AT501243B1 - Quality control test for automatic metal machining process compares actual and target values in advance of cutting tool - Google Patents

Abstract

In an automated production process a first component is advanced by a linear drive from a starting position to a machining station. The motion between the starting position and machining station is registered and recorded, as is the cutting force and shift distance of the advancing tool. This data is transferred to an electronic data processing station where a comparison is made between actual and target values. The target values for the moving cutting tool are defined by lower (315) and upper (316) target tolerance values. The target values for the tool distance covered and cutting advance are defined by lower (317) and upper (318) thresholds. The component is automatically rejected as sub-standard if the cutting force applied and distances covered are outside the tolerance values. Otherwise, the component is accepted as meeting the quality standard. Also claimed is a commensurate machine tool assembly.

Description

2 AT 501 243 B1

The invention relates to a method for positioning and checking a quality feature of a further processed part in a joining station, as described in the preamble of claim 1. From EP 1 384 550 A1, a clamping unit is known, which comprises a stationary clamping tool and a clamping tool movable by means of a servo drive, between which metal sheets can be clamped in sections. The clamping unit is flanged to a robot arm and can be positioned anywhere in the room by the robot within the range of the robot arm. On the clamping unit, in particular on the movable clamping tool, a guide is attached, along which a beam welding head, for example a laser or plasma welding head, guided and can be moved relative to the clamping tool. The beam welding head is moved by means of a welding drive, in particular a servo drive. The adjacent plates are initially stretched over the clamping tools, at least in sections, and the beam welding head moves along the guide relative to the clamping unit and thereby welded the plates mitein-15 other. The servo drive for the movable clamping tool is connected to an electronic evaluation unit, by means of which the clamping force and / or the travel of the movable clamping tool is detected and evaluated. This can be used e.g. achieve a monitoring function in terms of quality assurance or a controlled clamping of the sheets. 20

DE 102 06 887 A1 describes a method for laser welding of sheet metal parts, in which the sheet metal parts of a door Holmes spent and tensioned between two means of continuously variable servo motors relative to each other adjustable clamping tools. The clamping of the sheet metal parts is carried out under the influence of the target and actual value comparison of the dimensions and / or the surfaces of the welded sheet metal part. Via a sensor, the actual position of the surfaces of the door spar is detected and input to a controller, from which the target values for the position from the nominal dimensions of the door Holmes are specified. If the actual value for the position deviates from the target value for the position, at least one of the clamping tools is set against the surface of the door pillar. By means of electronic controls of the servomotors, the bearing forces of the clamping tools on the surfaces of the door spar are determined from the applied torques and reported to the controller. By means of setpoint-actual value comparisons in the controller, the electronic controllers of the servomotors are given corresponding correction values. The disadvantage is that only via the sensor, the position of the door Holmes is determined and due to the harsh 35 operation in the production must be expected that the sensors can provide incorrect measurements and therefore the clamping and welding of the sheet metal parts can be faulty.

The object of the invention is to provide a method for positioning and checking a quality feature of a part to be further processed in a joining station, with which production monitoring can be carried out and the production process can be improved.

The object of the invention is achieved by the measures indicated in the characterizing part of claim 1 45 measures. The advantage is that in the joining station only those parts are supplied to another working process, the quality feature of the quality requirements and other parts are not even stretched when the previously strained part deviates from the quality requirements. For this purpose, the actual values of the clamping force and / or the travel and clamping travel of a movable clamping tool 50 of each clamping unit are detected by an evaluation unit and the quality feature, in particular the dimensional accuracy, determined for each part. The parts are only joined if the prescribed quality characteristic of each part is complied with. As a result, the joining station is not blocked by unnecessary clamping and joining operations and removed as a "bad part" verified part of the joining station. The quality characteristic is evaluated solely on the basis of the actual values of the 3 AT 501 243 B1 recorded during the positioning and clamping process of a part

Clamping force and / or the travel and tensioning travel. Advantageously, the desired value for the clamping force and the traversing and clamping path of the adjustable clamping tool to be covered are predetermined defined by a tolerance window, which is set so that the subsequent joining process, for example, the beam welding, still properly 5 can be performed. In other words, by the selected joining method, a maximum deviation of a quality feature, in particular the dimensional stability, by the tolerance window specify within which still a sufficiently accurate joining result is achieved. This provides a robust production process that reduces scrap and average production times. In addition, the measurement, for example length, of the part can be determined by the evaluation unit on the basis of the acquired actual value for the clamping force on the part moved into the clamping position and / or the travel and clamping path traveled by the clamping tool. This allows you to automatically generate measurement logs for a quality assurance system. An essential advantage of the invention lies in the fact that the parts to be joined together in the joining station are always positioned in the 15 each predetermined by the tolerance window clamping positions and fixed in this. Thus, without having to carry out lengthy positioning operations of the joining device relative to the joint, the joining of the parts takes place. The positioning of the joining device is based on the knowledge that the joint between parts to be joined is always within permissible tolerance limits if the parts meet the quality requirements. A review of the exact location of the joint in time-consuming, sensor-assisted searches can be omitted, whereby the cycle time for the joining process can be significantly minimized. This also gives the advantage that the freedom of movement of the joining device is unrestricted and even smaller assemblies can be easily manufactured, since the sensor for the search of the joint is eliminated. 25

The measures described in claims 2 and 3 allow a particularly simple control of the clamping tools having clamping units.

According to the measure described in claim 4 is independent of deviations 30 of the parts to be joined together always the same clamping position of the parts and the joint formed between these centered opposite the joining station. As a result, a joining device, in particular a beam welding head or Kleberzuführkopf, traversed only after a one-time programmed trajectory and thereby the parts are properly connected to each other at the joint. 35

Another advantage is the measure according to claim 5, since the travel between the starting and intermediate position is naturally greater than the clamping path and therefore the time required for the delivery de (s) s clamping tools (s) from the starting position held in the intermediate position within limits so that the average cycle time for the positioning and clamping process of the parts is shortened and high process reliability is achieved.

Another advantage is the measure according to claim 6, whereby a load torque-dependent control of the travel speed of the (r) adjustable clamping tools (s) takes place. The traversing speed of each clamping tool is always controlled as a function of the force increase 45 during the positioning and clamping operation. Only with increasing force increase the traversing speed of the clamping tool is increasingly reduced. If, on the other hand, the force increase is approximately constant, the traversing speed of the clamping tool is also kept approximately constant. With decreasing clamping force, the travel speed of the clamping tool is increasingly increased. In this way, the quality features, in particular the dimensional stability of the parts to be positioned and exciting act on the travel speed of the clamping tools and a cycle time optimization of the clamping system is achieved.

Another advantage is the measure according to claim 7, whereby the control of the Spannein-55 directions is substantially simplified. 4 AT 501 243 B1

The measure according to claim 8 proves to be an advantage since reliable values for the lower and upper limits of the clamping force and / or of the travel and / or clamping travel can be determined prior to commissioning of the joining station from practical temptations. The measure according to claim 9 is also advantageous, as a result of which the data, which are recorded electronically in any case during the clamping and joining process, can be used by one joining station to control further clamping and joining operations in the same or another joining station and therefore can be reacted to possible tolerance deviations so that inaccuracies in dimensions and shapes of the assembly are corrected and a pre-written final quality of the assembly is maintained. The data are expediently stored in a database and the data determined from a certain number of clamping and joining processes are statistically evaluated and an adjustment of the lower and / or upper limit is made on the basis of the evaluation. Advantageously, the lower and upper limits of the tolerance window are automatically changed without manual attack in the procedural course of the joining station. Such a joining station is characterized by its high flexibility. If the control effort to be kept low, but it would also just as possible to correct the lower and / or upper limit of the tolerance window by manual input to the control device of the evaluation. A further advantageous measure is described in claim 10, according to which deviations from quality features are determined on the finished end product and the lower and / or upper limits of the tolerance window are subjected to correction values by the control device. Expediently, measured values are determined and statistically evaluated from a certain number of end products, and an adjustment of the lower and / or upper limit is made on the basis of the evaluation.

Another advantage is the measure according to claim 11, wherein the clamping force is evaluated with high accuracy from the applied torque of an electric motor. Additional sensors for detecting the clamping force and / or the travel and tensioning travel can be eliminated. The acquired measured values are forwarded, for example, to a control device for further processing.

According to claim 12, the frictional force to be overcome on the drive unit is detected by the evaluation unit from the exerted torque of an electric motor. Thus, on the one hand, the systemic friction and, on the other hand, the friction caused by the weight of parts can be taken into account.

The invention will be explained in more detail below with reference to the embodiments illustrated in the drawings. 40

It shows: the parts of an assembly to be produced from these, in perspective view and simplified representation; a portion of an assembled from the parts shown in Figure 1 assembly, in perspective view and simplified representation; a plan view of a manufacturing system according to the invention with a first and second manufacturing plant, in a simplified representation; an exemplary embodiment of a transport device of the manufacturing plant of Figure 3, in side view and greatly simplified representation ..; the manufacturing plant in front view, cut, according to the lines V-V in Fig. 4; an enlarged view of a parts transport carrier with recording for the transport device, in side view and greatly simplified representation; a sub-area of a transport section formed by the parts transport vehicles

Fig. 1 45 Fig. 2 Fig. 3 Fig. 4 50

Fig. 5 Fig. 6 55 Fig. 7 5 10 15 20 25 30 35 40 45 50 5 AT 501 243 B1

Fig. 8 Fig. 9 Fig. 10 Fig. 11 Fig. 12 Fig. 13 Fig. 13a Fig. 14 Fig. 14a Fig. 15 Fig. 16 Fig. 17 Fig. 18a to 18f Fig. 19a to 19c Fig. 20 Fig 21 Fig. 22 Fig. 23 Fig. 24 Fig. 25 Fig. 26 Chain of the transport device according to Fig. 4, in plan view and greatly simplified representation; an exemplary embodiment of a parts supply in the form of a feed device with auxiliary part transport carriers, in side view and greatly simplified representation; the feed device of Figure 8 in front view, partially cut and greatly simplified representation ..; a perspective view of a joining station of the first manufacturing plant, shown greatly simplified; a drive system for a welding device of the joining station according to FIG. 10, in a greatly simplified representation; a section of the transport device without part transport carrier and arranged on both sides of this Zustellachsen and the drive units for clamping devices of a clamping system of the joining station of Figure 10, in a greatly simplified representation. a clamping system of the joining station shown in Figure 10, in side view and greatly simplified representation. a portion of the clamping system shown in Figure 13 in an enlarged and simplified representation. a plan view of the clamping system of Figure 13, in a greatly simplified representation. a partial section of the clamping system of Figure 14 in an enlarged and greatly simplified representation ..; an embodiment of a height positioning of the clamping device of the clamping unit, in side view and greatly simplified representation; another embodiment of the height positioning device for the clamping devices of the clamping unit, in side view and greatly simplified representation; a view of the height positioning of Figure 16, in a greatly simplified representation. the positioning and clamping operation of two parts to be joined together in successive process steps in the first production line, in different views and greatly simplified representation; the positioning and clamping operation of an assembly and to be connected to this, another part in successive process steps in the second production line, in different views and highly simplified representation; a diagram with the course of the clamping force over the clamping and travel of a clamping tool and evaluation of the clamping process as a good part; a diagram with the course of the clamping force over the clamping and travel of a clamping tool and evaluation of the clamping process as a bad part; a diagram with the course of the clamping force over the clamping and travel of a clamping tool and evaluation of the clamping process as a bad part; a further embodiment of a clamping system for carrying out a method for joining two parts with two clamping tools in intermediate position, in front view and greatly simplified representation; the welded parts as an assembly of Figure 23 in side view and greatly simplified representation. the clamping devices of Figure 23, with two clamping tools in the clamping position and a schematically indicated beam welding device. a further embodiment of an assembly and the clamping tools of clamping units located in an intermediate position, cut in front view 55 5 5 6

Fig. 27 Fig. 28

Fig. 29 Fig. 30 10 Fig. 31 Fig. 32 15 Figs. 33 AT 501 243 B1 and simplified representation; the embodiment of Figure 26 with the clamping tools located in a clamping position of the clamping units. the assembly of FIG. 26 and located in the clamping position clamping tools, in side view and greatly simplified representation; a top view of the clamping system for the production of the assembly of Figure 26, in a greatly simplified representation. a section of another embodiment of an assembly with the registered in clamping position clamping tools, cut and greatly simplified representation; a further embodiment of an assembly with the registered in clamping position clamping tools, cut and greatly simplified representation; a perspective view of a beam welding head of the welding device of the joining station of Figure 10, in a greatly simplified representation. the welding apparatus of FIG. 32, partially cut and greatly simplified representation.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals and component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. 25

1, the individual parts 1, 2, 3a, 3b to be joined to form an assembly are shown in a perspective view. These parts 1 to 3b are each made in a preferred embodiment of a tailored to measure, in particular stamped and then formed sheet metal piece. The first punched and bent part 1 is approximately 30 trapezoidal in cross-section or substantially U-shaped and has a base 5 and two of her upstanding legs 6. At the base 5, for example, a circular positioning hole 7 is arranged, whose function will be explained later. The legs 6 are each provided in the region of their opposite ends with protruding in the direction of the opposite leg 6 on the inside of the U-shaped part 1 support extensions 8, 35 whose function will be described in more detail later. This support extensions 8 are suitably produced by forming, bead-like depressions and have on their base 5 facing away from the upper side a parallel to the base 5 extending, flat support surface 9. In addition, the first part 1 forms on the face side, planar contact surfaces 10 for the parts 3a, 3b. The second part 2 is cut out according to this embodiment from a substantially flat piece of sheet metal, punched out for example by means of a circuit board, and formed planar. In addition, the second part 2 is equipped with a slot-like positioning opening 11, for example, and forms contact surfaces 12 for the parts 3a, 3b at the end. The length of the first and second parts 1, 2 are, apart from the possible manufacturing tolerances at 45 punching, etc., produced with the same length.

The parts 3a, 3b have a planar support plate 15 and a sleeve 16. For this purpose, the parts 3a, 3b are each made of a custom-made, preferably punched piece of sheet metal and in this by forming, preferably by deep drawing, molded sleeve 16 is prepared. The sleeves 16 each form a bearing eye for a not further illustrated bearing, which is for example pressed.

All parts 1 to 3b are thus manufactured by pure, chipless shaping and deformation with high precision, so that the assembly of the individual parts 1 to 3b, 55 as shown in Fig. 2 in sections, by using suitable joining method, 7 AT 501 243 B1 such as gluing, laser soldering, laser, plasma and electron beam welding, can be produced with high dimensional accuracy.

Although the non-cutting production of the parts 1 to 3b according to the punching method is considered to be the preferred embodiment, it would also be conceivable that these are made of a piece of metal cut out with the laser or water jet.

It should also be noted at this point that the individual parts 1 to 3b shown in FIGS. 1 and 2 b and the assembly made therefrom by no means qualify as limitations of the invention, but instead assume different geometries depending on the field of use of the assembly and the parts 1 to 3b can be produced in different ways. Otherwise, the parts 1, 3a, 3b produced by the method of cold forming could otherwise also be formed by a massive forming part, for example a forged part, which has been produced accurately by hot forging or cold forging. Parts 1 to 4 are made of 15 steel or plastic. If the parts are made of plastic, these are produced by injection molding or extrusion.

As produced in FIG. 2, the parts 1 to 3b are joined together at least 20 in sections at a plurality of joints 17a, 17b, 18a, 18b, 18c, 19a, 19b (not shown) by one or preferably several joining seams 21. The joining seams 21 are formed by adhesive or weld seams, in particular laser, plasma or electron beam weld seams and have a length of a few millimeters to a few centimeters.

The second part 2 is arranged between the legs 6 of the first part 1 and 25 by means of clamping devices to be described later, the legs 6 of the first part 1 and longitudinal edges of the second part 2 pressed against each other. For this purpose, the legs 6 and the second part 2 are provided on their mutually facing sides with contact surfaces 22, 23. The parts 1, 2 to be welded together now form at the joints 17a, 17b by the substantially gap-free abutting contact surfaces 22, 23 of the parts 1, 2 each 30 a joint 24a, b. The two parts 1, 2 are joined together via the joining seams 21 to be attached along the joining joints 24a, 24b.

The parts 3a, 3b are connected to the front side of the first part 1. For this purpose, the part 3a, 3b on its, the first part 1 facing side and the first part 1 on its front side with 35 mutually facing bearing surfaces 10, 25 are provided. The parts 3a, 3b are pressed against the contact surfaces 10 of the first part 1 via clamping devices to be described in more detail below, so that the abutment surfaces 10, 25, which now lie essentially without gaps, form a joint 26a, 26b, 26c at the joints 18a, 18b To train 18c. The parts 1, 3 a, 3 b are joined together by means of the joining seams 21 to be joined along the joining abutments 26 a, 22 b, 26 c.

Even if the punching and forming of the parts 1 to 3b allow a high dimensional accuracy, slight dimensional inaccuracies may occur. These inaccuracies can lead to a 45 joining gap 27a, 27b (not registered) arising between the mutually facing contact surfaces 12, 25 of the parts 2, 3a, 3b. In practice, it has been found that this joint gap 27a, 27b up to 0.2 mm even with no effect on the quality of the welded joint, if welded without additional material, since the laser beam in focus anyway a diameter of about 0.3 to 0.6 mm, and at the weld portions along the joint 19a, 19b sufficient base material is thus melted from the parts 2, 3a, 3b to close the joint gap 27a, 27b at the weld portions and a viable welded joint to accomplish.

In a preferred embodiment, the joint seams 21 are produced by beam welding, in particular laser beam welding, and the parts 1 to 3b are produced on the joint bumps 24a, 24b, 26a to 26c or 8 AT formed by the contact surfaces 10, 25, 22, 23 projecting without a gap 501 243 B1 joining gaps 27a, 27b welded together. For this purpose, after the parts 1 to 3b have been positioned and fixed relative to one another, a welding beam, not shown, is guided at least in sections along the joining joint 24a, 24b, 26a to 26c or joint gap 27a, 27b, so that weld seams are created along these welding sections 5 one of the parts to be welded together 1 to 3b or both of the parts to be welded together 1 to 3b partially melted base material (material). The enormous energy density (about 106 W / m2) of the welding beam, in particular the laser beam, in focus, melts the base material (material) along the weld sections. While in the feed direction of the welding beam base material is melted up, the melt flows from the parts to be welded behind each other. The melted and mixed material cools and the melt solidifies to a narrow weld.

The beam welding is a low-energy welding process, with the so-called "low-15 welding" is possible and is characterized by the fact that very slim seam geometries are achieved with a large depth-width ratio and only a small path energy is required, which only a very small heat affected zone results. As a result, the thermal load on the parts to be welded together 1 to 3b is kept very low, so that a delay of the parts 1 to 3b is minimal. The welds 21 at the joints 24a, 24b are formed by fillet welds and the welds 21 at the joins 26a to 26c and at the joint gaps 27a, 27b by I-seams.

In mass production of the assembly, mainly laser welding, in particular with a solid-state laser, for example Nd: YAG laser, is used, which, above all, permits a high degree of flexibility of the welding station to be described in more detail. The parts 1 to 3b are preferably inextricably linked together exclusively by the base material without additional material.

Of course, it would also be conceivable that the parts 1 to 3b by the addition of material 30 and the partially melted base material of at least one part 1 to 3b or both parts 1 to 3b produced welds at the respective joint 24a, 24b, 26a to 26c or joint gap 27 are interconnected.

