extension of the bracket 18, which effectively acts as a virtual cassette, may be replaced at any time by the actual cassette 10, for example but not exclusively by another cassette of the same type. This brings us to the configuration shown in fig. 33. In FIG. 33, the double-sided arrangement includes two mirror image single track cassettes 10, which are also shown in FIG. 32. It should be noted that each of the cassettes is pre-provided with, but not equipped with, rivet handling means associated with the lateral enlargement of the cassette body 34 located approximately midway along the extension of the cassette 10. In this position, the front cover plate 84 and the rear cover plate 85 may be removed to provide access for installation of the rivet handling apparatus (shown in FIG. 34).

FIG. 34 is a two-sided arrangement comprising two mirror image single track cassettes 10a, 10b, each equipped with a linear pin escapement 21a, 21b disposed at a mid-position along the cassette. The linear pin escapement will be briefly described below.

FIG. 35 is a double-sided arrangement comprising two mirror image dual track cassettes 10a, 10b, each equipped with two rivet processing devices 21aa, 21ab, 21ba, 21bb in the form of a linear pin escapement 96 (shown in FIG. 37) provided on each upper track of the cassettes 10a, 10b (similar to that described in connection with FIG. 15). Each magazine 10, 10b further comprises track selection means 90a, 90b for selecting which of the two upper rivet tracks to supply one or more rivets to the head arrangement 4. In the cassette described, the track selection means 90 is in the form of a rotary track selector 91, which will be described briefly below.

Fig. 32-35 also illustrate a number of other features of the cartridge 10 that have been described herein above. These features will not be described again but are listed here to facilitate reference to fig. 32 to 35. Each cassette has a lower docking interface 24 at the distal end 20 of the cassette for docking with the head arrangement 4. Adjacent the docking interface 24 is a vacuum connection 92 which communicates with the rivet feed track 11 within the magazine to provide a rivet motive force within the magazine 10. accordingly, the magazine 10 need not have sealing features at the upper docking interface 12 as are typically required when using positive pressure to pass rivets through the rivet supply system 1. The cassette is a generally tubular structure including a main body 34 and cassette rails 11 extending therethrough from respective cassette inlets 93 to outlets 94. In the case of the cassette of FIG. 35, the cassette rail 11 is bifurcated to accommodate the two upper cassette portions 60 of the cassette rail 11, as shown in FIG. 15, and as will be described further below in connection with FIG. 41. Thus, two inlets 93aa, 93ab and a single outlet 94a are defined in the cartridge 10 a. The upper rail 60 merges into a lower portion 95 (see FIG. 41) of the magazine rail 11 in which all rivets carried by the magazine 10 are delivered. The magazine 10 may be equipped with one or more rivet handling devices 21 and the track selection device 90 is equipped in the presence of separate upper tracks 60 of the magazine track 11.

FIG. 36 shows two magazines 10a, 10b of the type shown in FIG. 35 mounted on the installation tool 2 in a mirror image configuration to provide a complete rivet supply system 1 as described herein. The handpiece arrangement is shown in a retracted configuration in fig. 36. However, as described above, the nose arrangement may be extended toward nose assembly 6 to prepare for one or more rivet setting operations. The cassettes 10a, 10b are supported for movement with the head arrangement 4 by a set of brackets 18 (which are of slightly different mechanical construction to those described above). The distal ends 20a, 20b of the cartridge can be guided and slid by respective C-shaped brackets 19a, 19b as shown in fig. 36. Thus, the cassettes 10a, 10b, when moved, particularly at their lower edges where they interface with the head unit 4, remain in rivet supplying relationship with the head unit 4 without any undue stress. Furthermore, with the above described cartridge, if the cartridge 10aa, 10b is suitably connected to an attachment point 40 provided on an external post 41, for example as described above, the movement of the head arrangement 4 can be used to disengage the cartridge 10a, 10b from the installation tool 2. Based on the teachings in this specification, it will be apparent to the skilled person that the use of patterned magnets and associated magnet surfaces can also be extended to this type of cartridge 10a, 10 b.

