Patent Description:
In the field of fastening technology, it is known to make joints using fasteners. These methods include, for example, the fastening of fasteners to workpieces, wherein the fasteners in this case are oftentimes used as anchors for further attachment. Such fastening methods are known in the form of stud welding, adhesive stud bonding, and thermoplastic stud fastening. In these methods, the studs may be rotationally symmetric fasteners, but may also be irregularly shaped anchors.

In addition, it is known to join at least two workpieces to one another by means of fasteners. Such methods include, e.g., riveting methods, for instance the self-piercing riveting method.

Especially in the field of automotive engineering, such fastening methods have been well-established for some years, particularly in body manufacture.

In high-volume production it is preferred to move the fastening tools by means of a programmable handling device, such as a robot. In this case it is likewise preferred for the fasteners to be fed to a fastening tool attached to a robot arm. To this end, it is known to connect the fastening tool to a feed device by a feed hose. For instance, <CIT> discloses fasteners which are pre-loaded in a package and dispense via at least one fastener delivery tube that interconnects the setting tool to a fastener feeder device.

It is also known to connect the feed device to a docking station by a feed hose, notably from <CIT> or <CIT>. In this case, a buffer for accommodating a plurality of fasteners is present on the fastening tool. In order to fill the magazine, the fastening tool is moved to the docking station where it is docked. The docking in this process is done in such a manner that both an outlet gate in the region of the docking station and an inlet gate of the buffer are opened mechanically by the docking procedure in order to establish a continuous connection between the feed device and the buffer. The expense this necessitates for mechanical actuators or transmissions is considerable. In addition, docking and undocking is a relatively time-consuming process.

Against this background, the applicant developed an improved method for feeding fasteners to a fastening tool that is movable by a programmable handling device and on which is mounted a magazine for accommodating at least one fastener. This method is depicted in <CIT>. The method consists in moving the magazine to a filling station, wherein the filling station has an always continuously open tube section with an outlet opening; orienting the magazine with respect to the outlet opening; opening an air seal of the magazine; and conveying at least one fastener to the tube section in such a manner that the fastener travels through the tube section and the outlet opening to reach the magazine, wherein the outlet opening is unblocked before orienting the magazine and after conveying the fastener to the magazine.

A fastening device according to the preamble of claim <NUM> is known from <CIT>.

However, there is still a need to improve such fastening devices with magazine for better fastening, filling and maintenance performances.

This object is attained according to a first aspect of the invention by a fastening device according to claim <NUM>, that defines a fastening device comprising:
a fastening tool that is movable by programmable handling device, a magazine arrangement mounted on the fastening tool, the magazine arrangement having a first magazine for accommodating at least one first fastener, the first magazine having an inlet and an outlet and wherein the first magazine comprises a first magazine hose; a second magazine for accommodating at least one second fastener, the second magazine having an inlet and an outlet, and wherein the second magazine comprises a second magazine hose; a magazine plate extending at the inlet of the first and second magazine, and a base plate extending along the first and second magazine and to which the first and second magazine are connected; a sensor adapted to detect the presence of a fastener in the first and/or second magazine. The sensor is connected to the base plate, and a spacer provided between the first and the second magazine hose, wherein the spacer comprises a spacer body with a first hose recess to receive the first magazine hose and a second hose recess to receive the second magazine hose, wherein the spacer further comprises a demounting arrangement adapted to facilitate the removal and the replacement of the first and/or second magazine hose.

The presence of two different magazines allows more flexibility. For instance, the fastening device can store two different types of fastener, the first type being in the first hose and the second type being in the second hose. The fastening device can also thus board an increased number of fasteners without increasing the length of the magazine hoses.

The applicant found that attaching the sensor to the base plate and not to the magazine directly do not alter the detection of the fastener within the magazine and on the contrary allows a better detection. Besides, the sensor adapted to detect the presence of the fastener in the magazine being not attached to the magazine anymore, allows an easy the maintenance, and for instance, a magazine hose replacement. The spacer has a centering function and allows the easy removal of the first and/or the second hose through the demounting arrangement. Such fastening device is thus easy to dismount and the magazine hose can be easily replaced or cleaned without considerable effort. Thus, the coupling of both the sensor attached to the base plate (and spaced from the magazine or magazine hose - or at least not connected to the magazine or magazine hose) and the spacer with the demounting arrangement enable a reduced demounting time, a better maintenance and improve the performances of the fastening device.

