DE102013000387B4 - Joining device with C-shaped frame and yielding die for pre-punch-free joining of components by means of kraftimpulsbeaufschlagtem joining element, and die holder and handling device therefor - Google Patents

Abstract

Joining device (100) for pre-hole-free joining of at least two components (210, 220) by means of a joining element (300), which is driven in an axial joining direction (L) with a burst-like joining pulse in the components to be joined (210, 220), with a C. - shaped frame (110) of the two opposing frame legs (112, 114), between which the components to be joined (210, 220) are positioned, and with a setting tool (130) and a die (140) facing each other the frame legs (112, 114) are arranged, wherein the die (140) relative to the die-side frame leg (112) in the joining direction (D) of the joining element (300) resiliently and thus decoupled conditionally relative to the die-side frame leg (112), so in that the residual joining pulse picked up by the matrix (140) when driving in the joining element (300) only partially and / or only with a temporal offset on the die-side frame leg (112) is carrying, characterized in that the die (140) is arranged with a die holder (150) on the die-side frame leg (112), wherein the die (140) to the die holder (150) is relatively movable and / or the die holder (150) to the die side Frame leg (112) is relatively movable, and that at least one as a separate mass body (159) formed additional mass is arranged on the die (140) and / or the die holder (150) to increase the inertia at least, which is designed to be interchangeable, thereby an individual adaptation to allow the joining process.

Description

The invention relates to a joining device for the pre-hole-free joining of at least two components by means of joining element which is driven (at a joint) in an axial joining direction with a jerky joining pulse in the components to be joined, with a C-shaped frame of the two opposing frame legs, between wherein the components to be joined are positioned during the joining operation, and with a setting tool and a die, which are arranged opposite to the frame legs of the frame.

The invention further relates to a die holder for use on such a joining device and a handling device, in particular a multi-axis manufacturing robot, with such a joining device.

A joining device of the type mentioned above is used for the mechanical connection of components with the help of at least one joining element or joining auxiliary part with two-sided Fügestellenzugänglichkeit. The joining of the components takes place at a provided joint without pre-punching, to which the components are positioned overlapping between the frame legs of the C-shaped frame and then driven the joining element with the setting tool against the die in the components to be joined and thereby a positive and / or non-positive joint connection is generated. In this case, the joining forces occurring, sometimes in the two- to three-digit kN range, are absorbed by the C-shaped frame. The components to be joined can be joined at several joints one after the other with the same joining device. The movements can be accomplished with a manufacturing robot or the like, to which the joining device is connected.

Is one of the components to be joined formed from a high-strength material high joining forces are required, which must be applied by the setting tool against the die. Other boundary conditions can lead to high joining forces. To accommodate high joining forces, the C-shaped frame must be rigid, making it either heavy and bulky and / or bulky and unwieldy (due to disturbing stiffening contours or interference contours). Furthermore, the force-generating device of the setting tool must be designed for such a high joining force, which also requires a heavy construction. A remedy here are joining devices in which the joining element with a force pulse generated by the setting tool or setting tool (referred to as joining pulse hereinafter) penetrates at the joint at a high speed into the components to be joined, wherein the joint connection is brought about within a few milliseconds.

The prior art is based on the patents DE 10 2005 054 242 A1 and DE 10 2005 038 973 A1 the same applicant. The closest prior art is the DE 197 29 368 A1 US-A-5 / 514,855, which describes an apparatus and method for mechanically joining superposed sheets. To make the joining tools easier to handle, the reaction forces of the joining process are reduced by a joining tool is excited in a frequency that is above the natural frequency of the opposite joining tool, the storage of at least one joining tool is vibration isolated.

The invention has for its object to provide a joining device of the type mentioned, which does not have at least one associated with the prior art disadvantage or at least only to a reduced extent.

This object is achieved by a joining device according to the invention with the features of claim 1. With the independent claims, the solution of the problem extends to other with the joining device according to the invention related inventions, as explained in more detail below. Further developments and embodiments are analogous to all subjects of the invention both from the dependent claims and from the following explanations.