In Fig. 3, an inventive manufacturing system 31 for producing the in Fig. 2 at-35 example, shown assembly in plan view and greatly simplified representation is shown. According to this embodiment, this production system 31 comprises at least two cooperating production plants 32, 33, an energy source 34, in particular a laser generator, and a control device 36. The control device 36 comprises an energy source 37 and an evaluation unit 38 with a comparison module 39 for the target -Istwert-Comparison of a clamping force and / or a travel and tensioning path of a clamping tool and an evaluation module 40 for a quality assessment of a part 1 to 3b, as will be described in more detail below. The control device 36 is connected to the energy source 34 via a connecting line 41. The first production facility 32 comprises a first transport system 42 and at least one first joining station 43, which according to this embodiment is formed by a welding station. The transport system 42 is used to transport parts 1, 2 to the joining station 43 and comprises a first transport device 46 preferably extending in a straight line between a transfer region 44 and a transfer region 45, along guide paths 47a, as shown in FIGS. 4 to 7. 47b movable and preferably identically designed parts transport carriers 48 and at least one parts supply with two separate parts store 49, 50. For reasons of clarity, only a few parts transport carrier 48 are shown in Fig. 4. An example embodiment of a transport device 46 is shown in FIGS. 4 to 7. To the 9 AT 501 243 B1

Transporting the parts 1, 2 on the part transport carriers 48 are provided receptacles 51 which are connected to the parts transport carrier 48. In the present exemplary embodiment, the parts transport carriers 48 form a transport chain 52. For intermittent feed of the transport chain 52, an intermittent feed drive, in particular an electric motor, such as servo 5 or stepper drive, is provided in the region of a deflection station 54 for the transport chain 52. Between the two deflection stations 54 are a plurality of housing parts 55. These housing parts 55 have mutually facing end plates 56, which are interconnected via guide and / or coupling devices 57 to a self-supporting housing unit. Perpendicular to the end plates 56, the guideways 47a, 47b, io run in the guideway 47a of the drawn strand and the guideway 47b of the returning strand of the transport chain 52 is guided.

The transport device 46 formed by the deflecting stations 54 and housing parts 55 is supported by support devices 58 on a footprint 59. The support devices 58 15 are formed by mirror-inverted to a vertical plane of symmetry 60, L-shaped supports, which are connected via fastening devices 61 with side walls 62 of the housing parts 55.

The transport device 46 comprises the self-supporting housing unit composed of the housing parts 55, which is provided with the guide track 47a on the upper side facing away from the contact surface 59. The guideway 47a comprises attached to the housing unit and parallel to the top thereof extending height guide tracks 63 for the height guidance of the chain links forming part transport carrier 48 of the transport chain 52. In addition, the guideway 47a parallel to the top of the housing unit extending 25 side guideways 64 for the side guide and the chain links forming Transport part carrier 48. The height guide tracks 63 are formed by guide rails. The side guideways 64 are formed by feed rollers 66 and pressure rollers 67 spaced apart from one another in the direction of advance, as shown by arrow 65, of the parts transport carrier 48. The support and pressure rollers 66, 67 are arranged on both sides of the conveyor chain 52. The support rollers 30 66 are assigned to a first side surface 68 and the pressure rollers 67 of one of these gegenüberlie ing, second side surface 69 of the parts transport carrier 48. The pressure rollers 67 are conical and is applied by this on the part transport carrier 48 a transverse to the feed direction - as shown in arrow 65 - extending and oriented in the direction of the support rollers 66 compressive force, so that the part transport carrier 48 along the guide rail 47a in 35 are performed substantially free of play. The exact height guidance of the part transport carrier 48 along the guideway 47a is ensured by the guide rails.

The parts transport carrier 48 are supported on the guide rails rolling rollers 70 of height and guided. These rollers 70 are mounted on a serving as a chain pin 71 40 axis. The chain pin 71 connects in each case two directly successive part transport carrier 48. Each part transport carrier 48 each comprises a coupling extension 72 on the front side and a coupling receptacle 73. The chain pin 71 is mounted on the coupling extension 72 (as shown in FIG. 7). 45 It should be noted at this point that the transport device 46 described is to be considered only as an example and is not restrictive. For example, the transport device can just as well be formed by the transport device disclosed in WO 02/072453 A2. This known transport device comprises a plurality of transport sections arranged one behind the other, each of which is assigned at least one separate, independent from the adjacent transport sections feed device for the part transport carrier and at least two spaced apart transversely to the feed direction of the parts transport carrier guideways along which the part transport carrier with at its opposite sides arranged guide members out and formed movable over the respective feed device. Thus, the individual Teiletransportträ-55 ger 48 independently moved between the individual transport sections, wherein the joining station 43 is arranged in one of the transport sections. This transport section corresponds to a straight-line transport device.

With regard to the design of the individual transport sections and the part transport carrier, the relevant detailed disclosure from WO 02/072453 A2 is made the subject of this disclosure.

The part transport carrier 48 of the differently shaped, transport devices described above are each equipped with the receptacle 51 shown in FIGS. 5 and 6, io The receptacle 51 is connected via a mounting plate 74 with the parts transport carrier 48 and has a support column 75 attached thereto, a on this fixed support plate 76 and two spaced apart and connected to the support plate 76, fork-like receiving bracket 77 a, 77 b. The mounting brackets 77a, 77b each comprise two finger-like guide webs 78 projecting vertically on the support plate 76 and a base 79 connecting them. At least one of the mounting brackets 77b is provided in the region of its base 79 with at least one positioning means 80, in particular a bolt, which protrudes into the positioning hole 7 of the recording 51 received, the first part 1 and thereby the first part 1 is held during its transport along the transport device 46 in a sufficiently accurate position. It is essential that the first part 1 in the Auf-20 would take 51 deposited only in its orientation oriented and positioned to a few millimeters exactly opposite the receptacle 51. Accordingly, the cross-sectional dimension of the positioning means 80 is dimensioned significantly smaller than the cross-sectional dimension of the positioning 7 in the first part 1. 25 As shown in Fig. 6, the finger-like guide webs 78 are provided on their sides facing each other with flat side guide surfaces 81. The base 79 of the receiving bracket 78 are each provided with a flat support surface 82a, 82b for the first part 1 supported thereon. The first part 1 is thus roughly prepositioned on the part transport carrier 48 via the receptacle 51 and lies freely between the guide webs 78 of the receiving clamps 77a, 77b and on the support surfaces 82a, 82b.

As further indicated in FIG. 3, the parts store 49, 50 of the parts provision are arranged in the transfer area 44 on both sides of the transport device 46, which is of rectilinear design at least in one section. These are according to the present embodiment depending Weil by a Staubahnsystem for similar parts 1, 2 formed in the form of a feed device 83, 84, as shown schematically in Figs. 8 and 9.

The feeders 83, 84 are largely identical and comprise a base frame 85, a traction mechanism, in particular a belt drive, and two transversely to the feed direction - according to arrow 86 - of auxiliary part transport carriers 87 spaced guideways 90. The traction drive and the guideways 90 are stored on the base frame 85. The traction mechanism drive comprises an endless traction means 91, in particular a flat belt, guided around a drive wheel and a plurality of deflection wheels, and a drive motor 92 flanged to the drive wheel. The similarly designed auxiliary transmission transporters 87 each comprise a receptacle 95 mounted on a chassis 93 of a chassis is attached. The chassis 93 is in the feed direction - as indicated by arrow 86 - viewed at the front and rear end, each provided with a pair of freely rotatable wheels 94.

The receptacle 95 of the auxiliary part transport carrier 87 to the feeders 83, 84 is attached to the top of the chassis 93 and has two spaced apart and connected to the chassis 93, fork-like receiving bracket 96 a, 96 b. The mounting brackets 96a, 96b each comprise two finger-like guide webs 97 projecting vertically on the chassis 93 and a base 98 connecting them. At least one of the receiving bow 96b is in the region of its base 98 with at least one positioning means 99, in particular a bolt for the first part 1 or a parallelepiped-shaped extension for the second 11 AT 501 243 B1

Part 2, provided in the positioning opening 7; 11 of the recorded by the receptacle 95 Part 1; 2 and thus the part 1; 2 is held in a sufficiently precise position during its transport along the feed device 83, 84. It is essential that the part 1; 2 stored in the receptacle 95 oriented only in its position and is positioned to a few milli-5 meters exactly opposite the receptacle 95. Accordingly, the cross-sectional dimension of the positioning means 99 is dimensioned significantly smaller than the cross-sectional dimension of the positioning hole 7; 11 in part 1; Second

Registered as in Figs. 3, 8 and 9, the finger-like guide webs 97 are provided at their io sides facing each other with flat side guide surfaces 100. The base 98 of the receiving bracket 96a, 96b are each provided with a flat support surface 101a, 101b for the part 1 supporting thereon; 2 provided. Part 1; 2 is thus roughly prepositioned on the auxiliary part transport carrier 87 via the receptacle 95 and lies freely between the guide webs 97 of the receiving clip 96a, 96b and on the bearing surfaces 101a, 101b. 15

Each delivery device 83, 84 additionally comprises a stopping device 102 along the transport path of the auxiliary part transport carrier 87. This comprises two stop elements 20 103a, 103b, which can be controlled separately and moved from a rest position into an actuating position, which persists for at least one auxiliary part transport carrier 87, and which can be raised and lowered simplified in Fig. 8 and 9 are registered. The stop elements 103a, 103b are each controlled by a schematically registered actuator, in particular pneumatic or hydraulic drive.

The first 25 stop element 103a facing the upstream end of the feed device 83, 84 serves for damming up the auxiliary part transport carrier 87 driven by frictional engagement between the surface of the traction means 91 and the underside of the carriage 93. The auxiliary part transport carriers 87, which are stored behind the stop element 103a, are connected to the parts 1 and / or 2 loaded. The loading can be done manually by an operator or for example by means of a robot automatically. 30

The second stop element 103b, which faces the downstream end of the feed device 83, 84, serves to ensure that an isolated auxiliary part transport carrier 87 is in a transfer position 104; 104 'is stopped, of which a part 1; 2 to a takeover position 106; 106 'of the transport device 46 is transferred. Thereafter, the empty Hilfsteiletrans-35 portträger 87 moves from the transfer position 104; 104 'out and this is stowed for the reloading behind the stop element 103a. At the same time, the first stop element 103a is driven and one with a part 1; 2 loaded auxiliary part transport carrier 87 in the transfer position 104; 104 'proceed. The transfer positions 104; 104 'are arranged in the vicinity of the transport device 46. 40

As further seen in FIG. 3, in the transfer area 44, a first handling system 105 associated with the downstream end of the feeder device 83 is arranged with a gripper (not shown) adjustable in space, by means of which the first one provided in the transfer position 104 on the auxiliary part transport carrier 87 Part 1 taken from the receptacle 95 45, a takeover position 105 fed to the transport device 46 and stored on the receptacle 51 of the parts transport carrier 48 of the transport device 46 in the position oriented. Previously, an empty part transport carrier 46 is moved to the transfer position 105 and stopped in this, then loaded with the first part 1. After loading a part transport carrier 46, this is moved from the first transfer position 106 in the second so takeover position 106 ', stopped there and loaded with the second part 2.

For this purpose, as further indicated in FIG. 3, in the transfer region 44, a second handling system 107 associated with the downstream end of the delivery device 84 is arranged with a gripper (not shown) adjustable in space. The second part 2 provided in the transfer position 55 'on the auxiliary part transport carrier 87 is replaced by means of the second 12 AT 501 243 B1

Handling system 107 and gripper taken from the receptacle 95, a takeover position 106 'supplied to the transport device 46 and stored on the support extensions 8 between the legs 6 of the already located on the part transport carrier 48, the first part 1 in the position oriented. 5

As shown in the figure, the part 1, 2, before it is placed in the transfer position 106, 106 'on the receptacle 51 or the support extensions 8 of the first part 1, rotated by 90 °. Therefore, the second part 2 is not placed directly on the receptacle 51 of a parts transport carrier 48, but oriented in the position between the legs 6 of the first part 1 on the support extensions 8. This can account for additional structures on the part transport carrier 48, the entire weight of the transport chain 52 reduced and the feed speed of the part transport carrier 48 with receptacles 51 can be increased. 15

3, the feeders 83, 84 on both sides of the transport device 46 opposite and in the feed direction - according to arrow 65 - the parts transport carrier 48 arranged one behind the other. The transfer and transfer positions 104, 104 ', 106, 106' are also in the feed direction - according to arrow 65 - the parts transport carrier 20 48 formed one behind the other. Of course, the feeders 83, 84 may also be pictorially opposed (not shown). According to this embodiment, a handling system 105 which is associated with both feeders 83, 84 and by means of which the parts 1, 2 are fed one after the other from the transfer positions 104, 104 'to only one transfer position 106 and deposited on the part transport carrier 48. 25

Another embodiment, not shown, is that the parts 1, 2 are supplied together as part of the sub-parts supply. This embodiment has the advantage that only one handling system 105 is required and the provision of parts only comprises one parts store 49, which is designed as described above. 30

The sub-group provided by the auxiliary part transport carrier 87 in the transfer position 104 is removed from the receptacle 95 by the handling system 105 or gripper, is fed to the transfer position 105 on the transport device 46 and deposited in the position oriented on the receptacle 51 of the part transport carrier 48 of the transport device 46. 35

As can be seen from the above explanation, the parts transport carriers 48 of the transport device 46 are loaded cyclically successively with the parts 1, 2 or parts groups from the parts supply. After the parts 1, 2 or mating parts to be mated together have been placed on one of the parts transport carrier 48, in particular its receptacle 51, oriented, this is in the parts for delivery, in particular their transfer positions 104, 104 ', located remotely, first Joining station 43 transported and stopped in a holding position 110. The joining station 43, in particular the welding station, is arranged between the transfer and transfer area 44, 45 and comprises in the vicinity of a transport section of the transport device 46 a clamping system 111, feed axes 112a, 112b, at least one height positioning device (not shown) and at least one joining device shown in simplified form for joining the parts 1, 2 to an assembly. The clamping system 111 thus comprises three clamping units 114, 115, 116, which will be described in detail later. The feed axes 112a, 112b are designed as linear drives, as shown in more detail in FIG. The joining device is designed according to this embodiment as a welding device 119 with at least one beam welding head 121 for joining the parts 1,2. The parts 1, 2 1 3 AT 501 243 B1 delivered jointly to the welding station via the part transporting carrier 48 are jointly moved by means of the clamping units 114 to 116 and / or at least one height positioning device from a transport position located on the part transport carrier 48 to the delivery positions detached from the part transport carrier 48, in particular vertically raised slightly so that the positioning hole 7 and a positioning means 80 of the parts-5 transport carrier 48 are disengaged. Thereafter, the parts 1, 2 are positioned relative to one another, tensioned against each other and subsequently joined, in particular by means of the beam welding head 121 of the welding device 119 at the joints 17a, 17b welded or glued together at least in sections. This prefabricated assembly 122 of the welded parts 1, 2 is in turn deposited on the, preferably during the duration of the joining process in the stop position 110 persisting part transport carrier 48, then transported away in the first relaying area 45.

In the relaying area 45, a third handling system 123 with a freely movable in space gripper (not shown) and a bad parts box 124 is arranged. The part transport carrier 48 accommodating the prefabricated assembly 122 is stopped in the transfer area 45 in an end position 125 and removed therefrom by the handling system 123 or gripper, the assembly 122 from the part transport carrier 48 and fed to the second production plant 33 or the bad parts box 124. As will be described in the following, namely in the joining station 43, a detection of the quality features, in particular the dimensional accuracy, takes place on the basis of a setpoint-actual value comparison of the clamping force and / or the travel and / or clamping travel of each individual clamping device of the clamping units 114-116 , the individual parts 1, 2. These quality features are compared in the comparison module 39 with quality requirements and evaluated in the evaluation module 40. If one of the parts 1, 2 does not meet the quality requirements, for example one of the parts 1, 2 is too long, too short, too narrow or too wide, as determined during the tensioning process of each part 1, 2, the parts 1, 2 not at all joined together, but in turn deposited by the clamping units 114 to 116 and the height positioning on a part transport carrier 48 and transported via the Transportinrich-device 30 to the handling system 123 and subsequently via this into the Schlechteteilebox 124.

However, if the parts 1, 2 meet the quality requirements, as they are detected during the clamping operation, the parts 1, 2 are welded together and via the transport device 46 to the handling system 123 and over this from the relay area 45 to a second transfer area 126 of the second Production plant 33 transported.

The second production facility 33 comprises a second transport system 127 and at least one second joining station 128, which according to this embodiment is formed by a welding station. The transport system 127 is used to transport the pre-fabricated assemblies 122 prefabricated by the first production facility 32 as well as further parts 3a, 3b, which in turn are joined to the prefabricated assembly 122.

For this purpose, the second transport system 127 has a second transport device 130 extending preferably rectilinearly between the second transfer region 126 and a second transfer region 129, with part transport carriers 48 'movable along preferably not shown guideways and preferably similarly configured part transport carriers 48', as well as a part supply on. The second transport device 130 in turn has a multiplicity of parts transport carriers 48 ', which in turn are provided with the receptacle 51' already described in detail above and two further receptacles 131a, 131b for the parts 3a, 3b.

The parts supply for the parts 3a, 3b is formed according to this embodiment by two devices 132, 133 for separating, conveying and aligning in a container 134 as a bulk material 55 recorded parts 3a, 3b. This device 133, 134 comprises a parts memory 14 AT 501 243 B1 135 for the parts 3a, 3b. Such a device 133, 134 is known for example from DE 40 25 391 A1 or DE 41 26 689 A1.

As is further apparent from FIG. 3, the parts 3a 5 removed from the container 134 are conveyed to the parts store 135 by means of the device 132 up to a transfer position 136. In the second transfer area 126, a first handling system 137 associated with the downstream end of the parts store 135 is arranged with a spatially adjustable gripper (not shown), by means of which an isolated, third part 3a provided in the transfer position 136 of the parts store 135 is removed Transfer position io 138 supplied to the second transport device 130 and stored on the receptacle 131 a of the parts transport carrier 48 'of the transport device 130 in the position oriented. Previously, a part transport carrier 48 'already loaded with the assembly 122 is moved into the acceptance position 138 and stopped there, then loaded with the third part 3a. After loading the parts transport carrier 48 ', it is moved from the transfer position 138 into the 15 further transfer position 138', stopped there and loaded with the fourth part 3b.

For this purpose, a second handling system 139 assigned to the downstream end of the device 133 is arranged in the transfer area 126 with a spatially adjustable gripper (not shown). By means of the device 133, the parts removed from the container 134 b 3 are conveyed to a transfer position 136 'on the parts store 135. The isolated, fourth part 3b provided in the transfer position 136 'is removed therefrom by means of the second handling system 139 or gripper, fed to a transfer position 138' on the second transport device 130 and on the receptacle 131b of the parts transport carrier 48 'of the transport device 130 laid in a position oriented.

As shown in FIG. 3, the devices 132, 133 on both sides of the transport device 130 opposite and in the feed direction - according to arrow 140 - the parts transport carrier 48 'arranged one behind the other. The transfer and takeover positions 136, 136 ', 138, 30 138' are also in the feed direction - according to arrow 140 - the parts transport carrier 48 'formed one behind the other. Of course, the devices 132, 133 may also be mirror images (not shown). According to this embodiment, a handling system 137, which is associated with the two devices 132, 133 and by means of which the parts 3a, 3b are fed successively from the transfer positions 136, 136 'to only one transfer position 138 and 35 are deposited on the part transport carrier 48'.