In an embodiment, the toggle mechanism is movable between a first position in which the closure slider is closed and a second position in which the closure slider is open, and wherein the toggle mechanism comprises a first arm, a second arm and a pivoting joint between the first and the second arms, such that first and second arms are rotationally connected.

In an embodiment, the closure slider comprises a first compressed air channel which communicates with the magazine hose when the closure slider is in the closed position.

In an embodiment, the closure slider can comprise a second compressed air channel which communicates with the second magazine hose when the closure slider is in the closed position. Thus, a compressed air flow is integrated to the closure slider and automatically stopped when the closure slider is in the open position.

In an embodiment, the demounting arrangement comprises an elastic pin adapted to be moved between a locked position and a release position. The mechanical arrangement is easy to implement and particularly robust. A manipulator or a robot or an actuator can easily move the elastic pin from the locked position to the release position. The locked position corresponds to the rest position of the elastic pin.

In an embodiment, the spacer comprises a spacer body, an anchoring body and the elastic pin, wherein the anchoring body is fixed to the base plate and extends longitudinally orthogonal to the base plate, wherein the anchoring body comprises a first and a second recess, in which the elastic pin in the locked position can be elastically biased. The mechanical arrangement is easy to implement and particularly robust. The arrangement of the parts also allows an easy cleaning of the parts.

In an embodiment, the spacer body is slidable with regard to the anchoring body between a working position, in which the first and/or second magazine are adapted to receive one or a plurality of fasteners, and a maintenance position, in which the first and/or second magazine are adapted to be removed from the fastening device.

In an embodiment, the magazine arrangement further comprises an isolation module adapted to separate one fastener from a plurality of fastener and the outlets are connected to the isolation module. The isolation module improves the fastening performance with two magazines.

In an additional embodiment, the isolation module comprises a drawer adapted to slide between the outlet of the first magazine and/or the second magazine and an exit port. The mechanical arrangement is easy to implement and particularly robust.

The present disclosure is also directed to a fastening device system comprising a fastening device as previously described and a feed device, wherein the magazine arrangement has a centering element cooperating with a centering element from the feed device. It is thus possible to ensure that the magazine can always be aligned precisely with the feed device, and more particularly that an exit port of the feed device can always be aligned precisely with an inlet port of the magazine.

In an embodiment, the magazine arrangement has a centering recess, the feed device has a centering pin.

In an embodiment, the magazine arrangement has two centering recesses, the feed device has two centering pins.

In an embodiment, the centering pin extends longitudinally and has a non-constant cross-section. The non-constant section, and more particularly the larger portions of the non-constant section allows a tight fit of the centering pin, which insure a perfect alignment with reduced tolerances.

In an embodiment, the feed device has a docking surface and a filling station, the filling station comprising a feeding tube, and wherein the toggle mechanism comprises a bearing extending between two arms of the toggle mechanism and adapted to roll on the docking surface such that the pressure of the docking surface on the toggle element allows the toggle element to move the closure slider from the closed position to the open position. The bearing allows reducing the friction between feed device and magazine when opening the magazine.

In an embodiment, the toggle mechanism comprises a rear bearing arranged at a free end of the second arm of the toggle mechanism and adapted to roll on the magazine plate. This reduces the friction between the magazine plate and the closure arrangement.

Finally, fasteners can be fed to a fastening tool with a fastening device system as previously mentioned, according to a method comprising the steps of moving the magazine to a feed device, wherein the feed device has a tube section with an outlet opening;
orienting the magazine with respect to the outlet opening; aligning the magazine and the feed device through centering elements; approaching the magazine and the feed device from each other such that a docking surface of the feed device pushes the toggle mechanism from a first position; conveying at least one fastener to the tube section in such a manner that the fastener travels through the tube section and the outlet opening to reach the first and/or second magazine.