The joining device according to the invention is characterized in that the die with respect to the die-side frame legs in the joining direction of the joining member is flexibly mounted and retained and thus decoupled conditionally relative to the die-side frame leg, so that a received during driving of the joining element in the components of the die Restfügeimpuls only transferred partially and / or only with a time offset on the matrix side frame leg or introduced into the frame legs.

By in the joining device according to the invention, the die is resiliently mounted relative to the die-side frame leg and thus decoupled conditionally to the frame-side frame limb, the residual joining moment taken up by the die during the joining operation can not be introduced directly into the die-side frame leg. Rather, a weakening or damping of the recorded residual joining pulse and / or, above all, a time delay in the transfer of the recorded residual joining pulse into the matrix side Frame leg reached. A weakening will minimize the effects on the widening and / or swinging of the frame. A time delay leads in particular to the fact that the recorded residual joining pulse is forwarded to the matrix-side frame limb only at the end or after the joining process (which here in particular means the actual setting process when the joining element is introduced into the components) and is forwarded in particular in a weakened form, so that Widening and / or swinging of the frame only takes place at a non-critical with respect to the joining or setting process late time.

In order to avoid or at least reduce the disadvantages associated with the prior art, and in particular the expansion and / or oscillation of the frame described above, according to the invention a yielding arrangement (or mounting or attachment) of the matrix on the die-side frame leg is claimed.

Under a resilient arrangement (or mounting or attachment) of the die is understood that this is mounted longitudinally movable in the joining direction and against the joining direction relative to the die-side frame leg and longitudinally movable in the axial joining direction, the relative mobility or longitudinal movement is limited, which, for example ., Is accomplished by stops, spring travel or the like. Due to the relative mobility or longitudinal mobility is a conditional, d. H. limited, decoupling of the die relative to the die-side frame leg brought about.

The invention according to claim 1 further provides that the die of the joining device according to the invention is arranged by means of a die holder on the die-side frame legs, wherein the die is relatively movable to the die holder and / or the die holder is relatively movable to the die-side frame leg. The latter allows a one-piece design of die and die holder.

Furthermore, the invention provides that at least one additional mass designed as a separate mass body is arranged on the matrix and / or on the die holder, in order to increase the inertia of movement, wherein the additional mass is designed to be exchangeable.

It is preferably provided that the joining device according to the invention is provided for the connection to a multi-axis manufacturing robot and has a corresponding connection element or a flange portion or the like.

The joining device according to the invention can be operated with different joining element types, wherein the setting tool and the die are respectively designed accordingly. A joining element is in particular a rivet, in particular a solid rivet or hollow punch rivet, a resistance welding element, a nail-shaped joining element or the like.

In the components to be joined are, for example, to (metallic) sheet metal components or sheet metal-like components made of plastic and plastic composite material (eg. CFK), metallic and non-metallic profile parts, metal castings, plastic castings and the like, in any combination (mixed construction). In particular, it is body parts for a vehicle body. The invention enables a mass production suitable mixing construction technique with short cycle times. It is preferably provided that the components are additionally glued together. At a joint, two or more components can be joined with one joining element. The joining device according to the invention can also be used for the mechanical binding of a joining element to a single component, for example for punching a punching nut, a punched bolt or the like. The joining device according to the invention can also be used for pure cutting or punching processes.

It is preferably provided that at least one of the components to be joined is formed from a high-strength material and in particular from a high-strength steel sheet material, such as, for example, a press-hardened steel sheet. A higher-strength material is primarily understood as meaning a material which has a tensile strength of at least 800 MPa and in particular of at least 1000 MPa. A press-hardened steel sheet material may have a tensile strength of up to 1500 MPa and more.

For joining or joining the components, the joining element is acted upon by the setting tool with a jerky joining pulse and driven in an exclusively axial joining movement at the joint with high impact velocity in the components to be joined. Preferably, the impact velocity of the joining element is in the range of 7 m / s [meters per second] to 100 m / s. In this way, in particular components made of higher-strength materials without pre-punching can be joined together. Depending on the process variant, the components to be joined can be penetrated at the joint by the joining element or only partially penetrated.