The transport sub-carriers 48 'are moved between the second transfer and transfer area 126, 129 in the feed direction - clocked according to arrow 140. After a part 3a has been deposited on the receptacle 131a, the part transport carriers 48 'are moved further, so that 40 of the parts transport carrier 48' is moved from one transfer position 138 to the other transfer position 138 'of the parts supply.

If a part 3b has now also been deposited on the receptacle 131b, the part transport carriers 48 'are moved further, so that the part transport carrier 48' loaded with a prefabricated assembly 122 and the third and fourth parts 3a, 3b jointly from the take-over position 138 'of the parts supply Joining station 128, in particular the welding station, transported and stopped in this in a holding position 142.

The second joining station 128, in particular welding station, is arranged between the second transfer area 126, 129 and comprises in the vicinity of a transport section of the transport device 130 a clamping system 143, two height positioning devices (not shown) and at least one joining device for joining the parts 1, 2 to an assembly. The clamping system 143 comprises a clamping unit 144 to be described in more detail below. According to this embodiment, the joining device is designed as a welding device 145 with at least two separately controlled beam welding heads 146a, 146b 1 5 AT 501 243 B1 for joining the parts 3a, 3b.

In the holding position 142 of the transport subcarrier 48 ', the parts 3a, 3b and the prefabricated 122 subassembly are jointly moved from a transport 5 position located on the subcarrier carrier 48' to a staging position between fixtures of the clamping unit 144 detached from the subcarrier carrier 48 ', in particular raised, then the assembly 122 and the parts 3a, 3b positioned to each other, stretched against each other and then joined, in particular by means of the beam welding heads 146a, 146b of the welding device 145 at the joints 18a, 18b, 18c; 19a, 19b are at least partially welded or glued to one another and then deposited again on the part transport carrier 48 'which preferably remains in the holding position 142 during the duration of the joining process. Thereafter, the joined assembly 147 is transported via the transport device 130 to the second relaying area 129. In the second relaying area 129, a third handling system 148 with a freely movable gripper (not shown) and a bad parts box 149 is arranged. The finished assembly 147 receiving part transport carrier 48 'is stopped in the relaying area 129 in an end position 150 and taken in this by means of handling system 148 and gripper, the assembly 147 of the parts transport carrier 48' and a Abfördervorrich-device 15 or the bad parts box 149 supplied.

As will be described in the following, namely in the joining station 128 by means of a setpoint-actual value comparison of the clamping force and / or the travel and / or clamping travel of each clamping device of the clamping unit 144 is a detection of quality features 25, in particular the dimensional accuracy , the individual parts 3a, 3b. These quality features are compared in the comparison module 39 with quality requirements and evaluated in the evaluation module 40. If one of the parts 3a, 3b does not meet the quality requirements, for example one of the parts 3a, 3b is inadmissible bent, as determined during the tensioning process of each part 3a, 3b, the parts 1, 2, 3a, 3b are not even joined together , 30 but by the clamping unit 144 and the height positioning devices in turn on a parts transport carrier 48 'stored and transported via the transport device 130 to the handling system 148 and subsequently via this in the bad parts box 149.

However, if the parts 3a, 3b meet the quality requirements, as determined during the clamping process, the parts 1, 2, 3a, 3b are welded together and transported to the handling system 148 via the transport device 130 and from the transfer area 29 to the removal device 151 transported.

According to the manufacturing system 31 and manufacturing method according to the invention, it is now provided that the laser beam of only one of the energy source 34 forming beam source, such as a laser generator, is alternately supplied to the beam welding head 121 of the first welding station and the beam welding heads 146a, 146b of the second welding station. The beam welding head 121 of the first welding station and the beam welding heads 146a, 146b of the second welding station are connected to a common laser beam source 45 via an optical waveguide (L1, L2, L3) and via a beam splitter (not shown). The optical waveguide (L1) leads to the beam welding head 121, the optical waveguide (L2) to the beam welding head 146a and the optical waveguide (L3) to the beam welding head 146b. The laser beam source has an unillustrated mirror system with which the laser radiation emitted by the laser beam source is coupled into the corresponding optical waveguide (L1, L2, 50 L3) and optionally into the different beam welding heads 110, 146a, 146b either to the first welding station or to the second welding station is reflected.

According to the manufacturing method, two parts 1, 2 are transported to the first welding station within a first time interval and a welded assembly 122 of the preceding cycle is transported away from the first welding station and in the second 16 AT 501 243 B1

Welding station a welded in the first manufacturing plant 32 assembly 122 and supplied from the second part delivery, third part 3a positioned and clamped to each other and welded to the finished assembly 147. Within a second time interval, in the first production facility 32, two parts 1, 2 supplied from the first parts supply 5 are positioned, clamped and welded to the assembly 122 and, meanwhile, in the second production facility 33, a welded assembly 122 in the first manufacturing facility 32 to the second welding station transported to the second manufacturing plant 33 and transported in the second welding station of the second manufacturing facility 33 finished welded assembly 147 of the previous cycle to the second io relay area 129.

FIG. 10 shows the joining station 43 or welding station with the transport device 46 and clamping system 111 (shown only partially) and the welding device 119 (m), the covering being removed. The welding station comprises a support 152 which is oriented vertically out of four contact surfaces 59 and a supporting structure which connects them. The frame comprises two parallel to the feed direction - according to arrow 65 - the transport device 46 extending portals 153 and two transverse to these portals 154 on. The portals 153, 154 are releasably connected by screws to the uprights 152. A portal 153 is provided with brackets 155 to which a drive system 156, shown in more detail in FIG. 11, is fastened, via which the welding device 119 is adjustably mounted on the frame. In addition, the support structures comprises a base frame comprising on both sides of the transport device 46 mounting plates 157 to which the feed axes 112a, 112b are releasably attached. The mounting plates 157 are with their mutually facing ends on parallel to the feed direction - as indicated by arrow 65 - the Transportinrich-device 46 and immediately adjacent to this supporting profiles 158 and their opposite ends on support brackets 159 parallel to the feed direction - according to arrow 65 -. the transport device 46 extending, further supporting profiles 160 attached. For stiffening the supporting structure, two support plates 161 which interconnect the uprights 152 in the foot region are also provided. These carrier plates 161 are provided with a recess 162 for the passage of the return run of the transport chain 52 of the transport device 46.

As can be seen from the combination of FIGS. 3 and 10, the joining station 43 is provided with a connection interface 163, which has a data interface, a connection for an exhaust tube 164, a connection for electrical and / or mechanical and / or optical energy, and / or a connection for an optical waveguide (L1, L2, L3) is provided. The suction pipe 164 is connected via the connection interface 163 to a ventilation system (not shown) and the optical waveguide (L1, L2, L3) via the connection interface 163 to the energy source 34. In addition, the connection interface 163 is in turn connected to an electrical 40 and / or mechanical energy source 36 and / or control device 37. Of course, the optical waveguide (L1, L2, L3) may also be connected directly to the optical energy source 34.

FIG. 11 shows the drive system 156 with which the beam welding head 121 of the welding device 119 can be moved in space. The drive system 156 comprises two registered on the in Fig. 10 consoles 155 of the frame linear actuators 170a, 170b with each via a continuously controllable electric motor 171a, 171b, in particular servo or stepper motor, synchronously adjustable slide (not visible), and on the carriage mounted, third linear actuator 172 with a stepless steer-50 ren electric motor 173, in particular servo or stepper motor, adjustable carriage (not visible), and attached to this carriage, the fourth linear actuator 174 with a continuously controllable electric motor 175, in particular Servo or stepping motor, vertically adjustable carriage (not shown), which is connected to the carriage of the third linear actuator 172. The welding device 119 is mounted via a fastening device 55 176 at the lower end of the fourth linear drive 174 and by means of the first / second 1 AT 501 243 B1

Linear drive 170a, 170b formed transversely to the feed direction of the transport device 46 (in FIG. 10) and by means of the third linear drive 172 in the feed direction of the transport device 46 and by means of the fourth linear drive 174 in the vertical direction adjustable. The beam welding head 121 is additionally mounted pivotably about a vertical pivot axis 177 5 and about a parallel to the first / second linear drive 170a, 170b extending pivot axis 178 on the fastening device 176, as described in FIGS. 32 and 33 in detail. The beam welding head 121 can be pivoted about the vertical axis 177 and about the horizontal axis 178 in each case by approximately 270 °. In the jointly described Figs. 12 to 17, a portion of the transport device 46 and the clamping system 111 of the first joining station 43 is greatly simplified and shown in different views. For reasons of better clarity, the parts transport carriers 48 are not shown in the figures. FIG. 12 shows the clamping system 111 in the set-up position, in which the support frames and clamping tools of the clamping units 114 to 116 to be described in more detail are dismantled by drive units 180a to 182b of the clamping units 114 to 116. The drive units 180a to 182b each have a linear drive 184a to 186b controlled by means of electric motors 188a to 190b and a setup platform 187. The linear drives 184a to 186b each comprise a carriage 191a to 193b which can be adjusted in a horizontal plane and to which a setup platform 187 is attached. According to the embodiment shown, the setup platform 187 is formed by the carriages 191a to 193b.

The feed axes 112a, 112b are likewise formed by linear drives 196a, 196b, which are controlled by 25 electric motors 197a to 197b and each comprise a carriage 198a, 198b which can be adjusted in a horizontal plane.

13 and 14a, the first and second clamping units 114, 115 of the clamping system 111 comprise on both sides of the rectilinear transport section of the transporter 46 and via the drive units 180a, 180b transversely to the direction of advance, as indicated by arrow 46. the part transport carrier 48 optionally synchronously adjustable, cooperating tensioning devices 194a to 195b.

The clamping devices 194a, 194b of the first clamping unit 114 each include the drive unit 180a, 180b, a height positioning device 200a, 200b, a clamping tool 201a, 201b, a support frame 202a, 202b, a pressing device 203a, 203b for fixing the parts 1, 2 between the chucks 194a, 194b and an abutment 204a, 204b. The clamping tool 201a, 201b is connected via the support frame 202a, 202b to the setup platform 187 of the drive unit 180a, 180b. The supporting frames 202a, 202b of the clamping devices 194a, 194b each comprise a lower mounting plate 205a, 205b fastened to the setup platform 187, supporting walls 206a to 208b secured thereto, an upper mounting plate 209a, 209b connected thereto at the top a support plate 210a, 210b attached thereto. The abutment 204a, 204b is fastened to the support plate 210a, 210b and to the transport device 46 facing support wall 206a, 206b. The abutment 204a, 204b 45 comprises a cantilever 211a, 211b, which is provided on its underside facing the drive unit 180a, 180b with a clamping jaw 212a, 212b.

The transversely to the feed direction - according to arrow 46 - the parts transport carrier 48 optionally synchronously adjustable, cooperating clamping tools 201a, 201b of Spanneinrich-50 lines 194a, 194b are aligned and fixed to the support frame 202a, 202b, in particular the front support wall 206a, 206b. Each of the clamping tools 201a, 201b is formed according to this embodiment by a support element 213a, 213b of a height positioning device 200a, 200b having lifting device 214a, 214b and is formed as an angle profile. The upstanding leg of the angle profile is connected to the support wall 206a, 206b of the support frame 55a 202a, 202b, while the horizontal leg on the support wall 206a, 18 AT 501 243 B1 206b protrudes vertically. The horizontal leg of the angle profile or of the clamping tool 201a, 201b according to this embodiment has a bevel 215a, 215b inclined downwards in the direction of the transport device 46, a horizontal contact surface 216a, 216b adjoining the latter and a stop element with a vertical stop surface 217a, 217b on. 5 A front edge 218a, 218b of the clamping tools 201a, 201b is formed just below a transport plane or transport position 219 of the first part 1 deposited on the part transport carrier 48, as shown in FIG. 18a.

In Fig. 15, another embodiment of the height positioning device 200a, 200b of the tensioning devices 194a, 194b and a portion of the support frame 202a, 202b is shown greatly simplified. The height positioning device 200a, 200b comprises another embodiment of a lifting device 220a, 220b. This lifting device 220a, 220b has an actuator 224a, 224b and the parts 1, 2 between a transport position and a relative to this above or below lying provision position jointly raising or lowering 15 support element 213a, 213b. The support element 213a, 213b is formed by the clamping tool 201a, 201b and is connected to this approximately L-shaped slider element 221a, 221b. The slider element 221a, 221b is guided via at least one guide element 222a, 222b on at least one guide track 223a, 223b on the support frame 202a, 202b, in particular on the support wall 206a, 206b, and via the actuator 224a, 224b along the guide track 223a, 223b essentially vertically adjustable. The clamping tool 201a, 201b protrudes perpendicular to the guide track 223a, 223b. The actuator 224a, 224b is formed by an embodiment shown by an electric or fluid drive and with the support member 213a, 213b and the slider element 221a, 221b coupled in terms of movement. 25 The clamping tools 201a, 201b of the clamping device 194a, 194b are synchronously adjustable between a starting position, as entered in full lines, and an operating position above or below, as indicated in dashed lines. In this case, the control of the actuator 224a, 224b is carried out via suitable means, such as a mechanical end position limiting, so that the clamping tools 201a, 201b always occupy an exact height position in their 30 operating position and a reliable clamping operation of not registered in this figure, first part 1 done can. Each support element 213a, 213b or clamping tool 201a, 201b has only one horizontal bearing surface 216a, 216b and a stop element forming the vertical stop surface 217a, 217b. 35

Another embodiment, not shown, is that on the support frame 202a, 202b, in particular on the front support wall 206a, b, an actuator 224a, 224b is attached in the form of a linear drive, which is an electric motor and positioned via a threaded spindle flanged to these adjustable and sled 40 guided along a guideway. The clamping tool 201a, 201b is in this case attached to the carriage.

In the jointly described FIGS. 16 and 17, a further embodiment of the height positioning device 200a, 200b of the clamping devices 194a, 194b is shown in different views. Each clamping device 194a, 194b according to this embodiment 45 comprises two clamping tools 201a, 201b, each of which forms the bearing surface 217a, 217b and stop surface 216a, 216b. The clamping tools 201a, 201b are arranged on both sides of the guide track 223a, 223b and attached to the support frame 202a, 202b. According to this embodiment, the height positioning device 200a, 200b and the lifting device 220a, 220b and the clamping tool 201a, 201b are formed separately from each other. The height-positioning device 200a, 200b again comprises the lifting device 220a, 220b, the latter of which supports the parts 1, 2 (not shown) between a transport position located on the part transport carrier 48 and a support element 213a which raises or lowers the delivery position above or below , 213b trains. Accordingly, the clamping tool 201a, 201b and the support element 213a, 213b separated from each other and 55 are formed relative to each other adjustable. The lifting device 220a, 220b comprises at least one guide member 222a, 222b, by means of which the support element 213a, 213b guided on at least one guideway 223a, 223b and by means of an actuator 224a, 224b along the guideway 223a, 223b according to registered double arrow is vertically adjustable.

The guide member 222a, 222b is mounted on a carriage 225a, 225b. The carriage 225a, 225b is connected via a bracket to the support element 213a, 213b. The actuator 224a, 224b is in turn coupled via a transmission element 226a, 226b to the carriage 225a, 225b or support element 213a, 213b in terms of movement. The actuator 224a, 224b is formed by an electric or fluid motor. The support element 213a, 213b protrudes with its edge facing the transport device 46 (see FIGS. 13 and 14) against the edge 118a, 118b of the clamping tool 201a, 201b and has on its upper side a stop element 227a, 227b to ensure that during the lifting of the parts 1, 2, not shown, the first part 1 does not collide with the clamping tool 201a, 201b. Accordingly, the stop element 227a, 227b is offset relative to the edge 218a, 218b of the clamping tool 201a, 201b in the direction of the transport device 46 and its vertical stop surface projects beyond the edge 218a, 218b.

The support element 213a, 213b is designed to be adjustable from an initial position, as indicated in full lines, in an actuating position lying just above the support surface 216a, 216b of the clamping tool 201a, 201b, as indicated by dashed lines. The support elements 213a, 213b of the clamping devices 194a, 194b lift a part 1 mounted thereon together with the part 2 or lower the part 1 together with the part 2. After reaching the actuation position of the support elements 213a, 213b or while lowering the same in the direction of the starting position, the pairs of clamping tools 201a, 201b and the clamping devices 194a, 194b delivered to each other, so that a distance between the mutually facing edges 218a, 218b of Clamping tools 201a, 201b is less than the length of the first part 1 (not shown). Now, if the support elements 213a, 213b moves with the parts 1, 2 in the direction of the starting position down, the part 1 is discontinued together with the part 2 at the located in a plane bearing surfaces 216a, 216b of the clamping tools 201a, 201b. The support elements 213a, 213b are moved back to their original positions. The clamping operation of the part 1 will be described in more detail below.

Another embodiment, not shown, is that the height positioning devices 200a, 200b and the lifting devices 220a, 220b with the part 1 supporting a support elements 213a, 213b on both sides of the transport device 46 and separated from the clamping devices 194a, 194b; 195a, 195b of the clamping units 114, 115 are formed and arranged in the joining station 43 in the vicinity of the clamping units 114, 115.

Just as well, it is also possible that the joining station 43 in the vicinity of the clamping units 114, 115 has only one Höhenpositioniervorrichtung 200a and a lifting device 220a with the support element 213a, with both parts 1, 2 are raised or lowered together between a transport position and supply position ,

If the parts 1, 2 are transported on two part transport carriers 48 separately from the transfer positions 106, 106 'to the holding position 110 in the joining station 43, a first height positioning device for the first part 1 and on the other hand a second height positioning device for the second part 1 are provided on the one hand. The height positioning devices each have the lifting devices. The first lifting device forms the first part 1 between a transport position located on the part transport carrier 48 and a first support element which raises or lowers the delivery position of the first part 1 in relation to this above or below. The second lifting device forms the second part 2 between a transport position located on the part transport carrier 48 and a second support element which raises or lowers the delivery position of the second part 2 in relation to this above or below. In general, the first and second height positioning devices may be identically constructed. In this case, one of the clamping devices 194a, 194b, 195a, 195 may be equipped with the second height-positioning device or both clamping devices 194a, 194b, 195a, 195 of the clamping units 114, 115, each with a second height-positioning device. On the other hand, the joining station 5 43 can also be provided with at least one second height positioning device, which is formed separately from the clamping units 114, 115 and is arranged in the vicinity thereof.