Other characteristics and advantages of the invention will readily appear from the following description of embodiments, provided as non-limitative examples, in reference to the accompanying drawings.

On the different figures, the same reference signs designate identical or similar elements.

<FIG> schematically shows an embodiment of a fastening device system <NUM> for producing joints using fasteners. In the present case, the fastening device system <NUM> is designed especially for self-piercing riveting. However, the fastening device system <NUM> may also be designed in corresponding fashion to produce stud joints (stud welding, adhesive stud bonding, etc.), for example.

The fastening device system <NUM> has a fastening device <NUM>, which is attached to a programmable handling device in the form of a robot <NUM>. More precisely, the robot <NUM> has, for example, a first arm <NUM> and a second arm <NUM>, wherein the fastening device is affixed to the second arm <NUM>.

Affixed to the fastening device <NUM> is a fastening tool <NUM>, notably in the form of a self-piercing riveting tool. The fastening tool <NUM> includes a C-frame <NUM>. Mounted on an upper end of the C-frame <NUM> is a punch <NUM> - that can move in a fastening direction (as shown by the double arrow in <FIG>) - of the fastening tool <NUM>. Affixed to the other end of the C-frame <NUM> is a die <NUM>.

The fastening tool <NUM> is designed to produce joints using fasteners <NUM>. The fasteners <NUM> in the present case are self-piercing rivet elements.

For example, two or more workpieces (in the form of sheets made of the same or different materials, for example) can be inserted between the punch <NUM> and the die <NUM>. Then a joining of these workpieces takes place: a self-piercing rivet element is pressed or punched into the workpiece arrangement by the punch <NUM>. In the case of a tubular self-piercing rivet, a hollow section that was originally essentially cylindrical spreads apart radially in this process so that an undercut occurs within the workpiece arrangement. Self-piercing riveting processes of this type are generally known.

The motion of the punch <NUM> generally takes place along a fastening axis <NUM>.

A magazine arrangement <NUM> is mounted to the fastening tool <NUM>. In <FIG> the magazine arrangement <NUM> is mounted at the front of the C-Frame <NUM>.

<FIG> and <FIG> show different embodiments of the magazine arrangement mounted to a C-frame. For instance, in <FIG>, the magazine arrangement is mounted on the back of the C-frame, at the opposite from the die <NUM> and the punch <NUM>. The magazine arrangement extends along an axis which is sensibly parallel to the back of the C-frame. In <FIG> the magazine arrangement is also mounted at the back of the C-frame but the magazine arrangement extends along an axis which forms an angle with the back of the C-frame. In <FIG>, the magazine arrangement is mounted at a top of a C-frame.

The magazine arrangement <NUM> has a first magazine <NUM> for accommodating at least one, preferably a plurality of first fasteners 28a. The first magazine <NUM> comprises an inlet <NUM> adapted to receive a fastener and an outlet <NUM> adapted to release a fastener. Between the inlet <NUM> and the outlet <NUM> extends a first magazine hose <NUM>. The first magazine hose <NUM> extends along a magazine axis X. The magazine arrangement <NUM> additionally has a magazine plate <NUM> and a base plate <NUM>. The magazine plate <NUM> extends at the inlet of the first magazine <NUM>. The magazine plate for instance extends orthogonally to the magazine axis X. The base plate <NUM> extends along the first magazine <NUM>, and more particularly along the first magazine hose <NUM>. The first magazine <NUM> is mounted on the base plate <NUM>.

A first sensor <NUM> is provided to detect the presence of a fastener in the first magazine <NUM>, and more particularly in the first magazine hose <NUM>. The first sensor <NUM> is connected to the base plate <NUM> and is at a non-zero distance from the first magazine hose <NUM>. In other words, the sensor is not in contact with the first magazine hose <NUM> and is not mounted on the first magazine <NUM>. The first sensor <NUM> is for instance a proximity transducer or a photoelectric sensor or a fork/angled light barriers. In a preferred embodiment, an inductive tube sensor is used.