The executable with the joining device according to the invention joining process is one stage. A nailing (for example, a punching nails or the like) with several successive bumps (by means of hammer or impact mechanism or the like) is not provided, but a sudden or also shot-like operation, preferably according to the piston thrust principle. The jerky joining pulse generated by the setting tool or setting tool, which is transmitted to the joining element in particular with a joining punch or piston, is attenuated by the impact of the joining element and by the deformation of the components and the joining element taking place. The residual joining pulse is taken up by the die (also referred to as an anvil) and discharged into the C-shaped frame via the die-side frame limb. This leads to dynamic loads on the frame, which would in particular result in bending or widening and / or swinging or ringing of the frame, in particular at the free ends of the frame legs, with considerable disadvantageous influences on the joining process.

Ie. the invention does not start with the design of the frame but takes a different approach. Thus, on the frame side stiffening measures (such as, for example, a massive and heavy design or a complex and bulky truss structure) are largely dispensed with, so that the C-shaped frame of the joining device according to the invention even with large reach (usable length of the frame legs is, for example. 600 mm and more) may have a low weight and a compact design and contributes to a low system weight (including manufacturing robot, joining device and optionally additional components). In particular, it is possible to use a so-called lightweight C-frame which, for example, has a particularly lightweight truss structure or structure and / or frame parts made of carbon fiber reinforced plastic (CFRP). Furthermore, it is also possible to use "soft" C-frames or C-frames.

In particular, it is provided that at least one effective spring device is provided between the die and die holder and / or between the die holder and the die-side frame legs, which can accept or record the residual joining pulse received by the die and release it again with a time delay.

In a preferred manner, at least one damping device is provided in addition to the spring device, which can dampen vibrations occurring between the die and the die holder and / or between the die holder and the die-side frame leg.

The spring device converts kinetic energy into spring energy and vice versa. The spring device may be, for example, a coil spring, disk spring or the like. It is preferably provided that the spring device is an elastomeric spring or at least comprises such an elastomeric spring. An elastomer spring combines resilient and damping properties, so that a possibly provided separate damping device is not required. A spring device may comprise a plurality of spring elements of the same or different types.

By tuning, the (at least one) spring means with the mass of the die, the die holder and / or at least one mass body with additional mass at least one spring-mass system and in particular a damped spring-mass system, if provided (at least) a damping device is, form. On the basis of the given physical laws, such a spring-mass system can have a positive influence on the temporal course of the reaction after the acceptance of the residual joining pulse by the matrix, in particular with regard to the joining process. Furthermore, the reaction forces transmitted to the die-side frame leg can be considerably reduced, whereby the expansion or rebound between the frame legs is reduced.

Depending on the size, design, arrangement and combination of spring device, additional mass and damping element different effects can be achieved in different proportions and an individual adaptation to the joining process can be achieved. It is particularly preferably provided that the (at least one) spring device, the (at least one) damping device and / or the (at least one) additional mass are interchangeable and / or, if possible, adjustable in order to adjust the effects achieved and in particular also exactly to be able to adjust.

At least one temporally resolving measuring sensor can be arranged on the matrix and / or on the die holder, which is in particular a force measuring sensor and / or an acceleration sensor (acceleration sensor).

Such a measuring sensor enables a method for automated process monitoring of a joining operation carried out with the joining device according to the invention, wherein the measuring signals generated by the measuring sensor are automatically evaluated to determine a fault-free joint connection (or i.O. The automatic evaluation can be done with a computer, wherein a recorded force-time curve or waveform is compared in whole or in sections with target specifications for a faultless joint connection. Such The method is the subject of a first independent claim.

Subject of a second independent claim is a die holder for use on a joining device according to the invention. It is preferably provided that this die holder has a spring device, a damping device and / or an additional mass according to the above and / or following explanations.