As already described above, each clamping device 194a, 194b comprises a pressing device 203a, 203b, as shown in FIGS. 13a and 14a. The pressure device io 203a, 203b of the clamping devices 194a, 194b each comprise two pressing devices 230a, 230b, 231a, 231b which can be displaced relative to one another via separate adjusting devices 228a, 228b, 229a, 229b and a housing part 232a, 232b which is connected to the support frame 202a via a flange. 202b, in particular the vertical support wall 206a, 206b is attached. The housing part 232a, 232b comprises two spaced apart side walls 233a, 233b, a bottom 234a, 234b connecting them and a cover 235a, 235b. The bottom and cover 234a, 234b, 235a, 235b form on their mutually facing inner sides in each case a guide surface 236a, 236b, along which horizontal slides 237a, 237b, 238a, 238b, which are to be described in more detail, are guided. The horizontal slides 237a, 237b, 238a, 238b, in turn, form on their outer sides facing the guide surfaces 236a, 236b and on the guide surfaces 239a, 239b resting thereon. In addition, the horizontal slides 237a, 237b, 238a, 238b are provided on their mutually facing inner sides with inner guide surfaces 240a, 240b. The horizontal slide 237a, 237b, 238a, 238b are based on each other with their inner guide surfaces 240a, 240b and run each other. 25 The first pressing element 230a, 230b is attached to a first vertical slide 241a, 241b. The first vertical slide 241a, 241b is coupled in terms of movement via a slide arrangement 242 to the lower horizontal slide 237a, 237b. For this purpose, in the longitudinal direction of the housing part 232a, 232b horizontally and transversely to the feed direction - according to arrow 46 - the parts transport carrier 48 adjustable lower horizontal slide 237a, 237b with a link-element 30, 243, for example, a cylindrical bolt, provided within an arcuate slide track 244 is mounted in the first vertical slide 241a, 241b. As can be seen in FIGS. 14, 14a, the bottom 234a, 234b, cover 235a, 235b and the horizontal slides 237a, 237b, 238a, 238b are provided with vertically overlapping first passage openings 245. The vertical slide 241a, 241b is approximately cuboid-shaped and corresponds to the outline shape of the passage opening 245 of the outer contour of the vertical slide 241a, 241b. The vertical slide 241a, 241b passes through the passage openings 245 and is positively guided by means of the passage openings 245 formed in the housing part 232b or bottom 234a, 234b, cover 235a, 235b. The lower vertical slide 241a, 241b is verbun via a coupling element 246 with a first drive motor 247a, 247b, for example, an electric or fluid motor. The drive motor 247a, 247b is attached to the support frame 202a, 202b, in particular the central support wall 207a, 207b.

If now the lower horizontal slide 237a, 237b by means of the drive motor 247a, 247b shifted from the initial position shown in Fig. 18c shown actuating position of 45 left to right, is simultaneously the first pressing member 230a, 230b in the direction of the fixed clamping tool 201a, 201b moves and the not further shown, the first part 1 between the clamping tool 201a, 201b and the pressing member 230a, 230b fixed. Thus, the second pressing member 231a, 231b is fixed to a second vertical slider 248a, 248b and provided with a jaw 252a, 252b. The second vertical slide 248a, 248b is rotationally coupled via a gate assembly 242 'to the upper horizontal slide 238a, 238b. For this purpose, in the longitudinal direction of the housing part 232a, 232b horizontally and transversely to the feed direction - according to arrow 46 - the parts transport carrier 48 ver-55 adjustable upper horizontal slide 238a, 238b with a link element 243 ', for example, 21 AT 501 243 B1 a cylindrical pin provided which is mounted within an arcuate slide track 244 'in the second vertical slide 248a, 248b. As can be seen in FIGS. 14, 14a, the bottom 234a, 234b, cover 235a, 235b and the horizontal slides 237a, 237b, 238a, 238b are provided with vertically overlapping second passage openings 245 '. The vertical slide 248a, 5 248b is approximately parallelepiped-shaped and corresponds to the outline shape of the passage opening 245 'of the outer contour of the vertical slide 248a, 248b. The vertical slide 248a, 248b passes through the passage openings 245 'and is forcibly guided by means of the passage openings 245' formed in the housing part 232b or bottom 234a, 234b, cover 235a, 235b. The vertical slide 248a, 248b is connected via a coupling element 249a, 249b to a second drive motor 251a, 251b, for example an electric or fluid motor. The second drive motor 251a, 251b is connected via a mounting bracket 250a, 250b to the support frame 202a, 202b, in particular the support wall 207a, 207b.

If the upper horizontal slide 238a, 238b is then shifted from left to right by means of the drive motor 251a, 251b from FIG. 15 to an actuating position shown in FIG. 18c, the second pressing element 231a, 231b simultaneously moves in the direction of the fixed abutment 204a, 204b moves and the not further shown, second part 2 between the clamping jaws 212a, 212b, 252a, 252b fixed. The actuating device 228a, 228b actuating the first pressing element 230a, 230b comprises the above-described first vertical slide 241a, 241b, the slide arrangement 242, the coupling element 246a, 246b and the first drive motor 247a, 247b. The actuating device 229a, 229b operating the second pressing element 231a, 231b comprises the above-described second vertical slide 248a, 248b, the slide arrangement 242 ', the coupling element 249a, 25 249b and the second drive motor 251a, 251b.

According to this embodiment, the second adjusting device 229a, 229b forms a lifting device of a second height positioning, wherein the second pressing element 231a, 231b or the clamping jaw 252a, 252b that the second part 2 between a transport position at the Teiletransportträ-30 48 and one with respect to this above or below lying supply position lifting or lowering support element of the lifting device is formed.

As also indicated in FIGS. 13 and 14, the clamping system 111 comprises the joining station 43 shown in FIGS. 1 and 10, the second clamping unit 115. The latter has cooperating clamping devices 195a, 195b arranged on both sides of the transport device 46.

The clamping devices 195a, 195b of the second clamping unit 115 each include the drive unit 181a, 181b, a support frame 254a, 254b and a clamping tool 255a, 255b. 40 The clamping tool 255a, 255b is connected via the support frame 254a, 254b to the setup platform 187 of the drive unit 181a, 181b. The support frame 254a, 254b comprises a mounted on the setup platform 187 mounting plate 256a, 256b, attached to this, vertically oriented support walls 257a, 257b, 258a, 258b and attached to this, top support plate 259a, 259b. On the support plate 259a, 259b, the clamping tool 255a, 255b is mounted. 45 The clamping tools 255a, 255b directed towards one another are now configured so as to be relatively adjustable transversely to the feed direction via the drive units 181a, 181b - according to arrow 65 - the parts transport carrier 48 and the clamping tool 201a, 201b of the clamping devices 194a, 194b of the first clamping unit 114. The optionally synchronously adjustable clamping tools 201a, 201b and the clamping tools 255a, 255b are adjustable only in 50 horizontal planes.

As can further be seen in FIGS. 13 and 14, the clamping system 111 of the joining station 43 shown in FIGS. 1 and 10 comprises a third clamping unit 116, which in the feed direction-according to arrow 65 -the part-conveying carrier 48 is arranged one behind the other and via the drive 55 units 182a, 182b cooperating tensioning means 260a, 260b. The clamping devices 260a, 260b of the third clamping unit 116 each include the drive unit 182a, 182b, a support frame 261a, 261b and a clamping tool 262a, 262b. Each clamping tool 262a, 262b is connected via the support frame 261a, 261b to the setup platform 187 of the drive unit 182a, 182b. The drive units 182a, 182b of the clamping devices 260a, 260b are mounted on the carriage 198b via an approximately U-shaped mounting plate 263. The legs of the mounting plate 263 carry the drive units 182a, 182b, while their base is connected to the carriage 198b. The support frame 261a, 261b comprises a mounting plate 264a, 264b fastened to the setup platform 187 and vertically aligned support walls 265a, 265b attached thereto, to which the clamping tool 262a, 262b is connected. The clamping tools 262a, 262b are formed on the drive units 182a, 182b in the feed direction - according to arrow 65 - the part transport carrier 49 optionally synchronously adjustable.

As can be seen from the consideration of FIG. 1, the tensioning devices 194a, 195a are constructed on the spine 198a of the linear drive 196a (infeed axis 112a) and the tensioning devices 194b, 195b, 260a, 260b on the carriage 198b of the linear drive 196b (infeed axis 112b).

It should be pointed out briefly at this point that the known linear drives of the clamping units 114 to 116 and the drive system 156 for the welding device 119 20 and the Zustellachsen 112 a, 112 b each have an electric motor, in particular a continuously controllable servo or stepper motor, an this directly flanged threaded spindle and at least one over the threaded spindle along guides adjustable spindle nut, wherein on the spindle nut, the carriage of the clamping units 114 to 116 and the drive system 156 is mounted. The electric motors are connected via connecting lines to the electronic control device 36. As will be described below, the applied torque or the motor current is detected by each of the electric motors of the clamping units 114 to 116, reported to the control device 36 and / or evaluation unit 38 and from this a clamping force and / or a travel and / or clamping each individual clamping device of the clamping units 114 to 116 determined, whereupon a target actual value comparison 30 performed in the comparison module 39 and evaluated information about the quality feature of the processed part 1.2 in the form of "good part" or "bad part" in the evaluation module 40 and in the control means 36 are entered, by means of which the clamping devices of the clamping units 114 to 116 and / or the drive system 156 for the welding device 119 as well as the feed axes 112a, 112b are activated. 35

In FIGS. 18a to 18f, the clamping operation by means of the clamping system 111 will now be described in more detail. First of all, the clamping devices 194a, 194b, 195a, 195b of the clamping units 114, 115 are moved toward one another by moving the carriages 198a, 198b of the feed axes 112a, 112b so that a clear width 266 is dimensioned between the mutually facing 40 edges 218a, 218b of the clamping tools 201a , 201b is reduced as far as this is less than the length 267 of the first part 1. Likewise, a clear width 268 dimensioned between the facing abutment surfaces 269 is reduced. In this case, the clamping tools 201a, 201b, 255a, 255b of the clamping units 214, 215 each from a starting position (AP) remote from the part 1.2, as shown in dashed lines in Fig. 18a, in a 45 intermediate position (ZP), as in dashed lines entered in Fig. 18b, moved. The movement of the clamping tools 201a, 201b, 255a, 255b between the intermediate position (ZP) and a clamping position (SP) determining or clamping the part 1, 2, as shown in FIG. 18d, takes place via the drive units 180a, 180b, 181a , 181b. In the intermediate position (ZP), the abutment surfaces 217a, 217b, 269a, 269b of the clamping tools 201a, 201b, 255a, 255b lie in such close proximity in front of the contact surfaces 10, 12 of the parts 1, 2.

As described above, the stackable clamping tools 201a, 201b are provided with the ramp 215a, 215b, so that solely due to the feed movement of the clamping tools 201a, 201b from the starting position (AP) in the intermediate or Spannposi-tion (ZP, SP ), the previously supplied by the part transport carrier 48 in the holding position 110 of 23 AT 501 243 B1 joining station 43 parts 1 is pushed onto the clamping tools 201a, 201b and lifted off the parts transport carrier 48. As explained in the preceding figure, the second part 2 is supported on support extensions 8 of the first part 1 and the parts 1, 2 are transported together via a part transport carrier 48 into the joining station 43 and 5 together raised or lowered by the part transport carrier 48. In this case, the first part 1 from the transport position 219 located on the part transport carrier 48 into a supply position 270 located above or below the part transport carrier 48 and the second part 2 from the transport position 219 'located at the part transport carrier 48 into an above or below the part transport carrier 48 located supply position 270 'be-io moves. In contrast, if the parts 1, 2 are delivered separately to two part transport carriers 48, the first part 1 is lifted off or lowered from the part transport carriers 48 via the first height positioning device 200a, 200b and the second part 2 via the second height positioning device. In the staging positions 270, 270 'are the parts 1, 2 between the opposing clamping tools 201a, 201b and 255a, 255b of the clamping devices 194a, 194b, 195a, 195b. During the feed movement of the clamping devices 194a to 195b of the clamping units 114, 20 115, the clamping tools 262a, 262b of the clamping devices 260a, 260b of the clamping unit 115 are simultaneously moved from an initial position (AP), see FIG. 18a, into an intermediate position (ZP). see Fig. 18e, just before the legs 6 of the part 1 moves. The movement of the clamping tools 262a, 262b between the intermediate position (ZP) and the parts 1, 2 fixing clamping position (SP), as shown in Fig. 18d, via the drive 25 units 182a, 182b.

According to FIG. 18c, first of all the clamping tools 201a, 201b of the clamping devices 194a, 195b are displaced relative to one another until the stop surfaces 217a, 217b abut against the frontal contact surfaces 10 of the first part 1, so that the first part 1 is positioned and tensioned in a first spatial direction , The part 1 is thereby acted upon by opposing clamping forces - according to the arrows 271 -. In this way, the first part 1 is fixed in a first spatial direction.

In a first embodiment, the electric motors 188a, 188b of the clamping devices 194a, 35 194b are electronically coupled and the clamping tools 201a, 201b via the drive units 180a, 180b from the intermediate position shown in Fig. 18b (ZP) in the in Fig. 18c in dashed lines registered, clamping clamping position (SP) synchronously adjusted to each other or moved toward each other until the stop surfaces 217a, 217b bear against the frontal contact surfaces 10 of the first part 1 and clamp the part 1 between them. Thereby, 40 of the part 1 in its clamping position 274 (see Fig. 18d, 18f) with respect to the joining station 43, as shown in FIGS. 1 and 10, centrally received and tensioned, as indicated by dotted line. The actual values of the clamping forces are preferably continuously determined from the applied torques or the motor current of the steplessly controllable electric motors 188a, 188b of the clamping devices 194a, 194b and reported to the electronic evaluation unit 38 45 (see FIG. 3) and in this a setpoint / actual value comparison the clamping forces performed, as will be described with reference to FIGS. 20 to 22 in more detail. In addition, the traversing and tensioning paths of the clamping tools 201a, 201b, which are traveled between the starting, intermediate and clamping positions (AP, ZP, SP), are preferably continuously detected as the actual value and transmitted to the evaluation unit 38, then a setpoint / actual value comparison in this the traversing and thus clamping paths of the clamping tools 201a, 201b preferably carried out continuously.

In a second embodiment, only one of the clamping tools 201b is displaced via the drive unit 180b from the intermediate position (ZP) shown in FIG. 18b into the clamping position (SP) indicated by dashed lines in FIG. 18c, while the other clamping tool 201a in FIG Intermediate position (ZP) remains and thereby assumes the clamping position (SP). Accordingly, the clamping position (SP) of the intermediate position (ZP) is indicated by AT 501 243 B1. According to this embodiment, the torque exerted or the motor current is detected only by an electric motor 188b and determines therefrom the force acting on the part 1 clamping force and the evaluation unit 38 reported and performed in this a nominal-actual value comparison of the clamping force, as shown in FIG. 20 to 22 5 will be described in more detail. In addition, the traversing and clamping paths of the clamping tools 201a, 201b traveled between the initial and intermediate positions (AP, ZP) and the traversing and clamping paths of the clamping tool 201b between the intermediate and clamping positions (AP, ZP, SP) are preferably still running detected as the actual value and transmitted to the evaluation unit 38, then in this a setpoint-actual value comparison of the travel and io clamping paths of the clamping tools 201a, 201b preferably carried out continuously.

As indicated in FIG. 18c, one or both of the clamping tools 201a, 201b are moved from the intermediate position (ZP) into the clamping position (SP) or after the clamping tools 201a, 201b reach the clamping position (SP) during the clamping operation or the feed movement 15, the pressing elements 230a, 230b actuated and adjusted from a rest position, as shown in Fig. 18b, registered in a pressing position, as shown in Fig. 18c. The pressing elements 230a, 230b are moved in the direction of the support surface 216a, 216b and pressed against the base 5 of the part 1 with a contact force, so that the first part 1 in the contact position of the pressing elements 230a, 230b positioned and 20 in a second spatial direction is.

Now that the first part 1 is fixed in two spatial directions, the second part 2 is now also positioned, clamped and fixed by means of the clamping tools 255a, 255b of the clamping devices 195a, 195b of the second clamping unit 115 relative to the first part 1. 25

As further indicated in FIG. 18c, the clamping tools 255a, 255b are initially displaced relative to each other until the abutment surfaces 269a, 269b abut against the abutment surfaces 12 of the second part 2, so that the second part 2 is displaced relative to the first part 1, compared to the first part Part 1 is positioned and tensioned in a first spatial direction. The 30 part 2 is thereby clamped with opposing clamping forces - according to arrows 273 entered in FIG. 18d. Thus, the second part 2 is now set in the direction of its longitudinal extension relative to the first part 1 and in a second spatial direction.

For this purpose, in a first embodiment, the electric motors 189a, 189b of the clamping devices 195a, 195b are electronically coupled and the clamping tools 255a, 255b via the drive units 181a, 181b from the intermediate position (ZP) shown in FIG. 18b into those shown in FIG. 18c in dashed lines registered clamping position (SP) are adjusted synchronously to each other or moved towards each other until the abutment surfaces 269a, 269b abut against the end bearing surfaces 12 of the second part 2 and clamp the part 2 between them. Thus, 40 of the part 2 in its clamping position (see Fig. 18d, 18f) with respect to the joining station 43, as shown in FIGS. 1 and 10, centrally received and tensioned, as indicated by dotted line. The actual values of the clamping forces are preferably continuously determined from the applied torques or the motor current of the steplessly controllable electric motors 189a, 189b of the clamping devices 195a, 195b and reported to the electronic evaluation unit 38 45 (see FIG. 3) and in this a setpoint / actual value comparison the clamping forces performed, as will be described with reference to FIGS. 20 to 22 in more detail. In addition, the traversing and clamping paths of the clamping tools 255a, 255b traveled between the initial, intermediate and clamping positions (AP, ZP, SP) are preferably continuously recorded as the actual value and transmitted to the evaluation unit 38, then in this a nominal-actual value comparison the traversing and thus clamping paths of the clamping tools 255a, 255b preferably carried out continuously.

In a second embodiment, only one of the clamping tools 255b is displaced via the drive unit 181b from the intermediate position (ZP) shown in FIG. 18b into the clamping position (SP) indicated by dashed lines in FIG. 18c, while the other clamping tool 255a in FIG Intermediate position (ZP) remains and thereby assumes the clamping position (SP). Accordingly, 25 AT 501 243 B1 corresponds to the clamping position (SP) of the intermediate position (ZP). According to this embodiment, the torque exerted or the motor current is detected only by an electric motor 189b and determines therefrom the force acting on the part 2 clamping force and the evaluation unit 38 reported and performed in this a nominal-actual value comparison of the clamping force, as shown in FIG. 20 5 to 22 will be described in more detail. In addition, the traversing and clamping paths of the clamping tools 255a, 255b, which are traveled between the starting and intermediate positions (AP, ZP), as well as the traversing and clamping paths of the clamping tool 255b between the intermediate and clamping positions (AP, ZP, SP), are preferably still running detected as the actual value and transmitted to the evaluation unit 38, then carried out in this a setpoint-actual value comparison of the traversing and io clamping paths of the clamping tools 255a, 255b preferably continuously.

According to FIG. 18c, before, during the clamping operation or the feed movement of one or both clamping tools (s) 255a, 255b from the intermediate position (ZP) to the clamping position (SP) or after the clamping tools 255a, 255b reaches the clamping position (SP) 15, the pressing elements 231a, 231b of the second height positioning devices are actuated and adjusted from a rest position, as indicated in FIG. 18b, into a contact position, as indicated in FIG. 18c. The pressing elements 231a, 231b are moved in the direction of the abutments 204a, 204b, the part 2 is moved relative to the first part 1 and pressed against the part 2 with a contact force, so that in the contact position of the pressing elements 20 231a, 231b of part 2 also is positioned and held in a second spatial direction.