The magazine arrangement <NUM> comprises a second magazine <NUM> for accommodating at least one, preferably a plurality of second fasteners 28b. The second fastener may be identical or different from the first fasteners 28a. The second magazine <NUM> comprises an inlet <NUM> adapted to receive a fastener and an outlet <NUM> adapted to release a fastener. Between the inlet <NUM> and the outlet <NUM> extends a second magazine hose <NUM>. The second magazine hose <NUM> may extend sensibly parallel to the first magazine hose <NUM>. The magazine plate <NUM> extends at the inlet <NUM> of the second magazine <NUM>. The second magazine hose <NUM> extends along the base plate <NUM>. The second magazine hose extends along the base plate <NUM>.

A second sensor <NUM>, similar to the first sensor <NUM> is provided to detect the presence of a fastener in the second magazine <NUM>, and more particularly in the second magazine hose <NUM>. The second sensor <NUM> is connected to the base plate <NUM> and is at a non-zero distance from the second magazine hose <NUM>. In other words, the second sensor <NUM> is not in contact with the second magazine hose <NUM> and is not mounted on the second magazine <NUM> but is directly mounted to the base plate <NUM>.

For instance, as depicted in <FIG>, the first sensor <NUM> and the second sensor <NUM> are arranged mounted to the base plate and at the vicinity of respectively the first and second magazine hoses <NUM>, <NUM>. More particularly, the first and second sensors do not extend between the first and second hoses <NUM>, <NUM>, but extend outwardly from the first and second magazine hoses <NUM>, <NUM>. A third and a fourth sensor S may also be arranged such that two different sensors detect a fastener in the first magazine hose <NUM>, and two different sensors detect a fastener in the second magazine hose <NUM>. The two sensors for the first magazine hose <NUM> may be arranged spaced apart, one sensor being in the vicinity of the inlet <NUM>, wherein the other sensor is in the vicinity of the outlet <NUM>. A similar arrangement can be provided for the second magazine hose <NUM>. A spacer <NUM> is provided between the first and second magazine hoses <NUM>, <NUM>. The spacer <NUM> allows to maintain the distance between the first and second magazine hoses <NUM>, <NUM>, but also allows an easy demounting of the first and/or second magazine or magazine hose. The spacer <NUM> comprises a spacer body <NUM> and a demounting arrangement <NUM>.

The spacer body <NUM> comprises a first hose recess <NUM> to receive the first magazine hose <NUM>, and a second hose recess <NUM> to receive the second magazine hose <NUM>. The first and second hose recesses <NUM>, <NUM> have for instance a section corresponding to the hose section. As depicted on the figures, the section can be square. In other embodiments, a circular section may be provided.

The demounting arrangement <NUM> comprises an elastic pin <NUM> and an anchoring body <NUM>. The elastic pin <NUM> is elastically slidable within the spacer body <NUM>. The elastic pin <NUM> is adapted to be moved between a locked position and a release position. The anchoring body <NUM> is fixed to the base plate <NUM>. The anchoring body <NUM> comprises a first and a second recess <NUM>, <NUM>. The elastic pin <NUM> is adapted to protrude in the first or in the second recess <NUM>, <NUM>. The spacer body <NUM> is slidable with regard to the anchoring body <NUM>.

In a working position, as shown in <FIG>, the anchoring body is inserted in the spacer body, such that the spacer body <NUM> is in contact with or at least in the vicinity of the base plate <NUM>. The elastic pin <NUM> extends in the first recess <NUM> of the anchoring body <NUM>. The first and second magazine hoses <NUM>, <NUM> are able to receive, store and deliver fasteners 28a, 28b.

In order to move the spacer body <NUM> and the first and second magazine hoses <NUM>, <NUM>, the elastic pin <NUM> is pulled against the elastic force maintaining it in a locked position, such that the elastic pin <NUM> moves to a release position, and thus allow the spacer body <NUM> (with the first and second magazine hoses <NUM>, <NUM> in the first and second hose recesses <NUM>, <NUM>) to slide with regard to the anchoring body <NUM>. The spacer body <NUM> slides until the elastic pin <NUM> reaches the second recess <NUM> and elastically extends in the second recess <NUM>. By doing so, the course of the spacer body <NUM> is stopped. The spacer body <NUM> is thus in a maintenance position, in which the first and/or second magazine hoses <NUM>, <NUM> may be removed, cleaned, or replaced.