Fig. 37A-37B show a cartridge 10 of the same type as shown in fig. 35 and 36, and illustrate some of the external features of the linear pin escapement 96 in more detail. These escapements are essentially made up of a set of pin barriers mounted on a common plate (see fig. 43-45). The linear actuation of this common plate provides the required rivet stopping, capturing and releasing functions, similar to the functions of the rotary cam escapement 31 described above. In particular, fig. 37B shows two housings 97, each associated with one linear pin escapement 96 and respective pneumatic first and second lines 98, 99, to move the plate in a desired direction. This will be further described below in conjunction with fig. 43 to 45. Alternatively, electrical actuation may be provided, for example employing solenoid-based electrical actuators.

Fig. 38A to 38B show a modification of the cassette 10 shown in fig. 37A to 37B in which two rotary cam escapements 31 replace the linear pin escapement. These escapements 31 are similar to those described above and reference is therefore made to the corresponding preceding paragraphs of this specification. It should be noted, however, that in the present case the different actuation means involve pneumatic first and second lines 98, 99 similar to the first and second lines described above. The first pneumatic wire causes in one way a movement (of the linear pin escapement) or a rotation (of the rotary cam escapement). The second pneumatic line causes a reverse motion (of the linear pin escapement) or a reverse rotation (of the rotary cam escapement). The corresponding housing 97 is similar to that described above in that appropriate seals need to be provided to allow the rotary cam escapement 31 to be actuated by the associated first and second pneumatic lines 98, 99. However, as mentioned above, the actuation may alternatively be electrical, for example via an electric motor or a solenoid-based electric actuator.

Fig. 39A-39B independently illustrate a single track cassette 10. The magazine 10 is equipped with a single linear pin escapement 96 acting on a single rivet delivery track 8, 11, all of which extend through the magazine 10 to provide a complete rivet supply system 1 as described herein. The housing 97 and the first and second rivet supply lines 98, 99 are as described above.

Fig. 40A-40B independently illustrate another single track cassette 10. However, this magazine 10 is equipped with a single rotary cam escapement 31 acting on a single rivet delivery track 8, 11, all extending through the magazine 10 to provide a complete rivet supply system 1 as described herein. The housing 97 and the first and second rivet supply lines 98, 99 are also as described above.

Fig. 41 and 42A to 42B show the operation of the rotational track selector 91 in detail. The rotary track selector 91 includes a rotary member 101, the rotary member 101 being designed for selective rivet supplying engagement with either of the upper cassette tracks 60. In the example of fig. 41 and 42A, the right side upper rail 60 is selected, while in the example of fig. 42B, the left side upper rail 60 is selected for feeding rivets C from one or the other of the magazine rails 60 to the head arrangement.

The selection of the desired upper track 60 is made by rotating the member 101 about 145 degrees in one direction or the opposite direction, as will be understood with particular reference to fig. 42A-42B. Thus, as also shown in these figures, the rotational member portion 102 of the magazine rail 11 can be in a desired selective rivet supplying relationship between the upper magazine rail 60 and the common lower portion 95 of the magazine rail 11. It will be appreciated that in the configuration of FIG. 42A, the first end 103 of the curved track section 102 passing through the rotary member 101 is in rivet supply communication with the cassette track 60 on the right side, and the curved second end 104 is in rivet supply communication with the cassette track 95. In the configuration of FIG. 42B, the first end 103 of the curved track section 102 is in rivet supply communication with the lower cassette track 95 and the second end 104 is in rivet supply communication with the left upper cassette track 60.

Actuation of the track selection device 90 is via a pair of dedicated actuation wires 88, 89, as also shown in fig. 41 and 42A-42B. Thus, by passing compressed air into the first actuation line 88, the rotary member 101 rotates 145 degrees in one direction, and by passing compressed air into the second actuation line 89, the rotary member 101 rotates 145 degrees in the other direction. Although this is not a preferred feature, in principle the rotary track selector may be arranged to allow the rotary member 101 to be rotated through different angles to remove any rivet supplying engagement between the upper track 60 and the lower track 95, for example by rotating the rotary member 101 counterclockwise through about 45 degrees rather than 145 degrees, starting from the configuration shown in fig. 42B.

