CN108527894A - 借助机器人导引的施用头加固金属构件的方法 - Google Patents

借助机器人导引的施用头加固金属构件的方法 Download PDF

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Publication number
CN108527894A
CN108527894A CN201810173969.7A CN201810173969A CN108527894A CN 108527894 A CN108527894 A CN 108527894A CN 201810173969 A CN201810173969 A CN 201810173969A CN 108527894 A CN108527894 A CN 108527894A
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Prior art keywords
metal component
fiber composite
composite plastic
plastic insert
head
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Granted
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CN201810173969.7A
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CN108527894B (zh
Inventor
R.托马斯
M.埃勒本
T.默滕斯
A.T.博赫特勒
F.费希尔
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Volkswagen AG
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Volkswagen AG
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Abstract

为了把用于通过把纤维复合塑料嵌件向金属构件上压制以加固金属构件的方法优化，使其可以集成在车身制造的批量生产中，建议，纤维复合塑料嵌件借助机器人导引的施用头拾取并且向金属构件上压制。

Description

借助机器人导引的施用头加固金属构件的方法
技术领域
本发明涉及一种通过借助机器人导引的施用头把纤维复合塑料嵌件向金属构件上压制以本地加固金属构件的方法。
本发明还涉及一种由至少一个用纤维复合塑料嵌件加固的金属构件构成的车身部件。
本发明还涉及一种用于通过把纤维复合塑料嵌件向金属构件上压制加固金属构件的装置。
背景技术
在车身制造中使用不同形状和尺寸的金属构件。已知通过纤维复合塑料杂化以加固或者说强化这种金属构件。
金属构件在车身制造前被杂化并且然后提供用于车身制造。用于金属构件杂化的已知方法是费事的、高成本的并且目前不能集成在车身制造流程中。例如已知把纤维复合塑料粘贴在金属构件上。为了通过前置的杂化把纤维复合材料向金属构件上压制，还已知在用于大的金属构件的大型挤压机中高成本和费事的挤压技术。
在专利文献DE 10 2013 021 672 A1中描述了一种用于制造复合部件的方法，其中，该复合部件构造为由载体型材件、尤其板件和纤维强化的塑料组成的构件复合体。在该方法中规定，通过带铺放技术把至少一个在基体材料上预浸渍的纤维半成品作为带料在压力和热作用下在共同的工艺步骤中向载体型材上铺设并且以此不可逆地连接。
专利文献EP 2 859 967 A1描述了一种用于制造半成品或者构件的方法。该文献中建议，在金属载体上敷设带有纤维强化的塑料的可硬化的涂层并且涂层后的金属载体在进一步的步骤中成形为半成品或者构件。
发明内容
本发明要解决的技术问题在于，把用于杂化或者说加固金属构件的方法这样地优化，即该方法可以集成在车身加工或者安装中。
为此，按照本发明建议一种通过借助机器人导引的施用头把纤维复合塑料嵌件向金属构件上压制以加固金属构件的方法。所述方法至少包括下述步骤：
a)用施用头拾取纤维复合塑料嵌件；和
b)把金属构件向作业区域输送；和
c)把纤维复合塑料嵌件布置在金属构件上；和
d)借助施用头上的压模把纤维复合塑料嵌件向金属构件上压制。
上述方法步骤可以先后依次地和/或部分地同时地实施。例如，步骤a)和b)既可以先后依次实施，也可以同时实施。步骤a)、b)和c)至少在步骤d)前实施。在作业区域中，纤维复合塑料嵌件被向金属构件上压制。