In the subsequent steps, as described with reference to FIGS. 18e and 18f, the parts 1, 2 are now also positioned and fixed in a third spatial direction with respect to the joining station 43 by the clamping tools 262a, 262b of the clamping devices 260a, 260b being displaced relative to one another be until the abutment surfaces 277a, 277b bear against the outside of the legs 6 from the first part 1 and both parts 1, 2 are moved together in the predetermined space in the clamping position 272, 274, positioned and clamped against each other. The parts 1, 2 are thereby applied with opposing clamping forces - according to the arrows 278 -. The clamping forces 278 of the clamping tools 262a, 262b are selected so that the first and second parts 1, 2 opposite the clamping tools 201a, 201b, 255a, 255b and pressing elements 230a, 230b, 231a, 231b in the third spatial direction into the clamping position 272, 274 or in the feed direction - according to arrow 65 - the parts transport carrier 48 can be moved slightly. In this way, the parts 1, 2 are also fixed in a third spatial direction and positioned in the clamping position 272, 274 exactly in space, fixed 35 and braced together along the joints 17 a, 17 b.

For this purpose, in a first embodiment, the electric motors 190a, 190b of the clamping devices 260a, 260b electronically coupled and the clamping tools 262a, 262b via the drive units 182a, 182b from the intermediate position shown in Fig. 18e (ZP) in the dashed lines in Fig. 18f in 40 Lines registered clamping position (SP) synchronously adjusted to each other or moved toward each other until the stop surfaces 277a, 277b abut against the legs 6 of the second part 2 and the parts 1, 2 are clamped against each other. Characterized in that by means of the clamping tools 262a, 262b symmetrical clamping takes place, the parts 1, 2 are now in a third spatial direction in the predetermined clamping position 272, 274 spent 45 and with respect to the joining station 43 centrally received and stretched. The actual values of the clamping forces are preferably continuously determined from the exerted torques or the motor current of the steplessly controllable electric motors 190a, 190b of the clamping devices 260a, 260b and reported to the electronic evaluation unit 38 (see FIG. 3) as well as a nominal / actual value comparison of this Clamping forces carried out, as described in more detail with reference to FIGS. 20 to 22. In addition, the traversing and tensioning paths of the clamping tools 262a, 262b traveled between the initial, intermediate and clamping positions (AP, ZP, SP) are preferably continuously recorded as the actual value and transmitted to the evaluation unit 38, then in this a nominal-actual value comparison the travel and clamping paths of the clamping tools 262a, 262b preferably performed continuously. 55 26 AT 501 243 B1

In a second embodiment, only one of the clamping tools 262b is displaced via the drive unit 182b from the intermediate position (ZP) shown in FIG. 18e into the clamping position (SP) indicated by dashed lines in FIG. 18f, while the other clamping tool 262a is in the intermediate position (ZP) remains and thereby assumes the clamping position (SP). Accordingly, the clamping position (SP) of the intermediate position (ZP) speaks. According to this embodiment, the torque exerted or the motor current is detected only by an electric motor 190 and determines therefrom the force acting on the parts 1, 2 clamping force and reported to the evaluation unit 38 and performed in this a nominal-actual value comparison of the clamping force, as based on Fig. 20 to 22 will be described in more detail. In addition, the traversing and clamping paths of the clamping tools 262a, 262b between the initial and intermediate position (AP, ZP) and the traversing and clamping paths of the clamping tool traversed between the intermediate and clamping positions (AP, ZP, SP) also become 262b is preferably detected continuously as an actual value and transmitted to the evaluation unit 38, then in this a setpoint-actual value comparison of the traversing and clamping paths of the clamping tools 262a, 262b preferably carried out continuously. 15

After the two parts 1, 2 in the three spatial directions in the clamping position 272, 274 moves, positioned in this, stretched and optionally fixed and the quality characteristics were checked and evaluated positively, the parts 1, 2 along the by the clamping tools 262 a, 262 b prestressed areas at the joints 17a, 17b at least partially interconnected by means of joining seams 21, in particular welded. During the joining process, the clamping tools 201a, 201b, 255a, 255b, 262a, 262b are kept still.

It is advantageous that the joints 17a, 17b between the parts 1, 2, provided that they meet the 25 quality requirements, in particular the dimensional accuracy, are always specified at the same position in space and the joining device, in particular the beam welding head, after a one-time programmed Trajectory can be moved while the parts 1,2 welded together. This trajectory is programmed, for example, in the teach-in method and is stored in the control device 36. A known from the state of the art 30 seam tracking can be omitted. As is still described in FIGS. 20 to 22, the position of the joints 17a, 17b can lie within a permissible tolerance window and the welded connection can nevertheless take place since the welding beam in focus has a diameter of approximately 0.3 mm to 0.5 mm , The diameter of the focus is included in the definition of the tolerance window. 35

After the parts 1, 2 are joined to the assembly 122 and the joining operation has been completed, the clamping tools 201a, 201b, 255a, 255b, 262a, 262b are moved from their clamping positions (SP) to the initial positions (AP), thereby increasing the clear width 266, the assembly 122 in turn deposited on the preferably during the tensioning and welding 40 process in the holding position 110 remaining part transport carrier 48 and transported away from the joining station 43. At the part transport carrier 48, the positioning extension 80 is threaded into the positioning opening 7 and the assembly 122 is positioned with respect to the part transport carrier 48 with sufficient accuracy. Preferably, the feed axes 112a, 112b are likewise moved in the same way as the clamping tools 201a, 201b, 255a, 255b, 262a, 262b of the clamping devices 194a to 195b, 260a, 260b from the starting position (AP) to the clamping position (ZP). The regulation of the travel speed of the clamping tools 201a, 201b, 255a, 255b, 262a, 262b can be done in different ways. 50

In a first embodiment, the clamping tools 201a, 201b, 255a, 255b, 262a, 262b are initially accelerated from the starting position (AP) to just before the intermediate position (ZP) and are decelerated to the intermediate position (ZP), followed by one or both clamping tools 201a, 201b, 255a, 255b, 262a, 262b are accelerated from the intermediate position (ZP) 55 and are decelerated to a standstill until the clamping position (SP). The species and 27 AT 501 243 B1

The manner of controlling the travel speed of the clamping tools 201a, 201b, 255a, 255b, 262a, 262b will be described in more detail below with reference to FIGS. 20 to 22.

In a second embodiment, the clamping tools 201a, 201b, 255a, 255b, 262a, 262b 5 are accelerated from the starting position (AP) to just before the intermediate position (ZP) and delayed until the intermediate position (ZP), then one or both Clamping tools 201a, 201b, 255a, 255b, 262a, 262b from the intermediate position (ZP) to the abutment of the abutment surfaces 217a, 217b, 269a, 269b, 277a, 277b accelerated against the part 1, 2, approximately at a constant speed or continue to retard and only then, as a function of the increase in force, does the traversing speed, as described in more detail with reference to FIGS. 20 to 22, be delayed until it stops.

In the intermediate position (ZP), the clamping tools 201a, 201b, 255a, 255b, 262a, 262b, the part 1; 2 and adjust to the shown position 270, 270 ', with the 15 stop surfaces 217a, 217b, 269a, 269b, 277a, 277b removed from part 1, 2, or are they part 1; 2 still slightly removed.

Preferably, the electric motors 197a, 197b of the feed axes 112a, 112b are electronically coupled and, by means of their feed movement, the clamping tools 201a, 201b, 255a, 20b, 26b, 262b of the clamping devices 194a to 195b, 260a, 260b move from a pre-position into those shown in FIG. 18a shown starting position (AP) adjusted. The adjustment movement of the clamping tools 201a, 201b, 255a, 255b, 262a, 262b from the starting position (AP) to the intermediate and clamping position (ZP, SP) is effected by means of the drive units 180a to 181b. In the jointly described FIGS. 19a to 19c, the clamping system 143 for the second joining station 128 (as shown in FIG. 3) and the method sequence are described in more detail. The tensioning system 143 according to this embodiment comprises the tensioning unit 144, which is formed by tensioning devices 280a, 280b arranged on both sides of a rectilinear transporting section of the second transporting device 130. These clamping devices 280a, 280b by -30 each include a drive unit 281a, 281b, a clamping tool 282a, 282b adjustable in the direction of the double arrow, a support frame 283a, 283b, a height positioning device 288a, 288b and an adjusting device 289a, 289b for the clamping tool 282a, 282b. The drive units 281a, 281b each have a driven by electric motor 284a, 284b linear drive 285a, 285b and a setup platform 286 on. The linear actuators 285a, 285b each include a slide 287a, 287b adjustable in a horizontal plane to which the setup platform 286 is attached. As shown, the setup platform 286 is formed by the carriage 287a, 287b. The clamping tool 282a, 282b is connected via the support frame 283a, 283b to the setup platform 286 of the drive unit 281a, 281b. The support frames 283a, 283b of the tensioning devices 280a, 280b each comprise a mounting plate 290a, 290b fastened to the setup platform 286 and two side walls 291a, 291b attached thereto, spaced apart from each other, and a support wall connecting them and arranged on a side facing the transport device 130 292a, 292b.

The height-positioning device 288a, 288b comprises a lifting device 293a, 293b having a preceding welded assembly 122 and the parts 3a, 3b in common between a transport position 294, 294 'of the part transport carrier 48' and a supply position 302 lying above or below it , 302 'of the same raising or lowering support element 295a, 295b. This support element 295a, 295b has exclusively in the direction of the transport device 130 inclined downwardly extending run-on slope 296a, 296b and a horizontal support surface 297a, 297b for the assembly 122 and the part 3a, 3b. The support element 295a, 295b of the lifting device 293a, 293b is fastened to the support frame 283a, 283b, in particular to the support wall 292a, 292b. Of course, the support element 295a, 295b of the height positioning device 288a, 288b may also be designed to be vertically adjustable via an actuator according to this embodiment, as described in FIGS. 15 to 17. 28 AT 501 243 B1

Likewise, the height positioning device 288a, 288b may be disposed separate from the tensioning devices 280a, 280b within the joining station 128.

The clamping tool 282a, 282b is formed according to this embodiment by a collet with over 5 the adjusting device 289a, 289b radially adjustable clamping segments 298, as indicated only schematically. The adjusting device 289a, 289b has for this purpose an actuator 299a, 299b, for example, a fluid drive, by means of which the clamping segments 298 are acted upon from the inside with the pressure medium. The clamping tool 282a, 282b or the support frame 283a, 283b is provided with a stop surface 300a, 300b. 10

In addition, the joining station 128 comprises a pressing device 301, which is formed separately from the clamping unit 144 and three mutually separated, adjustable according to the double arrows pressing elements 304a, 304b, 304c forms. The pressing elements 304a, 304b, 304c are associated with the previous welded assembly 122. 15

In Fig. 19a, the part transport carrier 48 'is moved into the holding position 142 (see Fig. 3) between the clamping means 280a, 280b of the clamping unit 144 and stopped therein. First, the clamping tools 282a, 282b of the clamping devices 280a, 280b by means of the drive units 281a, 281b transversely to the feed direction - according to arrow 140 - the Teiletrans-20 portträger 48 'from one of the parts 3a, 3b remote starting position (AP), as in line -lated lines are plotted in Fig. 19a, moved to an intermediate position (ZP) as indicated by dotted lines in Fig. 19b. Accordingly, a clear width 305 dimensioned between the mutually facing edges of the mutually aligned support elements 295a, 295b so far reduced that it is less than the length 306 of the assembly 122. Similarly, 25 a clear width dimensioned between the facing abutment surfaces 300a, 300b reduced , As a result, the parts 3a, 3b and assembly 122 delivered together on the part transport carrier 48 'are pushed along the ramps 296a, 296b onto the support elements 295a, 295b and from the transport position 294, 294' on the part transport carrier 48 ', in particular its receptacles 5T, 131a, 131b , in the provision position 302, 302 'angeho-30 ben and on the bearing surfaces 297 a, 297 b stored. At the same time, the clamping tools 282a, 282b, in particular their clamping segments 298, penetrate into the sleeves 16 of the parts 3a, 3b and the parts 3a, 3b are received by the clamping tools 282a, 282b. During the sliding of the parts 3a, 3b onto the clamping tools 282a, 282b, the clamping segments 298 are in an unactuated starting position. 35

According to FIGS. 19b and 19c, preferably, both clamping tools 282a, 282b of the clamping units 280a, 280b are synchronously delivered from the intermediate positions (ZP) into the clamping positions (SP) until the abutment surfaces 300a, 300b bear against the end faces of the parts 3a, 3b and Parts 3a, 3b with opposite clamping forces - according to the eingetra-40 genes arrows 307 - are clamped against the assembly 122. In this case, the parts 3a, 3b and assembly 122 are adjusted relative to each other, so that they are positioned and stretched in the direction of a longitudinal extent of the parts 3a, 3b / assembly 122 or in a first spatial direction. In another embodiment, only one of the clamping tools 282b of the clamping units 280b is moved from the starting position (AP) to the clamping position (SP) while the other clamping tools 282a of the clamping units 280a remain in the intermediate position (ZP) as the clamping position (SP). The actual values of the clamping force or clamping forces and clamping and travel paths are detected, reported to the evaluation unit 38 and compared with the setpoints and evaluated as the quality characteristics, as will be described.

Next, as shown in FIGS. 19a and 19c, the pressing members 202 to 204 are supplied to the assembly 122. The assembly 122 is acted upon by the pressing elements 304a, 304b, 304c from above and laterally with pressing forces. The contact forces are selected so that the assembly 122 can be slightly displaced in a second and third spatial direction with respect to the parts 3a, 3b and / or the clamping surfaces 300a, 300b of the clamping tools 282a, 282b. In this way, the assembly 122 is also positioned in the second and third spatial directions and moved into the defined in space clamping position 308 and fixed in this. 5

Subsequently, the parts 3a, 3b are moved from their provision position 302 'in the clamping position 312, 313 by the clamping segments 298 of the clamping tools 282a, 282b actuated and adjusted from its initial position to an actuating position and thereby pressed against the inner surface of the sleeves 16, such as entered in Fig. 19c. In the actuating position of the clamping segments 298, the parts 3a, 3b are centered on these and form the central axes of the two sleeves 16 a common axis. Thus, the parts 3a, 3b are positioned with respect to the space-defined assembly 122 in the second and third spatial directions as well as moved into the space defined in the clamping position 312, 313 and kept fixed in this. 15

With the clamping tools 282a, 282b, in particular the clamping segments 298, also dimensional deviations of the sleeve 16 can be corrected by the clamping segments 298 are moved radially outward so far that the sleeves 16 of the parts 3a, 3b are converted from an actual shape into a desired shape, as described in AT 1278/2004 and can form the subject of the present application. As a result, even minor deviations in form of the sleeves 16 can now be eliminated in a simple manner. In the shaping actuating position, the clamping segments 298 of the clamping tools 282a, 282b are pressed against the inner surface of the sleeve with a biasing force, so that the sleeve 16 is elastically and / or plastically deformed. 25

After the parts 3a, 3b and assembly 122 have been positioned in the three spatial directions and moved into the respective clamping position 308, 312, 313, clamped and fixed therein and the quality features have been checked and positively evaluated, the parts 3a, 3b with the assembly 122 at the joints 18a, 18b, 18c; 19a, 19b joined together by means of joining seams 21, in particular welded. The joining seams 21 are formed by I-seams, so that a positioning accuracy of the parts 3a, 3b in a direction transverse to the longitudinal extent of the assembly 122 level of 0.1 mm to 0.5 mm is sufficient. During the joining operation, the clamping tools 282a, 282b, the clamping segments 298 and the pressing elements 304a, 304b, 304c are kept still. 35

Once the joining operation has ended, the clamping tools 282a, 282b are moved from their clamping positions (SP) to the starting positions (AP) and, by increasing the distance 305, the finished assembly 147 is again in the holding position 142 during the clamping and joining operation remaining part transport carrier 48 'abge-40 sets and transported away from the joining station 128.

The intermediate position (ZP) is determined prior to commissioning of the manufacturing system 1 for each of the above-mentioned clamping devices and is approximately between 0.3 mm and 5 mm, in particular between 1 mm and 3 mm, in front of the contact surfaces 10, 12 or end faces of the parts. 1 , 45 2, 3a, 3b.

It should also be mentioned in summary at this point that of those clamping tools that process from the intermediate position (ZP) in the clamping position (SP), the actual values of the clamping forces and traversing and clamping paths detected, compared with the setpoints and evaluated the quality features 50 times are, while of those clamping tools that move exclusively in the intermediate position (ZP) corresponding to a clamping position (SP), only the actual values of the travels detected and these are compared with the setpoints for position control and positioning of the clamping tools. 55 According to the described procedures, either both clamping tools 201a, 30At 501 243 B1 201b, 255a, 255b, 262a, 262b; 282a, 282b of the clamping units 114 to 116; 144 against each other or opposite or is only one of the clamping tools 201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b of the clamping units 114 to 116; 144 is moved from the home position (AP) to the clamping position (SP). The latter procedure is used when the parts 1, 5 2, 3 a, 3 b are made with relatively high accuracy, such as by fine blanking,

Deep drawing or massive forming.

20 to 22 will now be described a method for positioning and checking a quality feature of a part 1 to 3b to be further processed and a method for joining the parts 1 to 3b in one of the above-described joining station 43; 128 described in more detail. Hereinafter, the positioning and tensioning operation for the parts 1, 2 will be described.

First, the first part 1 is moved by means of the clamping tools 201a, 201b from the part transport carrier 15 4ß from the transport position 219 in the ready position 270 by the clamping tools 201a, 201b each moved from the starting position to the intermediate position. This is preferably done at high speed, thereby keeping the cycle time for the positioning and clamping of the first part 1 as low as possible. In the intermediate position, the abutment surface 217a, 217b of the clamping tools 201a, 201b are positioned just in front of the face or abutment 20 surfaces 12 of the first part 1, but the part 1 is already on the ramps 215a, 215b or the horizontal bearing surfaces 216a, 216b on.

FIGS. 20 to 22 show the evaluation or recording of the movement and tensioning travel as well as the tensioning force, for example, on the part 1 of a tensioning tool 201b traveling between the intermediate and tensioning position. For this purpose, the actual values of the travel and tensioning paths as well as the clamping force are preferably continuously recorded and transmitted to the electronic evaluation unit 38 entered in FIG. 3, then in this by means of the comparison module 39 a setpoint and actual value comparison of the travel and tensioning paths also the clamping force on the part 1, preferably performed continuously. 30

According to the invention, it is now provided that the desired value for the clamping force of the clamping tool 201b by a tolerance field with a lower limit 315 and an upper limit 316 and the setpoint for the traversed and / or clamping path of the clamping tool 201b by a tolerance field with a lower limit 317th and an upper limit 318 limited 35 is given. The lower and upper limits 315 to 318 define a tolerance window. For the monitoring of the tensioning process or the controlled tensioning process, the traversing and / or tensioning travel covered and / or extending between the intermediate and final tensioning positions and the tensioning force relative to the travel and / or tensioning travel are recorded. 40

As a result of the relative movement of the clamping tools 201a, 201b, after the abutment surfaces 217a, 217b rest against the end faces or contact surfaces 10 of the part 1, the part 1 is slightly pre-stressed, as a result of which the clamping force increases. As already described above, it is now possible with the method according to the invention to check a quality feature, in particular the dimensional accuracy of the part 1. So it can now be determined whether its length 267 was manufactured within specified tolerances. For example, depending on the joining method, the tolerance limits are +/- 0.2 mm. If the length 267 of the first part 1 exceeds the lower or upper tolerance limit, the overall accuracy of the assembly 122, 147 to be produced can no longer be ensured and this insufficiently accurate part 1 must be removed as a bad part from the manufacturing process, as is the case with the diagrams Fig. 21 and 22 explained in more detail.