The second recess <NUM> comprises a side being a ramp adapted to allow the elastic pin <NUM> to slide up to the portion extending between the first and the second recesses <NUM>, <NUM> when a manipulator pushes the spacer body back in the working position. The tip of the elastic pin <NUM> can then slide along the straight portion between the second and the first recesses <NUM>, <NUM> until it arrives at the first recess <NUM> and is elastically biased into it.

As previously mentioned, a magazine plate <NUM> extends at the inlet <NUM>, <NUM> of the first and/or second magazine hose <NUM>, <NUM>. The magazine plate <NUM> is more particularly illustrated in <FIG> and comprises a plate body <NUM> and a closure arrangement <NUM>. The closure arrangement <NUM> extends in an opening of the plate body <NUM> and has a closure slider <NUM>, an elastic spring <NUM> and a toggle mechanism <NUM>.

The closure slider <NUM> is adapted to move between an open position, in which the inlet <NUM>, <NUM> of the first and/or second magazine <NUM>, <NUM> is open, and a closed position, in which said inlet is closed. In the open position of the inlet, fasteners <NUM> may be transferred to the first and/or second magazine hose <NUM>, <NUM>. An elastic member (for instance the elastic spring <NUM>) elastically bias the closure slider <NUM> in the closed position. Actually, the closure slider <NUM> forms a sliding door for the inlet <NUM>, <NUM> of the first and/or second magazine hose <NUM>, <NUM>.

The closure slider <NUM> may be provided with compressed air channels <NUM> such that in the closed position of the closure slider <NUM>, compressed air may go from a compressed air source through the closure slider <NUM> up to the magazine hose <NUM>, <NUM>. The compressed air can thus push the fasteners <NUM> through the hose <NUM>, <NUM> toward the outlet <NUM>, <NUM>. In other words, in the closed position of the closure slider <NUM>, the compressed air channels <NUM> from the closure slider are aligned or communicate with a channel coming from a compressed air source and the first and/or second magazine hose <NUM>, <NUM>. In the open position of the closure slider <NUM>, the compressed air channels <NUM> are not communicating anymore with the channel coming from a compressed air source and the magazine hose, such that the feeding of the fasteners is not disturbed. The closure slider <NUM> may also have a seal function, such that in the closed position, the compressed air from a source is directed to the hose and does not go out through the inlet <NUM>, <NUM>.

The compressed air channel <NUM> can comprise three portions 88a, 88b, 88c. The first portion 88a communicate with a compressed air source. The first portion 88a can for instance extends along an axis forming an angle with the compressed air channel of the compressed air source. The third portion 88c communicates (in the closed position of the closure slider <NUM>) with the first and/or second magazine hose. The second portion 88b extends between the first portion 88a and the second portion 88b and forms an angle with the first portion 88a and the second portion 88b.

<FIG> represents the closure slider in the closed position, wherein <FIG> represents the closure slider <NUM> in the open position. Actually, the closure slider <NUM> can be arranged with first compressed air channels <NUM> adapted to communicate with the first magazine hose <NUM> and a second compressed air channels <NUM> adapted to communicate with the second magazine hose <NUM>.

The toggle mechanism <NUM> is adapted to move the closure slider <NUM> from the closed position to the open position. The toggle mechanism <NUM> comprises a first arm <NUM>, a second arm <NUM> and a pivoting joint <NUM> between the first and the second arms <NUM>, <NUM>. In the closed position of the closure slider <NUM>, the first and second arms <NUM>, <NUM> form an angle at the pivoting joint <NUM> and the pivoting joint protrudes <NUM> from the magazine plate <NUM>. In the open position of the closure slider, the first and second arms <NUM>, <NUM> may be aligned and may not protrude from magazine plate <NUM> or the closure slider <NUM>.