按照本发明的方法因而用于通过纤维复合塑料嵌件杂化金属构件。以此使得金属构件至少逐段地或局部地加固或者加强。所述方法因而设计为纤维复合塑料嵌件在金属构件上的局域的或者说逐段或者局部的镶嵌。对此应理解为，纤维复合塑料嵌件被压制在金属构件的待强化的或者待加固的部段中。
所述施用头用于拾取纤维复合塑料嵌件和用于向金属构件上压制。所述施用头为此按照本发明地是机器人导引的。例如，机械臂可以具有所述施用头，或者说施用头是被安装在机械臂或者说机器人臂上的。因而通过机械臂把施用头铰接地布置在机器人上，以此实现非常灵活的使用。例如，机器人可以集成在现有车身制造的接合室中。
术语纤维复合塑料嵌件例如理解为是带或者预浸料。纤维复合塑料嵌件具有用基质材料浸渍的加固纤维。纤维复合塑料嵌件的加固纤维可以具有玻璃纤维、碳纤维和/或陶瓷纤维。优选的是，这些加固纤维以一个或者两个优先方向定向，就是说单向地或者双向地对准。纤维复合塑料嵌件的基质材料优选地构造为反应式热塑性基体材料，并且因而优选地基于内酰胺系统、例如己内酰胺。备选地，基质材料可以由热固性的基质材料或者传统的热塑性塑料(例如聚丙烯、聚酰胺)构成。
由于施用头是机器人导引的并且用于拾取纤维复合塑料嵌件以及也用于把纤维复合塑料嵌件向金属构件上压制，以此使得按照本发明的方法可以以特别合适的方式集成在车身制造的现有流程或者工艺过程中。
基本上，金属构件可以在步骤b)中通过任何合适的手段向作业区域中输送。例如，金属构件可以在通过输送带向作业区域中行进。优选地，在步骤b)中借助机器人导引的辅助头拾取金属构件。优选地还规定，在步骤d)中为了对压制进行辅助而通过辅助头向施用头上构成反压力。为此例如可以为机器人设置有两个头、即施用头和辅助头。也可以规定两个单独的机器人，其中，第一机器人具有施用头，第二机器人具有辅助头。在步骤d)期间，施用头和辅助头可以相抵压紧。备选地，辅助头可以刚性地通过机器人固持，仅施用头朝辅助头的方向运动以构成压力。
优选地还规定，在步骤d)前和/或期间，金属构件至少局部地被加热到60℃至180℃之间的温度。特别优选的是，金属构件在此被加热到80℃至160℃之间的温度。例如，金属构件可被加热到约150℃的温度。基本上，金属构件的加热可以规定在步骤b)和/或步骤c)前，和/或步骤b)和/或步骤c)期间。可以在辅助头上布置或者在辅助头中集成加热元件用于加热金属构件。
优选地，借助机器人导引的、用于感应式热传递的感应器加热金属构件。感应器可以布置在辅助头上。但是金属构件也可以刚性地、即非机器人导引地支承，其中就只有感应器由机器人导引。借助感应器可以把加热过程缩短为几秒钟，并且因而极大地缩短了循环时间。这实现了临步骤d)中的压制前和/或在步骤d)中的压制期间的加热。因而不需要额外的长的过程步骤或者连续炉以预先加热金属构件。
此外，纤维复合塑料嵌件在步骤a)中的拾取前和/或期间优选地被加热到60℃至180℃之间的温度。特别优选的是，纤维复合塑料嵌件被加热到纤维复合塑料嵌件的基质材料的熔化温度。例如，纤维复合塑料嵌件可以在步骤a)前的前置步骤中在冷状态中被拾取并且被放置在加热场上。接着纤维复合塑料嵌件可以在步骤a)中在已被加热的状态中被拾取。
优选地，纤维复合塑料嵌件在步骤a)中借助布置在施用头上的抓取件拾取。抓取件可以这样地构造，即用抓取件可以侧向地或者周向地拾取和固持纤维复合塑料嵌件。为此，抓取件可以是沿垂直的方向和/或水平的方向可调节地布置在施用头上的。
优选地在步骤d)中借助布置在施用头上的压紧件操纵压模。压紧件为此可以构造为压力气缸和/或弹簧元件。压紧件在此这样地布置在施用头上，即在借助抓取件拾取纤维复合塑料嵌件后压紧件可以把纤维复合塑料嵌件从施用头压离。
优选地规定，在步骤c)期间借助在施用头上的固持装置固持金属构件。为此，施用头优选具有该固持装置。在此情况中不需要独立的辅助头。固持装置也可以构造用于在步骤b)中拾取金属构件。因而可以用施用头借助抓取件拾取纤维复合塑料嵌件并且借助固持装置拾取金属构件。
固持装置优选这样地构造，即用固持装置实现向金属构件上摩擦配合和/或形状配合的联接。金属构件在步骤b)中通过固持装置被刚性地和固定地固持或者支承在施用头上或者说由施用头刚性地和固定地固持或者支承。在挤压时，从压紧件经由固持装置向金属构件上施加力。因而可以提升挤压力。
备选地，在步骤d)前施用头可以与辅助头通过至少一个耦连元件刚性地耦连。耦连元件为此可以布置在施用头和/或辅助头上。也可以规定多个耦连元件。耦连元件例如可以由连杆、气缸等等构造。在挤压时，力不仅经辅助头而且也经施用头向金属构件上施加。以此也可以提升挤压力。在施用头和辅助头未相互耦连的情况下由于机器人的柔软度只能实现很小的压力。在压力过强的情况下，机器人的使用寿命会降低。
在步骤d)前，为了降低侵蚀作用而优选地在金属构件和纤维复合塑料嵌件之间布置无纺布。无纺布为此特别优选地构造为带有不规则纤维层的无定向无纺布。无纺布可以具有一个或者多个层。特别优选的是无纺布具有玻璃纤维。