Fig. 20 shows the evaluation of the clamping force and the traversing and clamping paths of a part 1, 55 whose quality feature, in particular the dimensional accuracy within predetermined tolerance limits, is met. As can be seen from the diagram, the clamping force 320 is evaluated on the part 1 and the adjustment speed 321 of the clamping tool 201b over the travel and clamping path between the intermediate and clamping position. Preferably during the adjustment of the clamping tool 201b between the intermediate and clamping position auftre-5 tende friction force 322 is detected from the applied torque or motor current of the electric motor 188b for this clamping device 194b during the clamping operation. The friction force 322 is read in at the vertical, dashed line in the control device 36 as an amount and from this automatically the lower and upper limit 315, 316 of the setpoint value for the clamping force applied to the amount of friction force 322. 10

If the clamping tool 201 b moved from the intermediate to the clamping position, meet the stop surfaces 217 a, 217 b on the contact surfaces 10 of the part 1 and increases due to the increasing bias in Part 1, the clamping force. On the traverse path from the intermediate position to the contact surface 10 or to the beginning of the clamping of the part 1, only the frictional force to be overcome by the linear drive 184b during the process of the clamping tool 201b is detected. At the same time, the travel speed of the clamping tool 201b or of the clamping device 194b is evaluated. As can be seen, the clamping tool 201b is accelerated out of the intermediate position for a short time and then decelerated 20 with increasing increasing clamping force from the maximum speed to a speed minimum. The minimum speed is 0 mm / sec. The speed control takes place by means of known controls.

The part 1 is evaluated as "good part" and the at least one clamping tool 201b stopped in its clamping movement, provided that the actual value of the traversed travel and clamping path 25 from the intermediate to the clamping position adjusted clamping tool 201b and the actual value of the clamping force on the part lie within the tolerance window. In other words, in the clamping position of the part 1, therefore, when this is positioned, clamped and fixed, the clamping tools 201a, 201b must be delivered to each other so far that a preload is built up in part 1 and thereby the actual value of the clamping force between the bottom and upper limit 30 315, 316.

After the part 1 meets the quality requirements and was verified by the control device 36 as a "good part", the part 1 is fixed in its clamping position 272 by means of the pressing elements 230a, 230b, the clamping unit 115, in particular at least one of the clamping devices 195a, 195b controlled by the control device 36 and the clamping operation and a check on a quality feature, in particular the dimensional accuracy of the second part 2 started. Accordingly, the first part 1 is only provided to another working process, if this also meets the quality requirements. The part 1 and the clamping tools 201a, 201b are held unchanged in its clamping position in the meantime.

First, the part 2 is positioned by means of the second height positioning devices in the ready position 270 'between two cooperating clamping tools 255a, 255b. Thereafter, the clamping tools 255a, 255b are moved from their initial positions in the 45 intermediate positions and stopped in this short. Subsequently, at least one of the clamping tools 255b is moved from the intermediate to the clamping position. If the abutment surfaces 269a, 269b contact the abutment surfaces 12 of the part 2, the clamping force increases as a result of the increasing preload in the part 2. The speed control is on the same basis as described above. The part 2 is evaluated as a "good part" and so stopped at least one clamping tool 255b in its clamping movement, provided that the actual value of the traversed travel and clamping distance from the intermediate adjusted to the clamping position clamping tool 255b and the actual value of the clamping force on the part lie within the tolerance window. During the adjustment movement of the clamping tool 255b, the second part 2 is positioned relative to the first part 1 in at least one spatial direction, in particular in the direction of its longitudinal extension. 32 AT 501 243 B1

Preferably, the parts 1, 2 are aligned centrally to each other, therefore, the transverse to the adjustment - according to the registered in Fig. 18a double arrow 323 - at least one clamping tool 255b extending central axes of the parts 1, 2 congruent. If both clamping tools 201a, 201b, 255a, 255b of the clamping units 194a, 194b, 195a, 195b are mutually displaceable relative to one another, the parts 1, 2 are clamped centrally to one another solely on account of the synchronous feed movement. This makes it possible that the manufacturing tolerances of the parts 1, 2 in the adjustment direction - according to double arrow 323 - be divided so that the joint gap 27a, 27b on both opposite sides - as in Fig. 2 registered for one side of the module - to a permissible Dimension is set the same. If this measure lies within the dimension of about 0.3 mm to 0.6 mm predetermined by the focus of the laser beam, the second part 2 is evaluated as a "good part" during the positioning and tensioning process. If, on the other hand, the joint gap 27a were adjusted only on one side, the second part 2 would be evaluated as a "bad part" during the positioning and tensioning process, so that joining, in particular laser welding, could not take place with a corresponding quality quality. In practice, it has been shown that the clamping tools 201a, 201b, 255a, 255b of the clamping units 194a, 194b, 195a, 195b are to be delivered synchronously to one another, if higher production tolerances of the part (s) 1, 2 have to be expected , In this way, parts 1, 2 of inferior quality can now also be used, without sacrificing overall accuracy on the assembly 122, 147. 20

Only after the second part 2 has been evaluated and released as a "good part", the two parts 1, 2 are joined together. This has the advantage that only parts 1, 2 are joined together which correspond to the quality features, in particular comply with the dimensional accuracy, and an assembly 122 is created which meets the highest demands on manufacturing accuracy.

It is advantageous if the joining of parts 1, 2 takes place by means of laser or plasma welding, since, on the one hand, a good compromise can be made between flexible production and, on the other hand, high production accuracy. The heat distortion due to welding stress during laser or plasma welding is almost negligible and the high dimensional stability requirements can be met. But it is also advantageous if the joining is done by gluing, whereby the dimensional accuracy can be met within even tighter tolerance limits. After the parts 1, 2 have been joined together, this joined assembly 122 is again deposited on a part transport carrier 48 and transported away therefrom by the joining station 43 and optionally fed to a further joining station 128.

On the other hand, the clamping tool 201b is stopped in its clamping movement and the part 40 1 evaluated from the current working process as a bad part, provided that the actual value of the traversed travel and clamping path from the intermediate to the clamping position adjusted clamping tool 201b and / or the actual value for the Clamping force on the part 1 is outside the predetermined tolerance window (s), as shown in FIGS. 21 and 22. According to FIG. 21, it can be seen that the part 1 does not correspond to the required dimensional accuracy and 45 falls below the minimum dimension, which is therefore too short. Accordingly, the clamping tool 201b would have to travel far beyond the upper limit 318 of the travel and clamping travel in order to achieve the setpoint for the clamping force on the part 1.

Since the traversing speed of the clamping tool 201b is advantageously regulated as a function of the increase in force, in particular only with increasing force increase, the traversing speed of the clamping tool 201b is increasingly reduced, the advantage arises that the traversing speed of the clamping tool 201b over a wide range of traversing and Clamping path is only reduced by a small value in relation to the maximum speed. The clamping force is approximately constant over a wide range of the travel and tensioning travel 55, which is why the travel speed of the tensioning tool 201b 33 AT 501 243 B1 is also kept approximately constant over this range. Only after it has been determined by the control that the setpoint value of the travel and tensioning travel and / or the tensioning force will lie outside the tolerance window will the tensioning tool 201b be controlledly decelerated and stopped. 5

If, however, the part 1 is too long, as shown in Fig. 22, therefore it does not meet the required dimensional accuracy and the maximum is exceeded, the clamping force reaches its setpoint even before reaching the Üntergrenze 317 for the travel and clamping path. Since the clamping force now increases excessively, at the same time the controlled Verfahrgeschwin- io speed of the clamping tool 201b is greatly reduced.

After the part 1 does not meet the quality requirements and has been verified by the control device 36 as a "bad part", the clamping operation is terminated and this part 1 is discharged from the current working process. For this purpose, the clamping tool 201b 15 is initially supplied against the clamping movement from the clamping position to the intermediate or initial position. With decreasing clamping force, the travel speed of the clamping tool 201b is increasingly increased up to the maximum speed. Since all movements of the clamping tool 201b proceed at optimized traveling speeds, the joining station 43, 128 is blocked only for a short period of time. 20

It is essential that, for each of the clamping tools 201b, 269b moving between the intermediate and clamping position, a setpoint-actual value comparison of the travel and tensioning paths and clamping forces is carried out in the evaluation unit 38 (see FIG. 3) and the verification between " Good part "and" bad part "takes place. 25

In the jointly described Figs. 23 to 25 another embodiment of an assembly is shown in different views, which is produced with the inventive manufacturing plant with another embodiment of clamping units of the clamping system or according to the inventive method. This assembly consists of at least two profile-like 30 parts 330, 331, which are guided into each other according to this embodiment and arranged on projections 332, 333 against rotation against each other.

The parts 330, 331 are preferably made of a formed part, in particular stamped and bent part or massive forming part. The outer part 330 has on its inside each other 35 facing guide surfaces, which are at least partially formed by the inner contour of the part 330 and between which the inner part 331 is added. The inner part 331 forms on its outside at least partially guide surfaces, which are formed by the outer contour of the part 331 and the guide surfaces of the outer part 330 facing. 40

The parts 330, 331 are first each brought into a supply position shown in FIG. 23 between cooperating clamping tools 334a, 334b of only schematically indicated clamping devices 335a, 335b of a clamping unit 336 and then in the manner described above by means of at least one from an intermediate position into a clamping position. 45 on adjustable clamping tool 334a; 334b excited. Prior to this, both clamping tools 334a, 334b are displaced into the intermediate position, as shown in FIG. 23, and stopped, if necessary. According to this embodiment, the clamping tool 334b remains in the intermediate position corresponding to the clamping position, while the clamping tool 334a is moved from the intermediate position into the clamping position and pressed against the part 330 with oppositely directed clamping forces or clamping force components according to the arrows 338. On the other hand, both clamping tools 334a, 334b can each be delivered synchronously to each other from their intermediate position in the clamping position. The described clamping devices 335a, 335b comprise drive units 337a, 337b, which are formed as linear drives, each with a clamping tool 334a, 334b superimposed carriage (not shown) from-55. The carriage forms the setup platform. 34 AT 501 243 B1

Also according to this embodiment, the actual value of the clamping force on the part 330 and / or traversed travel and clamping path from the intermediate to the clamping position to be adjusted clamping tool 334a; 334b detected and transmitted to an electronic evaluation, then carried out in this a setpoint-actual value comparison of the clamping force and / or or traversing 5, as already described above.

The set point of the clamping force and / or the travel and clamping travel of the clamping tool (s) 334a; 334b is set so that the inner part 331 arranged inside the outer part 330 is elastically and / or plastically deformed. 10

The outer part 330 is fixed by means of the clamping tool (s) 334a; 334b as long against the action of the elastic restoring force from the inner part 331 deformed or moved until the actual value of the clamping force and / or the travel and clamping path corresponds to the desired value of the clamping force and / or the travel and clamping path. Here are the corresponding 15 guide surfaces of the parts 330, 331 for surface contact. After the actual value has reached the desired value and the inner part (331) is prestressed via the outer part (330), the outer part 330 is joined together in the region of its overlapping longitudinal edges (joint) at least in partial sections, in particular by means of laser or electron beam - Or plasma welding welded or glued, as shown in Figs. 24 and 25 entered. The joining direction, in particular a beam welding head 339, is indicated schematically in FIG. Suitably, the modulus of elasticity of the inner part 331 is smaller than that of the outer part 330. For example, the outer part 330 may be slightly plastically deformed and the inner part 331 purely elastically. Such an assembly can be used for example as a telescopic steering shaft for a motor vehicle. 25

In the jointly described Figs. 26 to 29, another embodiment of an assembly is shown, which is produced with the inventive manufacturing plant with another embodiment of clamping units of the clamping system or according to the inventive method. This assembly consists of three parts, the two outer parts 340, 341 and a 30 mounted between these middle part 342. The outer parts 340, 341 are formed in a plane perpendicular to the longitudinal extent, substantially U-shaped and are spaced arranged parallel legs 343, 344 and a connecting base 345, 346 on. The legs 343, 344 of the outer parts 340, 341 are aligned with each other. In this case, the legs 343, 344 of the parts 340, 341, as shown in FIGS. 26 to 28 35, may be arranged overlapping each other at joints 347 a, 347 b, so that opposite end edges 348, 349 of the U-parts 340, 341 are spaced from each other arranged or the end edges 348, 349 facing each other and are applied to each other. The parts 340, 341, 342 are made of metal and / or plastic to size. Due to manufacturing tolerances, however, the dimensional accuracy of the individual parts 340 to 342 is often insufficient and the final quality of the assembly is unsatisfactory.

If it is now required that the middle part 342 can be displaced under force, in particular starting from a defined release force, in relation to the outer parts 340, 341 in the direction of the longitudinal extent of the assembly, a reproducible behavior of the detachment force da-45 is achieved by the middle one Part 342 is biased between the two outer parts 340, 341, in particular the middle part 342 is elastically and / or plastically deformed. Such an assembly may for example be used as a so-called blocking device of an anti-theft device or crash device on a steering shaft of a motor vehicle or an overload protection on a joint connection, in particular as a slip clutch. The middle part 342 is frictionally mounted between the two outer parts 340, 341. If the detachment force exceeds the maximum permissible frictional force, the frictional engagement is released and the inner part 342 can be displaced relative to the outer parts 340, 341. Kinetic energy is dissipated on the displacement path. If this module is used as a crash device, the impact energy acting on the vehicle can be reduced to an accident on the displacement path and the risk of injury to the vehicle driver can be reduced. 35 AT 501 243 B1

The parts 340, 341 are preferably made of a sheet metal forming part. The inner part 342 forms an interference fit with the joined outer parts 340, 341. The outer parts 340, 341 have on their inside at least partially facing each other guide surfaces, which are formed on the base 345, 346 and between which 5, the inner part 342 is arranged. The inner part 342 forms on its outer side at least partially guide surfaces, which are formed by portions of the outer contour of the part 342 and the guide surfaces of the outer parts 340, 341 facing. The middle part is supported on the base 345, 346 of the parts 340, 341. The inner part 342 is at least partially with its outer contour on the inner contour of the outer parts 340, 341 with io a biasing force. The preload force is chosen so high that it corresponds to the maximum permissible frictional force. Preferably, the modulus of elasticity of the inner part 342 is smaller than that of the outer parts 340, 341.

In the following, the method for producing this module will be described in more detail. 15

The parts 340 to 342 are preferably each removed from a parts supply by means of at least one handling system and placed on one of several parts transport carriers 48 in their position to each other oriented and stored roughly prepositioned. For this purpose, as described above, the parts transport carrier 48 can be provided with a positioning means 80 and one of the outer 20 parts 340, 341 with a positioning opening 352. These parts 340 to 342 are jointly supplied by means of the part transport carrier 48 of the transport device 46 of the joining station 350 and stopped in this in a holding position. Subsequently, the parts 340, 341 via at least one support element of a lifting device having the height positioning device together from the transport position on the parts transport carrier 48 25 in the opposite above this or below the provisioning position 270 " between cooperating clamping devices 355a, 355b, 356a, 356b of the clamping units 357, 358 moves, in particular lifted or lowered. For this purpose, the clamping tool 354a or the clamping device 355a is adjusted by means of the drive unit (not shown), in particular a linear drive, from its starting position 30 (AP) located below the transport position into an intermediate position (ZP) located above the transport position. The stacked clamping devices 355a, 355b each have a clamping tool 354a, 354b and a drive unit and form the first clamping unit 357. The support element of the lifting device 353 is formed according to this embodiment by the lower clamping tool 354a of the first clamping unit 357. 35

The clamping devices 355b, 356a, 356b or clamping tools 354b, 372a, 372b are moved from their initial position (AP) into an intermediate position during or subsequent to the adjusting movement of the clamping device 355a or the clamping tool 354a by means of the drive units not shown further, in particular linear drives (ZP) adjusted, as shown in FIG. 40 in dashed lines.

According to the figures, the clamping tools 354a, 354b of the clamping devices 355a, 355b are adjusted relative to each other until their abutment surfaces 359a, 359b abut against the parts 340, 341, so that the outer parts 340, 341 placed facing each other, positioned and the middle part 342 in a first spatial direction is biased. The relative position of the clamping tools 354a, 354b of the clamping devices 355a, 355b causes the parts 340, 341 to be brought against one another against the action of the elastic restoring force of the part 342. Now reaches the actual value of the clamping force and / or the travel and clamping path, the setpoint of the clamping force and / or the travel and clamping path, the Relatiwerstel-50 ment of the clamping tools 354a, 354b stopped each other. The parts 340, 341 are thereby subjected to oppositely directed clamping forces - in accordance with the arrows 360 entered in FIG. 27. The clamping forces are maintained until the parts 340, 341 have been joined. In this way, the outer parts 340, 341 are respectively positioned and fixed in a first spatial direction and to each other. 55 36 AT 501 243 B1

Thereafter, the clamping tools 372a, 372b of the clamping devices 356a, 356b are adjusted relative to each other abut stop surfaces 361a, 361b against the parts 340, 341, in particular the legs 343, so that the outer parts 340, 341 each positioned in a second spatial direction and in a Space predetermined clamping position 362 moves and, if appropriate, the middle part 342 is biased in the second spatial direction. The parts 340, 341 are thereby acted upon by oppositely directed clamping forces according to arrows 364 entered in FIG. 27.

As indicated in dash-dotted lines in FIGS. 28 and 29, at least the outer parts 340, 341, before being joined together, can be positioned over further tensioning devices 370a, 370b of a third tensioning unit 371 in the direction of their longitudinal extent and the quality features, in particular the dimensional accuracy, be detected and evaluated in the manner described above. The clamping devices 370a, 370b, as described above for FIGS. 14, 14a, each have a clamping tool 369a, 369b and a (n) drive unit 15b, w. Linear actuator on.

As already described, the clamping tools 354a, 354b, 372a, 372b; 369a, 369b of the first, second and third clamping units 357, 358; 371 each synchronously from the intermediate position (ZP) in the clamping position (SP) by the electric motors of the drive 20 units are electrically coupled. On the other hand, only one of the clamping tools 354a, 354b, 372a, 372b; 369a, 369b of the first, second and third clamping units 357, 358; 371 each moved from the intermediate position (ZP) in the clamping position (SP) and the stationary clamping tool 354a, 354b, 372a, 372b; 369a, 369b are delivered. The intermediate position (ZP) then corresponds to the clamping position (SP). 25

The positioning and clamping process is carried out in the manner described above by detecting the actual values for clamping force and / or travel and clamping travel and by reference actual value comparison of the clamping force and / or the travel and / or clamping travel for from the intermediate position (ZP) clamping tools 354a, 354b, 372a, 372b moving into the clamping position (SP); 369a, 369b 30 of each clamping unit 357, 358; 371. The setpoint values for the clamping force and / or travel and tensioning path are obtained from the specification of the detachment force and are determined, for example, empirically from tests, obtained from empirical values or calculated.

Are now the clamping forces and / or the traversing and clamping paths of the clamping tools 354a, 35 354b, 372a, 372b; 369a, 369b of each clamping unit 357, 358; 371 within the above-described surrounded tolerance window, the clamping forces on the parts 340, 341 are still maintained until the parts 340, 341 at the joints 347a, 347b at least partially joined together. The tolerance window for the clamping force and / or the travel and clamping travel of each clamping tool 354a, 354b, 372a, 372b; 369a, 369b are preferably empirically determined before 40, so that the detachment force is set reliably.