Subject of a third independent claim is a handling device, which is in particular a multi-axis manufacturing robot to which or to which a joining device according to the invention is connected in order to move them with the device or the manufacturing robot in the room. Since the joining device according to the invention is light and handy, fast movements and high accelerations or delays are made possible. Furthermore, the handling device or the manufacturing robot can be equipped with relatively small-sized drive units (in terms of size and power or energy consumption). The required space or space requirement is relatively low.

Further features and advantages of the invention will become apparent from the following exemplary description with reference to the figures. The directions used here with reference to the figures are only exemplary and may differ from real world conditions. The features shown in the schematic and not to scale figures and / or explained below, regardless of specific combinations of features, general features of the invention. Furthermore, the features of the illustrated and / or illustrated embodiments are combinable within the scope of the invention.

1 shows a joining device according to the invention in a perspective view.

2 shows a die holder on the joining device according to 1 in a side view.

3 shows another possible embodiment of a die holder on the joining device according to 1 in a side view.

4 shows another embodiment of a joining device according to the invention with truss frame in a side view.

5 shows in several diagrams possible force-time curves for a reaction force on the die holders according to 2 and 3 ,

1 shows a joining device according to the invention 100 that has a C-shaped frame 110 with two opposite frame legs 112 and 114 having. With 120 is a flange section for connecting the joining device 100 referred to a manufacturing robot, not shown. Such a flange portion may also be on one of the frame legs 112 and or 114 are located. At the upper frame leg 114 is a setting tool or setting tool 130 arranged. At the opposite lower frame leg 112 is one with the setting tool 130 corresponding die 140 arranged. The joining axis is marked L.

The joining device 100 is used for the mechanical joining of two (or more) overlapping components 210 and 220 by means of joining element 300 , For this purpose, the components to be joined 210 and 220 between the frame legs 112 and 114 arranged and at the joint with the mouthpiece 131 of the setting tool 130 against the matrix 140 fixed, which requires a two-sided Fügestellenzänglichkeitkeit. When using adhesives this is pressed. Optionally, a separate hold-down for fixing the components 210 and 220 be provided at the joint. Subsequently, in the setting tool 130 the joining element 300 in the joining direction D through the mouthpiece 131 accelerates through and penetrates at high speed and a concomitant high joining pulse in the components to be joined 210 and 220 a, wherein within a few milliseconds, possibly also in less than a millisecond, a positive joining connection is brought about. By moving the joining device 100 can in the same way at other joints further joints between the components 210 and 220 be generated.

An during the joining process and in particular during the setting process of the die 140 recorded residual joining pulse would without further measures directly in the matrix-side frame legs 112 be derived, resulting in a designated S bending or widening and / or swinging of the frame 110 between the frame legs 112 and 114 would lead. This would, inter alia, a misalignment (angular offset and lateral offset, based on the joint joining axis L) between the setting tool 130 and the matrix 140 As a result, which in turn would adversely affect the manufactured joint connection.

To avoid this, the invention provides that the die 140 opposite the die-side frame leg 112 in the joining direction D of the joining element 300 yielding and thus opposite the matrix side frame legs 112 Conditionally decoupled, so that when driving the joining element 300 from the matrix 140 recorded Restfügeimpuls only partially and / or only with a time offset on the matrix-side frame legs 112 is transmitted.

2 shows an inventive arrangement of the die 140 on the matrix-side frame leg 112 , The matrix 140 is with a die holder 150 indirectly on the matrix-side frame leg 112 attached. The die holder 150 has an axially extending body 151 on (axial extent corresponds to the joint axis L, see 1 ), on which a matrix recording 152 for the matrix 140 is trained. Alternatively, the main body 151 and the matrix 140 be formed integrally. The main body 151 extends through a die-side frame legs 112 trained hole.