Besides a bearing <NUM> is provided around the pivoting joint. The bearing is for example a ball bearing or a roll bearing and typically comprises an inner ring, an outer ring and a plurality of balls (in case of a ball bearing). The inner ring is attached to the pivoting joint <NUM> and the outer ring is freely movable around the inner ring.

The toggle mechanism <NUM> and more particularly the outer ring of the bearing <NUM> is adapted to cooperate with a docking surface <NUM> of a feed device <NUM>. The toggle mechanism <NUM> comprises further a rear bearing arranged at a free end of the second arm <NUM> of the toggle mechanism and adapted to roll on the magazine plate <NUM>. This reduces the friction between the closure slider <NUM> and the magazine plate significantly.

The feed device <NUM> belongs to the fastening device system <NUM> and cooperates with the fastening device <NUM> to provide fasteners <NUM> to the first and/or second magazine <NUM>, <NUM> when the first and/or second magazine <NUM>, <NUM> is docked to the feed device <NUM>. The feed device <NUM> may include a reservoir <NUM> for accommodating a plurality of fasteners <NUM>. <FIG> illustrates schematically one reservoir <NUM>, but two reservoirs for two different fasteners 28a, 28b, may be provided. The feed device <NUM> may also include a singulation device (not represented), in which the fasteners are singulated. Finally, the feed device <NUM> may include a conveyor device, in particular in the form of a compressed air system. By means of the compressed air system, fasteners <NUM> can be conveyed through a feed hose <NUM> to a filling station <NUM> of the feed device <NUM>, wherein the fasteners <NUM> can be transferred to the first or second magazine <NUM>, <NUM>. For instance the feed hose <NUM> may have an outlet with an always open tube section.

In order to allow a safe transfer of the fasteners <NUM> from the feed device <NUM> to the first or second magazine <NUM>, <NUM>, the magazine arrangement <NUM> has a centering element cooperating with a centering element from the feed device <NUM>. For instance, as illustrated in <FIG>, the magazine arrangement <NUM> has a centering recess <NUM>, the feed device has a centering pin <NUM>. More particularly, as depicted in <FIG>, the magazine arrangement <NUM> has two centering recesses <NUM>, wherein the feed device has two centering pins <NUM>. The centering pin <NUM> extends longitudinally along an alignement axis Xc. The centering pin <NUM> is generally cylindrical, but its cross-section is not constant such that two portions P1, P2 of the centering pin <NUM> have a cross-section which is larger than the rest of the centering pin <NUM>. This allows a better alignment with a tight fit. The distance L1 between the first portion P1 and the second portion P2 is greater than the thickness L2 of the magazine plate. In other words, the distance between the first portion P1 and the second portion P2 is greater than the length of the centering recess.

In a rest position, the bearing <NUM> of the toggle mechanism <NUM> protrudes from the magazine plate <NUM>. When approaching from the docking surface <NUM>, the docking surface <NUM> pushes the bearing <NUM>, which rolls on the docking surface <NUM> and thus a force is exerted on the pivoting joint <NUM> of the toggle mechanism <NUM> such that the arms are flattened in the direction of the magazine plate <NUM>. Thus, the arms <NUM>, <NUM> are exerting a force against the elastic member and move the closure slider <NUM> in the open position.

At the outlets <NUM>, <NUM> of the magazines, an isolation module <NUM> is provided, as shown in <FIG>. The isolation module <NUM> comprises a drawer <NUM> with a first and a second recess <NUM>, <NUM> and adapted to slide such that the first recess <NUM> may be aligned either with the outlet <NUM> of the first magazine or with an exit port <NUM> of the magazine arrangement <NUM>. The drawer <NUM> can also slide such that the second recess <NUM> may be aligned either with the outlet <NUM> or with the exit port <NUM> of the magazine arrangement. The drawer <NUM> is moved through actuators, for instance electrical or pneumatic actuators.

During a normal operation, the fastening device system <NUM> works as follow. This is starting from a state in which a plurality of fasteners <NUM> are accommodated in the first and/or second magazine <NUM>, <NUM>. In this process, the robot <NUM> moves the fastening tool <NUM> to a fastening position where workpieces that are to be joined to one another are located between the punch <NUM> and the die <NUM>. Then a fastener <NUM> is removed from the first or second magazine <NUM>, <NUM> and from the exit port <NUM>. This removal can take place manually but can also take place by an automated transfer device, which is controlled by a control device, for example.