Fig. 41 also shows a pair of sensors 100 for detecting the presence of a rivet C' ready to be supplied to the head arrangement. The sensors 100 are each integrated within a respective rotating cam mechanism 31. In the arrangement described, the sensors are each proximity sensors. However, different sensors may be used, including magnetic, optical, eddy current, etc. Fig. 43-45 explain the operation of the linear pin escapement 96. Fig. 43A depicts a single track cassette 10 (placed in a horizontal configuration for illustrative purposes) with one escapement 96. FIG. 43B is a cross-sectional view through the linear pin escapement mechanism 96 and a portion of the cassette 10 shown in FIG. 43A. Guide pins 120 are provided to stop or release rivets D stored in the magazine 10. As shown in FIG. 43B, the guide pins 120 are attached to a plate 121 located inside the housing 97, the plate 121 being located above the cartridge track 11. In the configuration of fig. 43B, three rivets D ', D ", D'" are queued at linear pin escapement 96. The lead rivet D' is ready to be released so that it can reach the rivet transfer device 14 located on the lower docking interface 24 of the magazine 10 under the force of gravity or suction applied by the vacuum connector 92. From there, the rivet D' may pass under the punch if desired, although this is not described further herein.

The plate 121 is connected via a rod 122 to a piston actuator 123, shown in fig. 43B, which is disposed within a portion of the housing 97 of the linear pin escapement 96 that is located below the cassette 10. The piston actuator 123 is moved up and down by compressed air supplied via the first and second pneumatic lines 98, 99 as required to move the plate 121 within the sealed chamber 126 in the housing 97. This presets the magazine 10 (equipped with linear pin escapement 96) for positive and negative pressure delivery of rivets D if desired, so that any rivet motive air supplied through the magazine rail 11 will not leak through the linear pin escapement 96. In the arrangement described, this can be achieved relatively easily by sealing the cavity 126 around the peripheral interface 127 on the outer surface of the cassette. However, other sealing configurations are possible. With the movement of the piston actuator 123, the plate 121 and thus the guide pin 120 is actuated via the rod 122. Note that the actuator 123 may be disposed above the rivet track 11 rather than below. The described arrangement is preferred for reasons of optimum envelope with respect to the space occupied by the magazine 10 on the tool 2.

Fig. 44A-44C and 45A-45C provide more detail of the operation of linear pin escapement 96.

Referring to fig. 44C, the same arrangement as fig. 43A-43B is shown, showing three rivets D ', D ", D'" queued at guide pins 120. Fig. 44C also clearly shows how the depth of the rivet delivery track 8 is greater than the length of the rivet D shown in fig. 44A-44C. Thus, rivets of different lengths may also be stored in the same magazine 10 and transported on the T-shaped track 8 described herein, with the rivet D being supported around its head rather than its stem by the T-shaped profile of the rivet delivery track 8. The presence of the leading rivet D' is sensed by the sensor 100, similar to the sensors described above. When the presence of the lead rivet D' is detected, it can be released at the correct time for the installation operation.

Fig. 44A-44B illustrate an arrangement of a pair of forming pins 125, the pair of forming pins 125 including a large diameter pin section 128 and a narrow diameter pin section 129, upstream with respect to the guide pin 120 and to the side with respect to the cartridge track 11. The large diameter pin sections 128 are such that they can prevent the rivet D from flowing through the magazine 10. The narrow diameter pin sections 129 allow them to flow the rivet D. Thus, the two forming pins 125 are arranged such that when the guide pin 120 is in the configuration of fig. 44C, the trailing rivets D ", D '" are free flowing and thus in contact with the leading rivet D'. Thus, in this configuration, the guide pins 120 stop all rivets D ', D ", D'" from flowing. The plate 121 and actuator 123 are in their lowermost configuration, as also shown in fig. 43B.