With an eccentric bush arrangement, the alignment of the die 140 be adjusted to Fögeachse L and readjusted. To this eccentric bushing arrangement includes an eccentric bushing 157 , which with a radially projecting collar on the top or inside of the die-side frame leg 112 rests, through the hole in the die-side frame leg 112 extends through and at the bottom or outside of the die-side frame leg 112 with the fastening nut 153 is secured. The main body 151 can be in the axial direction L relative to the sleeve-like eccentric bushing 157 move.

Between the matrix holder 152 , which is formed on the leg side with a radially projecting shoulder, and the frame legs 112 are a first and a second elastomeric spring 154a and 154b arranged. The elastomer springs 154a and 154b each have an elastomeric body disposed between metal discs. Between the elastomer springs 154a and 154b there is a force measuring sensor 155 , With 156 is the connecting cable of the force measuring sensor 155 designated. The die holder 150 may have a punched neck removal, not shown.

The first and second elastomer springs 154a and 154b are on the side of the die 140 arranged. Furthermore, the die holder 150 a third elastomeric spring 154c on, concerning the frame leg 112 at the of the matrix 140 opposite side is arranged. The third elastomer spring 154c is over the eccentric bush 157 to the mother 153 axially spaced. By turning the nut 158 can be the preload of the elastomer springs 154a . 154b and 154c and thus their spring and damping properties are changed and adjusted. Constructive details are not shown.

The matrix 140 is opposite the matrix side frame leg 112 in the joining direction D of the joining element 300 yielding stored. That is, the die holder 150 or its basic body 151 is together with the matrix 140 to the Matrizenseitigen frame legs 112 along the joining axis L relatively movable. Due to the axial relative mobility between the die holder 150 and the die-side frame leg 112 these components are not rigidly connected.

The during a joining process or setting process (ie when setting the joining element 300 ) from the matrix 140 absorbed residual impulse causes the matrix 140 together with the main body 151 moved in the joining direction D (downwards or outwards). Here are the elastomer springs 154a and 154b stretched and (upward or inward acting) restoring forces generated. This eventually leads to a return movement of the base body which is opposite to the joining direction D. 151 (upwards or inwards), which can lead to overshoot. Here is the third elastomeric spring 154c strained and generates a (downward or outward acting) restoring force. The of the matrix 140 recorded Restfügeimpuls can thus a vibration of the die holder 150 (along with the matrix 140 ) relative to the die-side frame legs 112 cause this vibration by the damping effects of the elastomer springs 154a . 154b and 154c is dampened. This results in that when driving the joining element 300 from the matrix 140 recorded Restfügeimpuls only partially and / or only with a time offset on the matrix-side frame legs 112 is transmitted. As a result, the widening and / or swinging S of the frame 110 be minimized and / or moved to a time frame uncritical with respect to the joining process or setting process.

3 shows another embodiment of a die holder 150 , Like components and elements are denoted by the same reference numerals as in FIG 2 designated. In this embodiment possibility are on the side of the die 140 a force measuring sensor 155 and a first elastomeric spring 154a arranged. At the of the matrix 140 opposite side are a second elastomeric spring 154b , a mass body 159 and a third elastomeric spring 154c arranged. With 157 is called an eccentric bush, as related to in 2 illustrated embodiment possibility explained.

The over the two adjacent elastomer springs 154b and 154c supported mass bodies 159 is to the body 151 in the axial direction L movable relative. The mass body 159 provides an inert additional mass, which is almost the same as that of the matrix 140 counteracts absorbed Restfügeimpuls, wherein the elastomeric springs 154b / 154c and the mass body 159 are coordinated and form a spring-mass system. The additional mass may, for example, be in the range of several hundred grams to several kilograms. Incidentally, the explanations regarding in 2 shown execution option.