First the punch <NUM> is moved, in order to carry out the actual fastening process. Then the punch <NUM> travels back to its initial position, and the fastening tool <NUM> is moved to a next fastening position. As soon as only few or no fasteners 28a, 28b are present in the first or second magazine <NUM>,<NUM>, the fastening tool <NUM> is moved to the feed device, and more particularly to the filling station. The number of fasteners 28a, 28b located in the first or second magazine <NUM>, <NUM> can be monitored by the sensor already described, which is mounted on the base plate.

As soon as the magazine plate <NUM> has approached the docking surface <NUM>, the centering elements of the feed device <NUM> and fastening device <NUM> align such that the feed hose <NUM> is aligned with the inlet <NUM>, <NUM> of the first or second magazine <NUM>, <NUM>. Then a fastener <NUM> or a plurality of fasteners <NUM> is conveyed, for example by a compressed air system from the singulation device or the reservoir <NUM> to the first or second magazine <NUM>, <NUM> without hindrance, which is to say through the feed hose and the inlet without hindrance. As soon as the first or the second magazine is filled again, the fastening device can move from the feed device and by doing so, the toggle mechanism <NUM> can come back to its rest position and thus the closure slider can move to its closed position.

The fastening device system <NUM> also includes a control device. The control device is designed to control various individual processes and individual devices of the fastening device system <NUM>. In addition, the control device also serves to supply power as appropriate. For example, the control device is connected to the sensors <NUM>, <NUM>. In addition, the control device is designed to actuate the isolation module. Furthermore, the control device is preferably also designed to control the robot <NUM> in accordance with a specific program. In addition, the control device is also connected to the fastening tool <NUM> and designed, for example, to operate the punch <NUM>. In this context, the control device can be connected to the robot <NUM> and/or the fastening head <NUM> by a cable arrangement. In addition, the control device can be connected to the filling station <NUM> by a cable arrangement, in particular in the form of an individual sensor cable.

The magazine arrangement <NUM> as described above is thus separated in two units. The first unit <NUM> comprises all the controllers with valve terminal, port expander, valves, pressure regulators,. The second unit <NUM> comprises the first and second magazine hoses, the outlets, the inlets, the isolation module and the corresponding sensors. Such partition facilitates the mounting and maintenance operations. The first unit <NUM> is not encapsulated in a casing, in order to leave accessible the different plug connections, chokes, pressure meters,.

Claim 1:
Fastening device (<NUM>) comprising:
a fastening tool (<NUM>) that is movable by programmable handling device,
a magazine arrangement (<NUM>) mounted on the fastening tool, the magazine arrangement (<NUM>) having: a first magazine (<NUM>) for accommodating at least one first fastener, the first magazine (<NUM>) having an inlet and an outlet and wherein the first magazine (<NUM>) comprises a first magazine hose (<NUM>); a second magazine (<NUM>) for accommodating at least one second fastener, the second magazine (<NUM>) having an inlet and an outlet, and wherein the second magazine comprises a second magazine hose (<NUM>);
a base plate (<NUM>) extending along the first and second magazine and to which the first and second magazine are connected;
a sensor (<NUM>, <NUM>, S) adapted to detect the presence of a fastener in the first and/or second magazine, the sensor being connected to the base plate (<NUM>), characterised by further comprising:
a magazine plate (<NUM>) extending at the inlet (<NUM>) of the first and second magazine; and
a spacer (<NUM>) provided between the first and the second magazine hose (<NUM>, <NUM>), wherein the spacer (<NUM>) comprises a spacer body (<NUM>) with a first hose recess (<NUM>) to receive the first magazine hose (<NUM>) and a second hose recess (<NUM>) to receive the second magazine hose (<NUM>), wherein the spacer (<NUM>) further comprises a demounting arrangement (<NUM>) adapted to facilitate the removal and the replacement of the first and/or second magazine hose (<NUM>, <NUM>).