EP0402222A1 - Werkzeuganlage zum Nieten von Werkstücken - Google Patents

Werkzeuganlage zum Nieten von Werkstücken Download PDF

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Publication number
EP0402222A1
EP0402222A1 EP90401499A EP90401499A EP0402222A1 EP 0402222 A1 EP0402222 A1 EP 0402222A1 EP 90401499 A EP90401499 A EP 90401499A EP 90401499 A EP90401499 A EP 90401499A EP 0402222 A1 EP0402222 A1 EP 0402222A1
Authority
EP
European Patent Office
Prior art keywords
riveting
assembly
frame
moving
frames
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP90401499A
Other languages
English (en)
French (fr)
Other versions
EP0402222B1 (de
Inventor
Jacques Gignac
Patrice Maurel
Arnaud-Arsène Risbourg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dassault Aviation SA
Original Assignee
Avions Marcel Dassault Breguet Aviation SA
Dassault Aviation SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Avions Marcel Dassault Breguet Aviation SA, Dassault Aviation SA filed Critical Avions Marcel Dassault Breguet Aviation SA
Publication of EP0402222A1 publication Critical patent/EP0402222A1/de
Application granted granted Critical
Publication of EP0402222B1 publication Critical patent/EP0402222B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49908—Joining by deforming
    • Y10T29/49938—Radially expanding part in cavity, aperture, or hollow body
    • Y10T29/49943—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49947—Assembling or joining by applying separate fastener
    • Y10T29/49954—Fastener deformed after application
    • Y10T29/49956—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5104—Type of machine
    • Y10T29/5105—Drill press
    • Y10T29/5107—Drilling and other
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means
    • Y10T29/5377—Riveter
    • Y10T29/53774—Single header