As shown in fig. 45A-45C, when the guide pin 120 is retracted, the lead rivet D' is released and reaches the rivet delivery device 14 at the lower mating interface of the magazine 10 under the action of a suitable motive force (gravity, suction or positive pressure), as described above. Retraction of the guide pin is effected by upward movement of the piston actuator 123, rod 122 and plate 121. This also determines the movement of the forming pin 125 to the configuration best shown in figure 45A. The large diameter pin section 128 is now disposed within the magazine track 11 to effectively limit the passage of rivets D therethrough. Thus, the trailing rivets D ", D '" are now stopped in the magazine 10, while the leading rivet D' flows to the head arrangement. Note that as shown in fig. 45B, the large sections 128 of the pair of forming pins 125 interact with the head of the rivet D "rather than the stem thereof. The plate is actuated to cycle through the lowest position shown in fig. 44A to 44C and the highest position shown in fig. 45A to 45C. After releasing the leading rivet D', the plate 121 is returned to its lowermost position by the piston actuator 123, and the first trailing rivet D "is now in contact with the guide pin 120 and then released. At this stage, the trailing rivet D "moves forward only a small distance separating the guide pin 120 and the pair of forming pins 125 as the narrow section 129 moves to occupy a position immediately adjacent the cassette track 11. Thus, rivet D cycles through the various configurations of the linear pin escapement under the effect of a minimum "slicing" force ('slicing' force) exerted thereon by the linear pin escapement 96. In particular, in the configuration of fig. 45A-45C, trailing rivet D "is gently held by the action of forming pin 125 on the opposite side of the rivet head, as best shown from fig. 45A. In the configuration of fig. 44A-44C, the trailing rivet D "is held in place only by the guide pin 120, thus excluding any other snap points. The cassette track 11 is minimally affected by the linear pin escapement, so the flow of rivets D can be controlled with minimal invasiveness.

Possible options for replacing and/or adjusting the mold assembly 6 are briefly described below in connection with fig. 46-50. Note that as described herein, replacement or adjustment of the die assembly 6 may be required depending on the replacement of the replaceable magazine 10 with a replacement magazine 10 filled with a different type of rivet. These rivets may require different die geometries and/or die volumes. Given that such replacement and/or adjustment may be necessary for the installation operation, an operator may manually replace and/or adjust the mold assembly. Alternatively, the mold assemblies may be automatically or semi-automatically replaced and/or adjusted in response to one or more signals generated by the controller 1203 as described herein. Accordingly, the controller 1203 may be configured to issue one or more signals in response to information identifying the cassette 10, and thus the type and/or size of rivets stored therein, to issue signals for replacing and/or adjusting the die assembly 6 so as to be available for use with an installation tool.

In fig. 46, an installation tool 2 as described herein is shown having a rivet supply system 1 consisting of two replaceable dual rail magazines 10 in a mirror image configuration. The mold assembly 6 provides an adjustable mold volume 135. The die volume 135 is adjusted using an external/independent wrench tool 130. The wrench tool 130 may be engaged to the mold assembly 6 via a plurality of slots 131 formed in the wrench tool 130. Each slot 131 may be coupled to an adjustment head 132 disposed at a lower end of mold assembly 6. Relative movement (rotation) of the wrench tool 130 and the adjustment head 132 results in a change in the mold volume. How this is achieved is the object of fig. 49A to 49C described below. To this end, the C-frame may be mounted on a robotic arm (not shown). Alternatively, the wrench tool may be mounted on a robot (not shown).