At the in 3 embodiment shown is that of the die 140 recorded Restfügeimpuls also not directly in the matrix-side frame legs 112 but is introduced (with or possibly also omitting the middle elastomeric spring 154b ) first on the additional mass of the mass body 159 shifted and is shifted back from there again (Newtonian rocker) and attenuated or damped in the matrix side frame leg 112 initiated what takes place with respect to the joining process or setting process at an uncritical late time. In other words, this means that the additional mass of the mass body 159 through the mold 140 recorded residual joining pulse in the joining direction D is accelerated, with their inertia counteracts the recorded residual joining pulse. As a result, the widening and / or swinging S of the frame 110 be significantly reduced. This has an influence on the temporal force curve of a die holder 150 measured reaction force (see 5 ), whereby the joining process and in particular the setting process are positively influenced.

Both in the embodiment according to 2 as well as in the embodiment according to 3 Spiral springs, disc springs or the like may be provided instead of elastomeric springs. A damping can be accomplished with separate damping devices or damping elements.

5 shows several with the force measuring sensors 155 Recorded force-time curves (force-time diagrams) for the same with the joining device 100 performed joining operations. The measured reaction force is plotted in kilonewtons [kN] (ordinate axis) over time in milliseconds [ms] (abscissa axis).

5a shows the force curve F (t) of the measured reaction force to a die holder 150 without spring devices, damping devices and additional masses. The fissured force curve F (t) has several similar partly high peaks. 5b shows the force curve for a die holder according to 3 which is equipped only with an additional mass and without spring and damping devices. Opposite the in 5a shown force curve, this force curve has fewer peaks, but higher peak values. Overall, however, shows a harmonization of the force curve, which is advantageous, inter alia, for the system load. 5c shows analogously to 5b the force curve with a higher additional mass on the die holder (without spring and damping devices). 5d shows analogously to 5b the force curve with additionally installed elastomer springs. 5e shows analogously to 5c the force curve with additionally installed elastomer springs. 5f shows the force curve in a die holder according to 2 which has no additional masses.

The in the 5d . 5f and 5e shown force curves F (t) have only two distinct peaks or maxima. The temporally first and higher peak (punching peak) represents the impact of the joining element 300 on the upper component 210 , The second tip represents the abutment of the joining element head 310 on the upper component 210 at the end of the setting process. The through the elastomer springs 154 and optionally additional masses 159 Smoothed force curve or signal curve can be used excellently for an automated real-time process monitoring to determine a faultless joint connection.

The invention makes it possible, the joining device 100 with a relatively light frame 110 equip. The C-shaped frame 110 must be designed at least so that this when putting the mouthpiece 131 for fixing the components 210 and 220 against the matrix 140 acting static forces, which may, for example. In the range up to 9 kN can absorb largely deformation-free. By means of the invention, the dynamic forces occurring during a joining operation or setting process can be handled without the C-shaped frame for this purpose 110 stiffened excessively and thus heavy and bulky or unwieldy must be performed. Furthermore, the C-shaped frame can be at least partially made of lightweight materials, such as, for example, aluminum or fiber-reinforced plastic, in particular carbon fiber reinforced plastic (CFRP). Cast alloys, which sometimes have very good vibration damping properties, can be used. Thus, the C-shaped frame may be at least partially formed of an aluminum and / or magnesium casting alloy.

4 shows a C-shaped frame 110 with a truss structure which is particularly well suited for the invention. The framework framework 110 is very light and, since it has to absorb only relatively small dynamic forces, also sufficiently stiff. In the framework framework 110 are the frame legs 112 and 114 each formed from two struts. The setting tool 130 is with a linear actuator or a feed unit 135 on the upper frame leg 114 attached. With the actuator 135 can the setting tool 130 be moved in the axial direction L to the tubular mouthpiece 131 on the between the frame legs 112 and 114 set up and to be assembled components and bring about a fixation of these components for the subsequent joining process.

An advantage of a joining device according to the invention is its low weight, which contributes to a low system weight. Furthermore, a good and above all nimble handling, especially on a manufacturing robot, allows. In addition, due to non-existent or only small interference contours, good accessibility to the joints, in particular on and in vehicle bodies, is made possible. Further advantages are low noise development (attenuated impact noise) during the joining process and in particular during the setting process (with respect to conventional pulse joining devices), independence from the materials of the components to be joined and the achievable extremely short process times, which leads to short cycle times. These factors favor the preferred use in large-scale production.