Definitions

  • the invention relates to a set of tools for riveting parts, in particular for the assembly by riveting of sheets, and to a method of assembling parts using this assembly.
  • the riveting of sheets usually includes the drilling of sheets, the coincidence of the holes obtained if the sheets were not already held in place during drilling, the introduction of a rivet, and the plastic deformation of this to one of its ends, or at both ends, to make the connection.
  • the deformation of the rivet can be done by hammering or pressing.
  • hammering a moving mass of a certain speed repeatedly strikes the end of the rivet, while the opposite end of the rivet is supported on a mass of high inertia, called "heap".
  • heap a mass of high inertia
  • pressing a tool exerts a large, continuous force on the end of the rivet to be deformed, and the reaction is exerted by an anvil in contact with the opposite end of the rivet and carried by a robust, C-shaped piece. , and called "Cé", which connects this anvil to the pressing tool.
  • the object of the invention is to provide an apparatus which allows significant cost savings, by making it possible to considerably lighten the Ce or even to eliminate it by the use of robotic arms.
  • the invention provides a set of tools for riveting parts, comprising: - a first and a second frame capable of being mounted on a common Cé or on separate robotic arms, - a pair of blank clamps each mounted on one of the frames and at least one of which is provided with means for moving it relative to the corresponding chassis with a force corresponding to the tightening provided for maintaining the parts to be riveted during drilling, - at least one drill mounted on a frame and provided with means for moving it between an active position and a rest position, means for placing a rivet in a hole drilled by the drill, these means being carried by a frame and provided with means for moving them between an active position and a rest position, - a riveting tool carried by a frame and an associated counter-piece carried by the other frame.
  • the riveting tool is a percussion riveting hammer, and it is provided with means for moving it between an active position and a rest position
  • the counterpiece is integral with a reaction pile and the assembly is provided with means for moving it between an active position and a rest position.
  • the blank clamps, the means for placing the rivet, the riveting tool and the reaction pile move along the axis of the hole, and the other tools follow at least one movement perpendicular to the axis. to go from the rest position to the action position.
  • the different movements of the tools are controlled by pneumatic cylinders. In this way, any hydraulic equipment on the effectors is avoided.
  • At least one of the frames further carries a means for placing a sealant, this means being movable between an active position and a rest position.
  • the invention also provides a method of assembling parts which comprises the steps of mounting each of the frames of an assembly as above on a separate robotic arm, of bringing the two blank clamps into contact with the opposite faces of the parts to be assembled by moving the robotic arms, blocking the brakes of the robots, and clamping the parts to be assembled against each other with sufficient force to prevent their relative movement during subsequent drilling, the reaction to this force being supplied by the locked robotic arms, and to drill and rivet the parts thus tightened.
  • a first effector 1 comprises a frame 2, which carries, among other things, a first blank holder 3.
  • a second effector 4 also includes a frame 5, which carries the second blank holder 6.
  • FIG 4 there is shown the drilling operation.
  • the drilling tool 20 is rotated by a pneumatic motor 21 and the assembly is mounted on an articulated arm 22 which makes it possible to bring the drilling tool in the axis of the blank holder 3.
  • the jacks 11 and 14 are always actuated, so that the sheets 7 and 8 are held tight one against the other with a force of the order of 1500 N, capable of allowing the successive drilling of the two sheets in a single operation, without risk of formation of burrs or the like, so that it will not then be necessary to carry out work additional hole preparation.
  • a tool 20 of cylindrical-conical shape is used, its penetration is controlled by an adjustable stop 23 and a contactor 24.
  • the chips are evacuated through vents 26 which radially pass through the wall of the second blank holder 6.
  • Figure 5 shows another phase of the operation, namely the installation of a sealant on the milling of the hole.
  • a nozzle 30 is connected to a sealant reservoir 31 by a rigid conduit 32.
  • the assembly is carried by a support 33 provided with two jacks, one of which is capable of moving the nozzle along the axis of the hole , and the other 35 moves the assembly in a perpendicular direction so as to bring the nozzle into the active position or to remove it.
  • This jack 35 is fixed to the frame 2.
  • a rivet 40 is transferred to a clamp 41, coaxial with the hole, from an intermediate storage device 42, by means of a transfer means 43, linearly movable by means of a jack 44 , in a direction perpendicular to the axis of the hole.
  • the clamp or rivet holder 41 is axially movable along the axis of the hole. It moves until bringing the rivet 40 into the hole and opens at this time.
  • a snap 50 which is part of the hammer and coaxial with the clamp 41 then comes to bear on the head of the rivet 40.
  • a contactor actuated by a cam 45 integral with the clamp controls the position of the latter.
  • Figure 7 shows the actual riveting operation.
  • the riveting hammer 51 integral with the chuck 50, entered into action, and, on the other hand, on the effector 5, the reaction pile 52 was moved axially under the action of a jack 53, and the reaction rod 54, integral with the heap, has moved until it comes into contact with the end of the rivet 40, passing through the blank holder 6.
  • FIG. 8 on a different scale, shows the arrangement of the effectors 1 and 4, each mounted on a robotic arm 60, 61.
  • the brakes of the two robotic arms are locked, which ensures the immobilization of the frames 2 and 5.
  • the force exerted on the robotic arms corresponds to that which is exerted by the jacks 11 and 14 on the blank clamps, ie approximately 1500 N, a force which requires no reinforcement of these robotic arms.
  • the invention is susceptible of numerous variants.
  • the frame carries a carousel which successively brings the different tools, or some of them.
  • the hammer can be of the pneumatic multi-tap type at low frequency, current and easy to use, but which is noisy and whose shocks are partly transmitted to the robotic arms. It can be of the single-shot type, faster but causing greater impact. In the case where an electric or electromagnetic hammer is used, it is possible, for example in the case using headless rivets of the "SLUG" or other type, to replace the reaction pile by a second hammer electronically synchronized with the first. Finally, it is possible to use riveting tools operating at ultrasonic frequency (20 to 40 kHz).
  • the various tools described such as for example the rivet supply means, or the riveting tool itself, can be of any conventional type. This is why they have not been described here in more detail.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
EP90401499A 1989-06-06 1990-06-05 Werkzeuganlage zum Nieten von Werkstücken Expired - Lifetime EP0402222B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8907439A FR2647696B1 (fr) 1989-06-06 1989-06-06 Ensemble d'outillage pour rivetage de pieces
FR8907439 1989-06-06

Publications (2)

Publication Number Publication Date
EP0402222A1 true EP0402222A1 (de) 1990-12-12
EP0402222B1 EP0402222B1 (de) 1993-03-31

Family

ID=9382402

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90401499A Expired - Lifetime EP0402222B1 (de) 1989-06-06 1990-06-05 Werkzeuganlage zum Nieten von Werkstücken

Country Status (4)

Country Link
US (1) US6108896A (de)
EP (1) EP0402222B1 (de)
DE (1) DE69001202T2 (de)
FR (1) FR2647696B1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0512649A1 (de) * 1991-05-08 1992-11-11 Construcciones Aeronauticas, S.A. Nietmaschine
ES2039137A1 (es) * 1991-05-08 1993-08-16 Const Aeronauticas Sa Maquina remachadora.
WO1995005260A1 (en) * 1993-08-16 1995-02-23 Avco Corporation Robotic drill clamp
US9321099B1 (en) 2013-07-30 2016-04-26 The Boeing Company Ultrasonic riveting tool and method
FR3068902A1 (fr) * 2017-07-13 2019-01-18 Latecoere Services Procede d'assemblage de pieces par combinaison d'etancheification et d'insertion de moyen de fixation ainsi qu'outil de mise en oeuvre