It is suggested to use a method of ensuring that the correct mould volume has been set. This may be achieved by a combination of mechanical registration and/or software control. Thus, for example, only one of the plurality of slots 131 of the wrench tool 130 may be aligned with the adjustment end 132 provided on the mold assembly 6 at any one time. The software can then determine the next desired mold volume 135 for the riveting process. The angular position of the adjustment end 132 will then need to be adjusted accordingly. When a continuous mold volume adjustment operation is required, the previous engagement position between the wrench tool 130 and the adjustment end 132 of the mold assembly 6 is recalled from memory by the software. Alternatively/additionally, the wrench tool 130 may have slots 131, each slot 131 being associated with a particular mold volume 135. Thus, the robotic arm may be used to engage the adjustment end 132 of the mold assembly 6 through any of these predetermined slots 131. A predetermined angular rotation may then also be associated with each slot. Thus, when the end 132 engages the predetermined slot 131, a predetermined angular rotation will occur to achieve the desired mold volume 135.

In fig. 47, the mold volume 135 is changed by changing the mold assembly 6. The mold assembly 6 is released by an external release mechanism in the form of release pins 137. This will be further described in conjunction with fig. 50A to 50C.

In fig. 48, the die volume 135 is changed by operation of an on-board motorized device (e.g., an on-board motorized die adjustment actuator 136).

Referring to fig. 49A to 49C, the mold assembly 6 includes a center pin 140 located in and guided by a mold sleeve 141. The axial position of the center pin 140 may be adjusted by an adjustment cam mechanism 142, the adjustment cam mechanism 142 having a discrete cam platform 143 located below the center pin 140. Each cam platform 143 has a different height relative to the mold assembly 6. Each cam platform 143 corresponds to a predetermined axial position of the center pin 140 and thus to a predetermined mold volume 135. When switching the active cam platform 143, the center pin 140 may have to be held in a position corresponding to its minimum mold volume 135 to allow the adjustment cam mechanism 142 to rotate.

Referring to fig. 50A-50C, the mold assembly 6 includes a mold sleeve 141 similar to that shown in fig. 49A-49C. As shown in fig. 49B-49C, different mold volumes 135 are associated with different molds 153 having a semi-hollow structure. The mold 153 is held in place on the mold assembly 6 by the action of two C-shaped clamps 150 that apply a lateral force to the cavity 154 of the mold 153, as also shown in fig. 49B-49C. The tapered end 152 of the central mandrel 151 extending through the sleeve 141 pushes the C-shaped collet outward. The mandrel 151 and its tapered end 152 are pulled downwardly by the action of a resiliently biased ball 158, the ball 138 acting on an inclined surface 159 formed on a projecting pin 157, one end of the projecting pin 157 being coupled to the mandrel 151 and the other end projecting from the die assembly 6, as shown in figures 50B to 50C.

To replace the mold 153, the protruding pin 157 is pushed upward by the release pin 137 to resist the downward force exerted thereon by the resiliently biased ball 158. This in turn releases the collet 150 so that the mold 153 is no longer clamped on the mold sleeve 141. The mold 153 may be replaced by another mold having a different mold volume 135 by external means, including by manual intervention of an operator.

The present invention thus provides a simple and flexible magazine-based rivet supply system that can seamlessly process self-piercing rivets of different shapes and sizes.

Any requirement for a flexible tube portion within a rivet supply system is reduced or eliminated.

Rivets are stored in a magazine which is always located close to the setting tool head.

In addition, the magazine has a number of rivet handling features that maximize control of rivet flow through the supply system. While the cassettes described herein are preferably used as a rivet motive force under gravity or vacuum, they may also be readily adapted to receive compressed air as will be apparent to those skilled in the art.

The cassettes can also be easily replaced and/or refilled and these operations can also be conveniently automated by the robotic arm without external intervention.

Furthermore, the accuracy requirements associated with the robot arm are advantageously reduced.

Further, after identifying the joint to be created, the desired rivet type may be recalled from one magazine docked on the installation tool, or from one or more replacement magazines, and the die assembly changed or reconfigured accordingly based on the selection.

If a replacement magazine is required, the tool may prevent or signal the docking of an incorrect replacement magazine and/or confirm that the correct replacement magazine has been successfully selected, storing the intended rivets by type and/or size and docking them onto the tool.

The present invention has been described above by way of example only. Protection is sought within the scope of the appended claims.