LIST OF REFERENCE NUMBERS

100

joining device

110

frame

112

Frame legs (on the die side)

114

frame leg

120

flange

130

setting tool

131

mouthpiece

135

Actuator (infeed unit)

140

Die (counterholder)

150

die holder

151

body

152

die holder

153

mother

154

Spring device (elastomer spring)

155

Measuring sensor (force measuring sensor)

156

connection cable

157

eccentric

158

mother

159

mass body

210

upper component

220

lower component

300

joining element

D

joining direction

F (t)

force curve

L

joining axis

S

Expansion / Aufschwingung

Claims (10)

Joining device ( 100 ) for the pre-hole-free joining of at least two components ( 210 . 220 ) by means of joining element ( 300 ), which in an axial joining direction (L) with a jerky joining pulse in the components to be joined ( 210 . 220 ), with a C-shaped frame ( 110 ) of the two opposing frame legs ( 112 . 114 ), between which the components to be joined ( 210 . 220 ) and with a setting tool ( 130 ) and a die ( 140 ), which are located opposite each other on the frame legs ( 112 . 114 ) are arranged, wherein the die ( 140 ) relative to the die-side frame leg ( 112 ) in the joining direction (D) of the joining element ( 300 ) and thus with respect to the die-side frame leg ( 112 ) is decoupled conditionally, so that when driving the joining element ( 300 ) from the die ( 140 ) recorded residual joining pulse only partially and / or only with a time offset on the die side frame leg ( 112 ), characterized in that the die ( 140 ) with a die holder ( 150 ) on the die-side frame leg ( 112 ) is arranged, wherein the die ( 140 ) to the die holder ( 150 ) is relatively movable and / or the die holder ( 150 ) to the matrix-side frame leg ( 112 ) is relatively movable, and that on the die ( 140 ) and / or on the die holder ( 150 ) to increase the inertia at least one as a separate mass body ( 159 ) formed additional mass is arranged, which is designed to be interchangeable, thereby allowing an individual adaptation to the joining process. Joining device ( 100 ) according to claim 1, characterized in that at least one between die ( 140 ) and die holder ( 150 ) and / or between die holders ( 150 ) and die-side frame legs ( 112 ) effective spring device ( 154 ) provided by the die ( 140 ) takes on residual past impulse and releases it again with a time delay. Joining device ( 100 ) according to claim 2, characterized in that in addition to the spring device ( 154 ) also at least one damping device is provided, which between the die ( 140 ) and the die holder ( 150 ) and / or between the die holder ( 150 ) and the die-side frame leg ( 112 ) dampens occurring vibrations. Joining device ( 100 ) according to claims 2 and 3, characterized in that the mass body ( 159 ), the spring device ( 154 ) and the damping device form a tuned, damped spring-mass system, wherein the spring device ( 154 ) and / or the damping device are exchangeable and / or adjustable designed to allow this also an individual adaptation to the joining process. Joining device ( 100 ) according to one of the preceding claims, characterized in that the C-shaped frame ( 110 ) is a lightweight C-frame. Joining device ( 100 ) according to claim 5, characterized in that the C-shaped frame ( 110 ) is a lightweight C-frame with a framework structure. Joining device ( 100 ) according to one of the preceding claims, characterized in that on the die ( 140 ) and / or on the die holder ( 150 ) at least one time-resolved measuring sensor ( 155 ) is arranged. Joining device ( 100 ) according to claim 7, characterized in that it is in the measuring sensor ( 155 ) is a force measuring sensor and / or an acceleration sensor. Die holder ( 150 ) for use on a joining device ( 100 ) according to one of the preceding claims 1 to 8, comprising a spring device ( 154 ), a damping device and an additional mass ( 159 ) according to the features in claims 1, 2 or 3. Handling device and in particular multi-axis manufacturing robot with a connected joining device ( 100 ) according to one of the preceding claims 1 to 8.

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