For a better understanding of the construction of the clamping units 357, 358; 371 comprehensive clamping system 351, this is shown schematically in Fig. 29. The adjacently arranged clamping devices 356a, 356b each have a drive unit and three clamping tools 372a, 372b adjustable via the drive unit, which are fastened via a common support frame 373a, 373b to the setup platform formed by a slide 374a, 374b of the linear drive of the drive unit 375a, 375b are. The support frame 373a, 373b is formed as shown in Figs. 14, 14a and has the two support walls and a mounting plate. The clamping devices 356a, 356b form the second clamping unit 358.

The cooperating clamping devices 356a, 356b are arranged on an approximately U-shaped mounting plate 376 in the feed direction - according to arrow 65 - one behind the other. This attachment plate 376 is mounted on a carriage 377 of a 37 AT 501 243 B1 designed as a delivery axis 378

Linear drive with electronically controlled electric motor 379 stored. By means of the feed axis 378, the cooperating clamping devices 356a, 356b of the second clamping unit 358 can now be adjusted together. While the part transport carriers 48 of the transport device 46 are moved in a clocked manner, the clamping devices 356a, 356b are positioned in a preposition to the side of the transport device 46. During standstill of at least the retracted into the holding position part transport carrier 48, the clamping tools 372a, 372b of the clamping devices 356a, 356b are each brought to an initial position.

As further enlisted in FIG. 29, the io clamping device 370b of the third clamping unit 371 is optionally mounted on the mounting plate 376. The clamping device 370a is attached laterally to the transport device 46 on a mounting plate, not shown, of a base frame of the joining station and each have the clamping tools 369a, 369b.

The clamping devices 355a, 355b of the first clamping unit 357 are mounted on the base frame of the 15 Fpgestation.

On the other hand, it is also possible that the clamping devices 356a, 356b; 370a, 370b of the second and / or third clamping unit 338; 371 are formed by pressing devices and the clamping tools 372 a, 372 b by pressing elements which are adjustable between a rest position and a pressing position, wherein pressed in the contact position, the legs 343, 344 of the parts 340, 341 against portions of the outer periphery of the inner part 342 be carried out without causing an evaluation of a clamping force on the parts 340 to 342 and / or a travel and tensioning path. Preferably, the parts 340 to 342 are already supplied as part groups in the parts supply in a transfer position and transferred from this via a handling system to a transfer position of the transport device 46. The location oriented parts group will be in the stop position of the parts transport orders? 48 lifted by a height positioning. 30

If, however, the parts 340 to 342 are fed successively and / or in groups to the joining station, a first height positioning device is provided for the parts group comprising the parts 341, 342 and a second height positioning device is provided for the part 340. For example, the second height-positioning device is formed by a handling system with a gripper which extracts the part 340 from the parts supply and is deposited on the part group located in the holding position. Subsequently, the positioning and clamping operation by means of the clamping system 351.

In Fig. 30, another embodiment of an assembly, in particular a hinge connection, 40 consisting of three parts 381 to 383 is shown. The parts 381, 382 are formed by a first and second link rod. The third part 383 is formed by a bearing pin which comprises a conical head and a cylindrical shaft connected thereto. The head is inserted into a conical seat in the first link rod. In order that the parts 381, 382 of the articulated connection can be as easily as possible wasted against each other, the parts 381, 382 are not biased against each other, but are joined together so that a clearance 384 or a distance between the parts 381, 382 is set. The clearance 380 can be set to zero or so that it forms a small gap of the order of a few tenths of a millimeter. The so game 383 is set via the bearing pin.

In the following, only the positioning and clamping operation of the parts 381 to 383 will be discussed, since the different possibilities for the transport of the same have already been described in detail above. 55 38 AT 501 243 B1

In the figure shown, the parts 381 to 383 are already in the ready position between clamping tools 385a, 385b of cooperating clamping devices 386a, 386b, which are respectively moved by means not shown drive units or linear drives from the starting position (AP) in the intermediate position (ZP) , In turn, only one of the clamping tools 385a, 385b or both clamping tools 385a, 385b can move in synchronism with one another in the clamping position (SP) 5. In the following, it is assumed that the clamping tools 385a, 385b are already in the intermediate position (ZP) and at least one of them is moved into the clamping position (SP). According to the embodiment shown, the clamping tools 385a, 385b act on the bearing pin. 10

First, in the ready position, the parts 381, 382 aligned in their orientation to each other and, for example, the part 382 kept fixed, whereupon the bearing pin is axially adjusted by means of the clamping tool 385a, wherein the actual value of the travel determined and the evaluation unit 38 is entered in the Setpoint / actual value comparison of the 15 traverse path is carried out. If the actual value reaches the desired value of the travel path, the parts 381 to 383 are positioned and held in their clamping position relative to one another such that the clearance 384 is set between the parts 381, 382. The traversing clamping tool 385a is kept positioned in the clamping position (SP) and then the shaft is joined by the bearing pin and the part 382. 20

In another embodiment, in the ready position, the parts 381, 382 aligned in their orientation to each other and, for example, the part 382 held fixed, whereupon the bearing pin 385a axially adjusted by means of the clamping tool and the part 381 delivered to the part 382 and pressed against this briefly is moved, whereupon the clamping tool 385a in the opposite direction in a clamping position (SP) or adjusted so that the game 384 between the parts 381, 382 is adjusted. For this purpose, in addition to the clamping tool 385a, a second clamping tool 385b opposite this, as indicated in dashed lines, is required. The bearing pin is received between facing abutment surfaces of the clamping tools 385 a, 385 b. Of the clamping tools 30 385a, 385b, the actual value of the travel and / or clamping travel is continuously determined and compared with the predetermined setpoint of the travel and / or clamping travel and evaluated the desired-actual value comparison. If the clamping tools 385a, 385b respectively reach the predetermined setpoint value for the travel and / or clamping travel, the clearance 384 is set. After the clearance 384 has been adjusted, the parts 382, 383 are joined. 35

In a further embodiment, the bearing pin is adjusted axially by means of the clamping tool 385a and the part 381 is delivered to the part 382 and pressed against it with a clamping force. As entered in dashed lines, a second clamping tool 385b acts on the bearing pin. From the first and / or second clamping tool 385a; 385b, the actual value of the clamping force is continuously detected and transmitted to the evaluation unit 38. If the actual value of the clamping force reaches a predefined setting force, the traversing clamping tool 385a; 385b stopped and then moved in the opposite direction in a clamping position (SP). In this case, the clamping tool 385a; Adjusted so far 385b that the actual value of the clamping force reaches a target value of the clamping force, which is smaller compared to the setting force and set so that the parts 381 to 383 are still sufficiently supported against each other and do not fall apart. If now the actual value of the clamping force within the above-described lower and upper limit 315, 316 of the clamping force, the game 384 is set to zero. The parts 381 to 383 are in this state or in the clamping position (SP) substantially relaxed and force-free. 50

If, on the other hand, a clearance 384 of a few hundredths of a millimeter, for example 0.05 mm, is to be set, the first and / or second clamping tool 385a; 385b the actual value of the clamping force as well as traversing and tensioning travel is continuously recorded and transmitted to the evaluation unit. If the actual value of the clamping force reaches a predefined setting force, the traveling clamping tool 385a; 385b and then moved in the opposite direction into a clamping position (SP). In this case, the clamping tool 385a; Adjusted so far 385b that the actual value of the clamping force reaches a target value of the clamping force, which is smaller compared to the setting force and designed so that the parts 381 to 383 are still sufficiently supported against each other, but are substantially relaxed. Thereafter, the desired game 384 is set. For this purpose, when the nominal value of the clamping force has been reached, the actual value of the travel and clamping travel is detected. The first and / or second clamping tool 385a; 385b is then adjusted by a travel and tensioning path corresponding to the clearance 384 into the clamping position (SP) and the parts 381, 382 moved apart. If the setpoint of the travel and clamping travel is reached, the first and / or second clamping tool 385a; 385b held in the clamping position (SP), io until the parts 382, 383 are joined together.

The latter embodiments have proved to be advantageous since, for manufacturing reasons, the parts 381 to 383 usually have slight surface roughnesses and the compressed pressing of the parts 381 to 383 the compressed surface portions 15 are plastically deformed, as known to those skilled in the term "setting" is. In this way, it is now also possible to precisely set a clearance 384 of zero millimeters and also to maintain it during operation of the articulated connection.

As not further shown, there is also the possibility that a spacer, for example a feeler gauge, is used to set a dimension 20 between two parts. This is arranged according to the embodiment in Fig. 30 between the parts 381, 382 over the period of the clamping and joining operation and has a relation to the material of the parts 381, 382 substantially higher strength. According to this exemplary embodiment, the parts 381, 382 are first aligned with one another in their orientation relative to one another in the ready position and, for example, the part 382 is held fixed and the spacer is inserted between the parts 381, 382. Subsequently, at least one of the clamping tools 386a, 386b is pressed against the part 381 and / or part 383, and the part 381 is moved in the direction of the part 383 to the height of the spacer corresponding to the dimension 384. The clamping force increases. The actual value of the clamping force and of the travel and tensioning travel are continuously recorded and transmitted to the evaluation unit 38. If the actual value of the clamping force or of the travel and tensioning travel reaches the nominal value of the clamping force or the travel and tensioning travel, the traveling tensioning tool 385a is stopped, the parts 381, 383 are joined and then the spacer is removed and the assembly removed from the joining station. In this way, the measure 384 can be set exactly. 35

In Fig. 31, another embodiment of an assembly consisting of three parts 391 to 393 is shown, which are tubular. The parts 392, 393 are pushed onto the part 391 at the ends. According to this embodiment, a distance measure 394 between the mutually facing end edges of the parts 392, 393 or a total length of the assembly should be set.

In the figure shown, the parts 391 to 393 are already in the ready position between clamping tools 395a, 395b of cooperating clamping devices 396a, 45, 396b, each by means not shown drive units or linear drives from the starting position (AP) in the intermediate position (ZP) be moved. In turn, only one of the clamping tools 395a, 395b or both clamping tools 395a, 395b can move in synchronism with one another in the clamping position (SP). First of all, the parts 392, 393 are pushed onto the part 391 at the ends and then the ends are widened by means of a collet or via hydroforming in relation to the parts 392, 393. The ends widen so plastically until they come to the circumferential fixed contact with the inside of the parts 392, 393. The outer parts 392, 393 are currently expanding, but only in the elastic region, so that after releasing the 55 pressure force the material of the parts 392, 393 to the plastically expanded ends of the inner 40 AT 501 243 B1

Part 391 springs down, whereby a frictional engagement between the parts 391 to 393 is given. Since the ends of the part 391 are plastically expanded, high positioning accuracy of the parts 391 to 393 is achieved. The longitudinal axis of the parts 391 to 393 are aligned exactly.

The parts 392, 393 are thereafter displaced in the axial direction by means of the first and / or second clamping tool 395a, 395b on the flared ends relative to the part 391 fixed in the ready position so that the distance 394 is adjusted.

Preferably, both clamping tools 395a, 395b in each case from their intermediate position (ZP) in the clamping position (SP) synchronously delivered to each other and thereby detects the actual value of the travel and clamping path. If the actual value of the travel and tensioning travel reaches the setpoint value of the travel and tensioning travel, the parts 392, 393 are shifted to the tensioning position and the distance dimension 394 is set. Subsequently, the parts 392, 393 are joined to the part 391, in particular welded or glued. i

Such an assembly may be formed, for example, as a jacket tube for a steering shaft of a motor vehicle, in which in the parts 392, 393 bearing (not shown) are pressed.

In another embodiment, the assembly forms a propeller shaft which comprises the tubular first part 391 and hinge parts 392, 393 arranged at the ends thereof. A propeller shaft not only requires an exact distance from bearing axes of the joint parts 392, 393 but the bearing axes of the joint parts 392, 393 must also be perpendicular to the longitudinal axis of the part 391 and parallel to each other. In order to achieve this, the hinge parts 392, 393 on the tubular part 391 are rotated relative to one another such that an angle of rotation or angle between the bearing axes of the hinge parts 392, 393 is set to 0 °. For this purpose, the joint parts 392, 393 are each grasped by a clamping tool and moved to a clamping position in which the angular dimension and the distance between the bearing axes is set exactly. For the setting of the angular extent of the actual value of the rotational angle corresponding travel path is detected by the clamping tool continuously and the evaluation unit 38 transmitted. If the actual value of the travel reaches the setpoint of the travel, the clamping tool is stopped in the positioning movement. Thereafter, the parts 381, 382, 383 are joined. The adjustment of the distance between the bearing axes takes place in the manner described above.

In the jointly described FIGS. 32 and 33, the welding station 119 for the welding station is shown in different views. The welding device 119 comprises the drive system 156 shown in FIG. 11 and a beam welding head 121 which can be moved in space by means of the latter. The beam welding head 121 is additionally mounted pivotably about the vertical axis 177 via the actuator 400 on a fastening device 176 and comprises a base part 402, a Drive device 403 and a via a second actuator 404 relative to the base member 402 about the horizontal axis 178 pivotable beam guide member 406, a nozzle 408 and a monitoring device 409. The welding device 119 further includes a suction tube 164, a connecting line 412, in particular an optical waveguide, and optionally one Gas supply line, not shown, for a welding gas, in particular inert gas, in order to be able to weld in a protective gas atmosphere.

The base part 402 according to this embodiment forms a housing with a chamber 410 and is equipped with an optical connection coupling 411. At this connection coupling 411, the laser radiation from the energy source 34, in particular the laser generator, leading to the beam welding head 121, flexible or flexurally elastic connecting line 412, in particular the optical waveguide (L1) is coupled via a connection coupling 413 shown schematically. The connection coupling 413 comprises a coupling housing, in which a collimator lens 414 is arranged, via which a position of the focal point 41 AT 501 243 B1 of the beam cone emerging at the beam welding head 121 can be adjusted. The detachable connection couplings 411, 413 form a coupling device. The longitudinal axes of the optical connection couplings 411, 413 form a common axis and extend perpendicular to the optical axis 447 of the incident on the mirror 446 laser radiation. 5

As can be seen in the figures, the drive device 403 is expediently arranged between the base part 402 and the pivotable beam guiding part 406. The drive device 403 comprises a housing 420, which consists of a beam guide part 406 facing first housing part and a base part 402 facing the second housing part. The io drive device 403 has a traction mechanism drive, in particular a toothed belt drive, with a first drive element 421 coupled to the actuator 404, a second drive element 422, and a traction means 423 connecting these in motion. The first drive element 421 comprises a first deflecting wheel mounted via a drive shaft in the housing 420 and flanged to the actuator 404, and the second drive element 422 15 is a second deflecting wheel mounted in the housing 420 via a second drive shaft 424. The deflecting wheels are each connected torsionally rigid with the drive shafts. The drive shaft 424 is formed by a hollow shaft with a through-opening coaxial to the pivot axis 178 and rotatably supported at a first end to the base part 402 and second end connected to the beam guide member 406 torsionally rigid. In this way, a drive torque from Stellan-20 drive 404 is transmitted to the beam guide member 406 and the emerging from the beam welding head 121, focused beam cone can be positioned around the pivot axis 178 by preferably 270 ° in space. The housing 420 of the drive device 403 is connected to the fastening device 176 or the actuator 400 via a flange 435. The base 402 and actuator 404 are attached to the housing 420 of the drive device 403. 25

The beam guiding part 406 forms a beam guiding housing with a chamber 436 and comprises a focusing device 437, which has at least one focusing lens and serves for focusing the laser radiation. The beam-guiding housing has an adapter 438 and tubular attachment 439, which are each provided with a coaxial to an optical axis 448 through opening for the collimated laser radiation. The focusing device 437 is arranged on the radiation inlet side on the adapter 438 in the region of the passage opening.

As further noted in FIG. 33, the base portion 402 is provided with a through hole forming a jet entrance 443. The through-opening on the beam guide part 406 forms a beam exit 444. Between the beam entrance 443 and the beam exit 444, a beam path for the laser radiation extends. Along the beam path, according to this embodiment, two mirrors 445, 446 and the focusing device 437 provided in the vicinity of the beam exit 444 are arranged. The chambers 410, 436 of the base and beam guide parts 402, 406 are expediently equipped in each case with the mirror 444, 446, which are arranged at an angle of preferably 45 ° to an optical axis 447 of the laser radiation which coincides with the pivot axis 178. There is the possibility that the focusing device 437 is formed by the mirror 446 and thereby the additional focusing device can be dispensed with. The mirror 446 forms the focusing lens according to this embodiment. The optical axis 447 of the laser beam impinging on the mirror 446 arranged in the beam guide part 406 and the pivot axis 178 form a common axis. An optical axis 448 of the laser beam emitted by the focusing device 437 and the laser beam reflected by the mirror 446 are orthogonal to the optical axis 447. 50

The laser radiation coupled into the optical waveguide (L1; L2; L3) by the laser generator is collimated by the collimator lens 414, radiated orthogonally onto the optical axis 447, deflected by 45 ° at the first mirror 444, parallel to it in the direction of the pivot axis 178 to the second Mirrors mirrored 446 and deflected by this in turn by 90 ° and about 55 focussing device 437 focused from the beam welding head 121 as a beam cone on the parts to be welded to 42 AT 501 243 B1 parts 1 to 3b, etc. radiated. The beam path is accordingly subdivided into three beam sections and the optical axes of the first beam section and the third beam section viewed in the direction of the laser radiation are paraxial and the optical axis of the second beam section is orthogonal to these. 5

The welding device 119 is additionally equipped with the suction tube 164, which forms at least two sections 449, 450, which are connected to one another via a hinge 451. The first section 449 extends from the region of the beam exit 444 of the beam welding head 121 in the direction of the pivot axis 178 of the beam guiding part 406 and the second section io 450 from the region of the pivot axis 178 of the beam guiding part 406 in the direction of the connecting element of the connection interface 163 fastened to the portal 154 (see FIG. 3 and 10). A hinge axis 452 of the hinge 451, the pivot axis 178 from the beam guide portion 406 and the optical axis 447 of the second beam portion of the beam path form a common axis. The first section 449 of the suction tube 164 is immovably connected to the beam guide 15 part 406, in particular the attachment 439 of the beam guide housing. Via the suction pipe 164, the welding fumes produced during welding are sucked out of the welding station and fed to the central venting system (not shown).

As described above, the welding device 119 may be additionally permitted with the gas supply line-20. This gas supply line is formed by a tube which forms two sections, which are connected to one another via a joint. The first section extends from the area of the beam exit 444 of the beam welding head 121 in the direction of the pivot axis 178 of the beam guiding part 406 and the second section from the area of the pivot axis 178 of the beam guiding part 406 in the direction of the connecting element of the connection port 163 fastened to the portal 154 (see FIGS Fig. 10). A hinge axis of the hinge coincides with the pivot axis 178 from the beam guide portion 406 and the optical axis 447 of the second beam portion from the beam path.

As a result of the embodiment of the welding head 121 according to the invention, it is now achieved that the optical waveguide (L1; L2; L3) which is sensitive to bending and / or torsion stress, but also the second section 450 from the suction tube 164 and optionally the second section of the gas supply line in the joining station, the flexible connecting lines, such as fluid or power lines, are always guided substantially vertically to the actuators 400, 404 and are moved only along an arcuate path at an angle of approximately 270 °. The latter energy-carrying, flexible connecting line is connected to the actuator 404 and optionally with the interposition of the connection interface 163 to the power source 37.