优选地还规定，在金属构件和纤维复合塑料嵌件之间不布置粘附剂、尤其不布置胶粘剂。注意：由于在金属和纤维复合体之间的黏附较弱，必要时必须向流程引入胶粘剂/表面预处理/增附剂(膏体、膜胶粘剂等等)。这也应包含在本发明内。
按照本发明还建议一种由至少一个用纤维复合塑料嵌件加固的金属构件构成的车身部件。在此，纤维复合塑料嵌件按照上述方法向金属构件上压制。
按照本发明还建议一种用于按照上述方法通过把纤维复合塑料嵌件向金属构件上压制加固或者杂化金属构件的装置。所述装置为此具有机器人导引的施用头，用该施用头能拾取纤维复合塑料嵌件并且向金属构件上压制。
优选地，所述装置也具有机器人导引的、用于拾取金属构件和用于在压制期间反向固持金属构件的辅助头。施用头和辅助头可以由同一机器人导引或者由相互独立的一个以上的机器人导引。
此外，所述装置可以具有另外的保证质量的器件，例如热成像摄像机、压力传感器或者另外的传感器。
附图说明
下面根据优选实施例示例性阐述本发明。
示意图中：
图1示出在车身制造的接合室中用于加固金属构件的装置的原理图；
图2示出在车身制造的接合室中用于加固金属构件的装置的另一原理图；
图3示出用于借助机器人导引的施用头和机器人导引的辅助头加固金属构件的方法步骤；
图4a示出用于把纤维复合塑料嵌件向金属构件上压制的施用头的实施方式；
图4b示出用于把纤维复合塑料嵌件向金属构件上压制的施用头和辅助头的实施方式；
图5示出用纤维复合塑料嵌件加固后的金属构件的部段的立体视图。
具体实施方式
在图1和图2中示出用于加固金属构件10的装置200的原理图。在两个附图中，装置200集成在车身生产线的接合室32中。以此可以使按照本发明的方法以特别合适的方式集成在车身组装的批量生产中。
车身100为了必要的制造步骤而被导引通过接合室32。装置200具有两个机器人30、31。第一机器人30用作施用机器人并且具有施用头12(在附图1和图2中为更简洁而未示出)。第二机器人31用作辅助机器人并且具有辅助头13(在附图1和图2中为更简洁而未示出)。施用机器人30从料箱取出纤维复合塑料嵌件11并且把纤维复合塑料嵌件11放在加热场33上用于加热。接着，施用头30把加热后的纤维复合塑料嵌件11输送至作业面34。辅助头31从料箱取出金属构件10并且同样把金属构件10输送至作业面34。在此期间，金属构件10可以通过集成在辅助头13中的加热元件19加热。备选地，为此可以使用感应器15。
在下个步骤中借助机器人30把施用头12朝辅助头13的方向移动并且把纤维复合塑料嵌件11向金属构件10上压制。
图3再次示出所述方法步骤，其中，详细示出施用头12和辅助头13的位置。施用头12借助夹具16取出并且固持纤维复合塑料嵌件11。施用头12由机器人30导引。辅助头13由另外的机器人31导引并且用于拾取金属构件10以及用于在通过施用头12或者在施用头12上的压紧件17或者压模17把纤维复合塑料嵌件11向金属构件10上压制期间反向固持金属构件10。
在图4a中进一步示出施用头12的实施方式。在图4a中示出的施用头12具有用于拾取和固持纤维复合塑料嵌件11夹具16。施用头12还具有用于拾取和固持金属构件10的固持装置18。在此变型方案中，机器人导引的辅助头13不是必须的。但还是可以在此实施方式中规定用于拾取和把金属构件10朝向施用头12输送的机器人导引的辅助头13。
在纤维复合塑料嵌件11向金属构件10上压制期间，金属构件10借助固持装置18刚性地和固定地固持在施用头12上，使得经由固持装置18向金属构件10上施加反向压力。
在图4b中示出施用头12和辅助头13的另外的实施方式。为了提升压紧力或者挤压力，在此实施方式中规定有用于把施用头12向辅助头13上耦连的耦连元件21。与图4a示出的实施方式相反的是，在图4b中的施用头12不具有用于固持金属构件10的固持装置18。但是，如图4b所示，在纤维复合塑料嵌件11向金属构件10上压制期间金属构件10也通过辅助头13固持。在压制前，施用头12和辅助头13通过耦连元件21相互刚性地连接，使得在压制时通过耦连元件21向辅助头13的配合固持件22和金属构件10上施加反向压力。
在图5中示出通过按照本发明的方法加强的车身部件100的局部的立体视图。车身部件100在此由金属构件10和压制在内侧上的纤维复合塑料嵌件11。
附图标记列表：
100 车身部件
200 用于加固金属构件的装置
10 金属构件
11 纤维复合塑料嵌件
12 施用头
13 辅助头
14 压模
15 感应器
16 抓取件
17 压紧件
18 固持装置
19 加热元件
20 压力
21 耦连元件
22 配合固持件
30、31 机器人
32 接合室
33 加热场
34 作业面