The beam welding head 121 is equipped in the region of the beam exit 443 with the nozzle 408 arranged laterally by the focused welding beam. This is the Strahlführungsge-40 housing the beam guide member 406 attached and connected via an air supply line 453 with a compressed air supply system, not shown. The nozzle 408 generates a, on the optical axis 448 of the focusing device 437 acting in a plane perpendicular plane, air jet, in particular air curtain (air flow), which intersects the beam cone emitted by the beam welding head 121. This is known to those skilled in the art under the heading "Crossjet", which ensures that the spatters produced during the welding process are kept away from the optics, in particular the focusing device 437 and mirror 446. The nozzle 408 has a nozzle body, in which a pressure chamber 455 is formed, which is connected via a feed opening with the supply air line 453. An output of the pressure chamber 455 is formed as a slot through which the compressed air is pressed with high Ge-50 speed on the welding beam or beam cone.

In addition, a protective glass 458 is provided to protect the optics against welding spatter, which is interchangeably arranged as a cassette 459 in a receiving compartment in the beam-guiding housing of the beam guide member 406. 55 43 AT 501 243 B1

As can also be seen in FIG. 33, the monitoring element 409, in particular a CCD camera, is fixed to the housing-like base part 402, with the movement path of the beam welding head 121 in the teach-in predetermined by the position of the joining seams 21 to be produced prior to commissioning of the production system 1 Programmed process and / or during the joining a check on the quality of the produced joint seams 21 along the defined joints (as shown in Fig. 2 registered) between two parts to be joined together 1 to 3b, etc. is performed.

Thus, the parts of the assembly are not only checked for dimensional accuracy, but io additionally made a statement about the quality of the joining seams, in particular welds. This creates a high level of process reliability.

The transmit and receive beam 461 of the CCD camera are respectively deflected at a mirror 462 and the mirror 446, preferably at 45 ° with respect to the pivot axis 178 and projected by 15 of the CCD camera on the surface of the parts to be joined or the reflected light received from the CCD camera. So that the position of the joints in the teach-in process can be determined exactly, a not further illustrated reticle is projected onto the surface of the parts to be joined by means of an illumination source 463 and the beam welding head 121 or the optical axis 448 exactly on the basis of the crosshair Positioned procedure and thereby traversed trajectory programmed as a trajectory for the beam welding head 121 and stored. A light beam 464 emitted by the illumination source 463 is in turn deflected at a mirror 465 preferably at 45 ° with respect to the pivot axis 178 and the mirror 446 and projected onto the surface of the parts. 25

The mirrors 445, 465 are formed by so-called semitransparent or partially transparent mirrors, so that the transmitting and receiving beam 461 can pass through the mirrors 445, 465 and the light beam 464 through the mirror 445. Finally, it should also be pointed out that the dimension, in particular the length, of each part can be evaluated from the nominal / actual value comparison of the clamping force and / or the travel and / or clamping travel.

Just as well as a threaded spindle and spindle nut having Line-35 arantrieb the clamping units, feed axes or the drive system for the welding device and a linear motor, in particular asynchronous and synchronous linear motor can be used as an alternative. Linear motors allow the direct generation of linear motion without gears. They consist of a current-carrying primary part (comparable to the stator of a rotary motor) and a reaction part, the secondary part (comparable to the rotor of a Rota-40 tion motor). The primary part is expediently arranged in a stationary manner and fastened, for example, to the supporting construction of the joining station, while the secondary part is arranged on the slide of the drive units, which is guided so that it can be displaced essentially without play. For example, a long-stator synchronous motor is suitable for the non-contact drive of the carriage. The drive power is supplied to the primary part located in the adjustment, while 45 of the carriage contains only the excitation part. The exciter part is arranged so that the carriage is supported by the magnetic field forces. According to this embodiment, the current of the current-carrying primary part is detected and determined from the evaluation unit 38, the actual value of the travel and / or clamping travel and / or the clamping force. Thus, the embodiments show possible embodiments, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather various combinations of the individual embodiments are possible with each other and this variation possibility due to the teaching of technical action by subject invention in the skill of the professional working in this technical field. So there are also all conceivable embodiments 44 AT 501 243 B1

Variants that are possible by combinations of individual details of the illustrated and described embodiment variant, the scope of protection mitumfasst.

For the sake of order, it should finally be pointed out that, for better understanding of the manufacturing system, the clamping systems and assemblies, this or its components have been shown partially unevenly and / or enlarged and / or reduced in size.

Reference Number 10 1 Part 46 Transporting device 2 Part 47a, b Guideway 3a, b Part 48 Transport conveyor 5 Base 48 'Transport conveyor 49 Partial storage 15 6 Leg 50 Part storage 7 Positioning opening 8 Support extension 51 Receiving 9 Supporting surface 52 Transporting chain 10 Contact surface 54 Deflection station 20 55 Housing part 11 positioning opening 12 contact surface 56 end plate 15 support plate 57 coupling device 58 supporting device 25 16 sleeve 59 contact surface 17a, b joint 60 plane of symmetry 18a, b, c joint 19a, b joint 61 fastening device 62 side wall 30 21 joint 63 height guide track 22 contact surface 64 side guide path 23 contact surface 65th Arrow 24a, b joint 25 contact surface 66 support roller 35 67 pressure roller 26a, b, c joint 68 side surface 27a, b joint gap 69 side surface 70 roller 31 manufacturing system 40 32 production plant 71 chain pin 33 Production plant 72 Coupling extension 34 Energy source 73 Coupling receptacle 74 Mounting plate 36 Control device 75 Support column 45 37 Energy source 38 Evaluation unit 76 Support plate 39 Comparison module 77a, b Support bracket 40 Evaluation module 78 Guide leg 79 Base 50 41 Connection lead 80 Positioning means 42 T ransport system 43 Joining station 44 Transfer area 45 Transfer area 55 45 AT 501 243 B1 81 side guide surface 121 beam welding head 82a, b support surface 122 assembly 83 feed device 123 handling system 84 feed device 124 bad part box 5 85 base frame 125 end position 86 arrow 126 second transfer area 87 auxiliary part transport carrier 127 second transport system 90 guide path 128 second joining station 10 129 second transfer area 91 traction means 130 second Transport device 92 Drive motor 93 Chassis 131a, b Pickup 94 Impeller 132 Device 15 95 Pickup 133 V Device 134 Container 96a, b Receiving bar 135 Part store 97 Guide bar 98 Base 136 Transfer position 20 99 Positioning means 136 'Transfer position 100 Side guide surface 137 Handling system 138 Transfer position 101a, b Support surface 138' Transfer position 102 Stop device 139 Handling system 25 103a, b Stop element 140 Arrow 104 Transfer position 104 'Transfer position 142 Holding position 105 Handling system 143 Clamping system 144 Clamping unit 30 106 Transfer position 145 Welding device 106 'Transfer position 107 Handling system 146a, b Beam welding head 110 Holding position 147 Assembly 148 Handling system 35 111 Clamping system 149 Bad parts box 112a, b Feed axis 150 End position 114 Clamping unit 115 Clamping unit 151 Removing device 152 Stand 40 116 Clamping unit 153 Portal 119 Welding device 154 Portal 155 Console 156 Drive system 201a, b Clamping tool 45 157 Mont Mounting plate 203a, b Supporting frame 158 Supporting profile 203a, b Pressing device 159 Supporting bracket 204a, b abutment 160 Supporting profile 205a, b Mounting plate 50 161 Mounting plate 206a, b Supporting wall 162 Opening 207a, b Supporting wall 163 Connection interface 208a, b Supporting wall 164 Suction tube 209a, b Mounting plate 210a, b Support plate 55 46 AT 501 243 B1 170a, b Linear drive 171a, b Electric motor 211a, b Cantilever 172 Linear drive 212a, b Clamping jaw 5 173 Electric motor 213a, b Supporting element 174 Linear drive 214a, b Lifting device 175 Electric motor 215a, b Rampage 176 Fastening device 216a, b support surface 10 177 pivot axis 217a, b abutment surface 178 pivot axis 218a, b edge 180a, b drive unit 219 transport position 219 'transport position 181a, b drive unit 220a, b lift device 15 182a, b drive unit 184a, b linear drive 221a, b slide element 185a, b Linear drive 222a, b guide member 223a, b guide track 186a, b linear drive 224a, b St ell drive 20 187 setup platform 225a, b carriage 188a, b electric motor 189a, b electric motor 226a, b transfer element 190a, b electric motor 227a, b stop element 228a, b adjustment device 25 191a, b carriage 229a, b adjustment device 192a, b carriage 230a, b contact element 193a , b carriage 194a, b clamping device 231a, b pressing element 195a, b clamping device 232a, b housing part 30 233a, b side wall 196a, b linear actuator 234a, b bottom 197a, b electric motor 235a, b cover 198a, b slide 35 200a, b height positioning 236a , b guide surface 271 clamping force 237a, b horizontal slide 272 clamping position 238a, b horizontal slide 273 clamping force 239a, b guide surface 274 clamping position 40 240a, b guide surface 277a, b stop surface 241a, b vertical slide 278 clamping force 242 slide assembly 280a, b clamping device 45 242 'slide assembly 243 slide element 281a, b drive unit 243 'link element 282a, b clamping tool 244 Kul issenbahn 283a, b support frame 244 'slide track 284a, b electric motor 50 245 passage opening 285a, b linear actuator 245' passage opening 286 setup platform 246a, b coupling element 287a, b carriage 247a, b drive motor 288a, b height positioning device 55 248a, b vertical slide 289a, b actuator 47th AT 501 243 B1 249a, b Coupling element 290a, b Mounting plate 250a, b Mounting angle 291a, b Sidewall 5 251a, b Drive motor 292a, b Tray wall 252a, b Clamping jaw 293a, b Lifting device 254a, b Supporting frame 294 Transporting position 255a, b Clamping tool 294 ' Transport position 295a, b bearing element 10 256a, b mounting plate 257a, b T ragwand 296a, b ramp 258a, b support wall 297a, b contact surface 259a, b support plate 298 clamping segment 260a, b clamping device 299a, b actuator 15, 300a, b stop surface 261a, b supporting frame 262a, b clamping tool 301 pressing device 263 mounting plate 302 provision position 20 264a, b mounting plate 302 'Ber Adjustment position 265a, b Support wall 304a, b, c Pressing element 305 Width 266 Width 25 267 Length 306 Length 268 Width 307 Clamping force 269a, b Stop surface 308 Clamping position 270 Provision position Often 270 'Provision position oU 312 Clamping position 356a, b Clamping device 313 Clamping position 357 Clamping unit 315 Lower limit 358 Clamping unit 359a, b Stop face 35 316 Upper limit 360 Clamping force 317 Lower limit 318 Upper limit 361a, b Stop face 320 Clamping force curve 362 Clamping position ift 364 Clamping force 4U 321 Velocity profile 322 Friction force 369a, b Clamping tool 323 Double arrow 370a, b Clamping device 45 330 Part 371 Clamping unit 372a, b Clamping tool 331 Part 373a, b Frame 332 Indentation 374a, b Slide 333 Indentation 375a, b Drive unit 50 334a, b Clamping tool 335a, b Clamping device 376 Mounting plate 377 Carriage 336 Clamping unit 378 Infeed axle 337a, b Drive unit 379 Electric motor or 55 338 Clamping force 48 AT 501 243 B1 339 Beam welding head 381 Part 340 Part 382 Part 383 Part 341 Part 384 Play 342 Part 385a, b Clamping tool 343 Leg 344 Leg 386a, b Clamping device 345 Base 391 Part 346 Base 392 Part 347a, b Joint 393 Part 348 End edge 394 Distance 349 End edge 395a, b Clamping device 350 Joining station 396a, b Clamping device 351 Clamping system 400 Actuator 352 Positioning opening 353 Lifting device 402 Base part 354a, b Clamping tool 403 Drive device 355a, b Clamping device 404 Actuator 406 Beam guiding part 461 Transmitting and receiving beam 408 Nozzle 462 Mirror 409 Monitoring device 463 Illumination source 410 Chamber 464 Light beam 465 Mirror 411 Connection coupling 412 Connection line 413 Connection coupling 414 Collimator lens 420 Housing 421 Drive element 422 Drive element 423 Puller 424 Drive shaft 435 Flange 436 Chamber 437 Focusing device 438 adapter 439 attachment 443 beam input 444 beam exit 445 mirror 446 mirror 447 optical axis 448 optical axis 449 section 450 section 55

Claims (12)

49 AT 501 243 B1 451 Joint 452 Joint axis 453 Supply air duct 455 Pressure chamber 458 Protection glass 459 Cassette io Claims: 1. Method for positioning and checking a quality feature, in particular dimensional accuracy, of a part (1 to 3b, 340 to 342) to be further processed Joining station (43; 128) of a production line (32, 33), in which part (1 to 3b; 340 to 342) in Fig. 15, a provision position (270, 270 ', 302, 302') between two cooperating clamping tools (201a, 201b , 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) and thereafter by means of at least one starting position (AP) releasing the part (1 to 3b; 340 to 342) a tensioning position (SP) exciting the part (1 to 3b; 340 to 342), clamping tool (201a, 201b, 255a, 255b, 262a, 262b; 282a) adjustable by an electronically controlled linear drive 20 (184a, 184b; 285a, 285b), 282b, 354a, 354b, 369a, 369b, 372a, 372b) wherein the clamping force of the movable clamping tool (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 354a, 354b, 369a, 369b; 372a, 372b) on the part (1 to 3b; 340 to 342) as well as the traversing and clamping path 25 of the adjustable clamping tool (201a, 201b, 255a, 255b, 262a) traversed between the initial and clamping positions (AP, SP) , 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) is preferably detected continuously as an actual value and transmitted to an electronic evaluation unit (38), then in this a nominal-actual value comparison of the clamping force on the part (1 340 to 342) and is preferably carried out continuously by the travel and tensioning travel of the adjustable clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 30 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) characterized in that the set point for the clamping force of the adjustable clamping tool (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 354a, 354b, 369a, 369b; 372a, 372b) is applied to the part (1 to 3b; 340 to 342) by a tolerance field having a lower limit (315) and an upper limit (316) and the reference value for the zurückzuleg end of travel and tensioning of the clamping tool (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 354a, 354b, 369a, 369b; 372a, 372b) is limited by a tolerance field with a lower limit (317) and an upper limit (318) and that the adjustable clamping tool (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 354a, 354b, 369a, 369b, 372a, 372b) is stopped in its clamping movement and the part (1 to 3b; 340 to 40 342) is evaluated as a good part, provided that the actual value for the clamping force on the part (1 to 3b, 340 to 342) and the actual value for the travel and tensioning path is within the predetermined tolerance limits, and the clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) is stopped in its tensioning movement and the part (1 to 3b, 340 to 342) is evaluated as a bad part, if the actual value for 45 is the clamping force on the part (1 to 3b, 340 to 342) and / or the actual value for the travel and clamping distance outside the predetermined tolerance limits. 2. Method according to claim 1, characterized in that the part (1 to 3b; 340 to 342) by means of the initial position (AP) releasing the part (1 to 3b; 340 to 342) and the part (1 to 3b, 340 to 342) clamping clamping position (SP), by an electronically controlled linear drive (184a, 184b, 285a, 285b) adjustable clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) against a fixedly arranged, further clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) is tensioned. 55 50 AT 501 243 B1 3. The method according to claim 1, characterized in that for the time being both clamping tools (201a, 201b, 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) from the starting position (AP) in FIG an intermediate position (ZP) and from this at least one of the two clamping tools (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 5 354a, 354b, 369a, 369b; 372a, 372b) move into the clamping position (SP) During the feed movement of the other clamping tool (201a, 201b, 255a, 255b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b), one clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 272a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) in the intermediate position (ZP), so that the part (1 to 3b, 340 to 342) can be moved by means of the adjustable clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b, 372a, 372b) against the clamping tool (201a, 201b, 255a, 255b, 262a, 262b, 282a) which remains in the intermediate position (ZP) , 282b; 354a, 354b, 369a, 369b; 372a, 372b). 4, Method according to claim 1, characterized in that for the time being both clamping tools (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 354a, 354b, 369a, 369b; 372a, 372b) are formed from the part (1 to 3b; 340-342) to an intermediate position (ZP) and from both of these clamping tools (201a, 201b, 255a, 255b, 262a, 262b; 282a, 282b; 354a, 354b, 369a, 369b; 372a, 372b) ) and the part (1 to 3b, 340 to 342) between the clamping tools (201a, 201b, 255a, 255b, 262a, 262b, 282a, 282b, 354a, 354b, 369a, 369b) are adjusted in the same direction and synchronously with each other 372a, 372b) and is tensioned centrically relative to the joining station (43; 128) 5. The method according to claim 3 or 4, characterized in that the intermediate position 25 (ZP) defined between the starting and clamping position (AP, SP) of the (the) clamping tools (s) and in this the part (1 to 3b; to 342) and that the clamping tool (s) accelerates from the starting position (AP) until just before the intermediate position (ZP) at rapid traverse and decelerates as far as the intermediate position (ZP), then starting from the intermediate position (ZP) with a reduced travel speed relative to the rapid traverse, a stop surface of the clamping tool (s) abuts against the part (1 to 3b, 340 to 342), whereupon the travel speed of the (in) the clamping position (SP) moving clamping tools (s) is controlled in response to the change in the clamping force. 6. The method according to claim 3 or 4, characterized in that the Verfahrgeschwin speed of the (the) clamping tools (s) from the intermediate position (ZP) is adjusted to the clamping position (SP) in response to the change in the clamping force during the clamping operation. 7. The method according to any one of claims 5 or 6, characterized in that the (the) clamping tool (s) are temporarily stopped in the intermediate position (ZP). 8. The method according to claim 1, characterized in that the lower limit (315, 317) and / or upper limit (316, 318) of the clamping force and / or the traversing and / or Spannwe- 45 ges before commissioning of the joining station (43; 128) can be empirically determined and adjusted. 9. The method according to claim 1, characterized in that the lower limit (315, 317) and / or upper limit (316, 318) of the clamping force and / or the traversing and / or Spannwe- 50 ges based on in at least one previous Spann- and / or joining electronically recorded data regarding clamping force and / or travel and / or clamping travel and / or quality of the joint, for example, the weld, are changed and set automatically. 10. The method according to claim 1, characterized in that the lower limit (315, 317) 5 1 AT 501 243 B1 and / or upper limit (316, 318) of the clamping force and / or the travel and / or clamping travel based on at least one modified assembly (122, 147) determined deviations of a quality feature, in particular the dimensional accuracy, the joined assemblies (122, 147) are corrected. 5 11. The method according to claim 1, characterized in that of the evaluation unit (38) from the applied torque or the motor current of an electric motor, in particular stepper or servomotor, from the linear drive (184a, 184b; 285a, 285b) determines the actual value of the clamping force and evaluated. 10 12. The method according to claim 1, characterized in that during the traversing and / or clamping movement of the (r) adjustable clamping tools (s) of the evaluation unit (38) from the applied torque or the motor current of an electric motor from the linear drive (184a, 184b ; 285a, 285b), the occurring frictional force (322) is determined, evaluated and 15 by means of which the lower limit (315, 317) and upper limit (316, 318) of the clamping force is corrected. For this purpose, 35 sheets of drawings 20 25 30 35 40 45 50 55