Claims (12)

1.一种通过借助机器人导引的施用头(12)把纤维复合塑料嵌件(11)向金属构件(10)上压制以加固金属构件(10)的方法，其中，所述方法至少具有下述步骤：
a)用施用头(11)拾取纤维复合塑料嵌件(12)；和
b)把金属构件(10)向作业区域输送；和
c)把纤维复合塑料嵌件(11)布置在金属构件(10)上；和
d)借助施用头(12)上的压模(14)把纤维复合塑料嵌件(11)向金属构件(10)上压制。
2.按照权利要求1所述的方法，
其特征在于，
在步骤b)中借助机器人导引的辅助头(13)拾取金属构件(10)，并且在步骤d)中为了对压制进行辅助而通过辅助头(13)向施用头(12)上构成反向压力。
3.按照权利要求1或2所述的方法，
其特征在于，
在步骤d)前和/或期间，金属构件(10)至少局部地被加热到60℃至180℃之间的温度。
4.按照权利要求3所述的方法，
其特征在于，
借助机器人导引的、用于感应式热传递的感应器(15)加热金属构件(10)。
5.按照上述权利要求之一所述的方法，
其特征在于，
纤维复合塑料嵌件(11)在步骤a)中的拾取前和/或期间被加热到60℃至180℃之间的温度。
6.按照上述权利要求之一所述的方法，
其特征在于，
在步骤a)中借助布置在施用头(12)上的抓取件(16)拾取纤维复合塑料嵌件(11)。
7.按照上述权利要求之一所述的方法，
其特征在于，
在步骤d)中借助布置在施用头(12)上的压紧件(17)操纵压模(14)。
8.按照上述权利要求之一所述的方法，
其特征在于，
在步骤c)期间，借助在施用头(12)上的固持装置(18)固持金属构件(10)。
9.按照权利要求2或7之一所述的方法，
其特征在于，
在步骤d)前，施用头(12)与辅助头(13)通过至少一个耦连元件(21)刚性地相互耦连。
10.按照上述权利要求之一所述的方法，
其特征在于，
在步骤d)前，为了降低侵蚀作用而在金属构件(10)和纤维复合塑料嵌件(11)之间布置纤维织物或无纺布。
11.一种由至少一个用纤维复合塑料嵌件(11)加固的金属构件(10)构成的车身部件(100)，
其特征在于，
纤维复合塑料嵌件(11)按照上述权利要求之一所述的方法向金属构件(10)上压制。
12.一种用于通过把纤维复合塑料嵌件(11)按照权利要求1至10之一所述的方法向金属构件(10)上压制以加固金属构件(10)的装置(200)，
其特征在于，
所述装置(200)具有机器人导引的施用头(12)，用该施用头能拾取纤维复合塑料嵌件(11)并且向金属构件(10)上压制。
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