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002200572A (ja) * 2000-12-28 2002-07-16 Nisca Corp ステープラ装置
US6820319B2 (en) * 2002-08-20 2004-11-23 Cessna Aircraft Company Hand-held single impact rivet gun and method of back riveting
GB0228259D0 (en) * 2002-12-04 2003-01-08 Short Brothers Plc Automated riveting machine
NZ532006A (en) * 2004-03-29 2006-11-30 Rodney Warwick Sharp Tooth tip, typically for wood hogging apparatus, with tapered bottom face configured to interact with complementary base portion top face
WO2006056255A2 (de) * 2004-11-19 2006-06-01 Richard Bergner Verbindungstechnik Gmbh & Co. Kg Roboterhand mit einer hydraulikeinheit, deren speicherraum ein variierbares ausgleichsvolumen hat
US20060117547A1 (en) * 2004-12-08 2006-06-08 The Boeing Company Integral clamping-and-bucking apparatus for utilizing a constant force and installing rivet fasteners in a sheet metal joint
DE102005002546A1 (de) * 2005-01-19 2006-08-10 Airbus Deutschland Gmbh Längsnaht-Strukturmontage von Flugzeugrümpfen
BE1016957A6 (fr) * 2006-03-27 2007-10-02 Sonaca Sociutu Anonyme Dispositif et procede pour l'assemblage par rivetage de toles.
US8301302B2 (en) 2008-05-08 2012-10-30 The Boeing Company Synchronous robotic operation on a structure having a confined space
DE202008014886U1 (de) 2008-11-10 2010-04-01 Kuka Systems Gmbh Fügeeinrichtung
US20100217437A1 (en) * 2009-02-24 2010-08-26 Branko Sarh Autonomous robotic assembly system
US8666546B2 (en) * 2009-07-10 2014-03-04 The Boeing Company Autonomous robotic platform
GB2498977B (en) * 2012-02-01 2015-10-07 Bae Systems Plc Drilling apparatus and method
US20150101175A1 (en) * 2012-04-13 2015-04-16 Ryerson University Automated percussive riveting system
CN104226884A (zh) * 2013-06-21 2014-12-24 上海交运集团股份有限公司 一种双工位铆接工作台
SG11201607911SA (en) 2014-03-28 2016-10-28 Composite Cluster Singapore Pte Ltd Freespace composite manufacturing process and device
US9687946B2 (en) * 2014-04-18 2017-06-27 The Boeing Company Automated apparatus for use in selectively installing temporary fasteners in an assembly
US10525524B2 (en) 2014-07-09 2020-01-07 The Boeing Company Dual-interface coupler
IT201600083531A1 (it) * 2016-08-08 2018-02-08 Cosberg Spa Apparato di rivettatura per impianti di assemblaggio
DE102017116716A1 (de) * 2017-07-24 2019-01-24 Broetje-Automation Gmbh Bearbeitungsanlage für Flugzeugstrukturbauteile
US10988268B2 (en) 2018-06-14 2021-04-27 General Electric Company System and method for performing operations on an engine
IT201800011097A1 (it) * 2018-12-14 2020-06-14 Cosberg Spa Apparato di rivettatura per impianti di assemblaggio
CN110090913A (zh) * 2019-05-30 2019-08-06 上海交通大学 一种自动锤铆装置及自动铆接方法
CN112571417B (zh) * 2020-12-14 2022-05-24 福建农林大学 一种临时紧固件及其自动化装配机械手
US20240109207A1 (en) * 2022-09-29 2024-04-04 The Boeing Company Fastening End Effector

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2148170A (en) * 1983-10-21 1985-05-30 Atlas Copco Ab Device for mechanized riveting of large structural sections
FR2598640A1 (fr) * 1986-05-15 1987-11-20 Saint Chamond Granat Ets Procede et machine de rivetage
EP0301964A1 (de) * 1987-07-29 1989-02-01 Recoules Automation (S.A.) Vorrichtung zum Bohren und Nieten
US4815193A (en) * 1988-02-22 1989-03-28 Cherry Division Of Textron, Inc. Rivet installation tool and method of installing rivets

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US3562893A (en) * 1968-05-28 1971-02-16 Omark Winslow Co Apparatus for driving rivets using explosive charge
US3704506A (en) * 1968-08-01 1972-12-05 Boeing Co Electromagnetic high energy forming
DE2826417C2 (de) * 1978-06-16 1986-11-13 Schaeffer-Homberg Gmbh, 5600 Wuppertal Maschine zum Ansetzen von Nieten, Knöpfen o.dgl. an Kleidungsstücke
US4326903A (en) * 1980-12-05 1982-04-27 Branson Ultrasonics Corporation Method for securing parts together by ultrasonic energy
SE451185B (sv) * 1985-03-11 1987-09-14 Atlas Copco Ab Nitningsanordning for sammanfogning av tva eller flera platsektioner
DE3535761C1 (de) * 1985-10-07 1987-03-26 Messerschmitt Boelkow Blohm Nietautomat
SE454956B (sv) * 1986-10-15 1988-06-13 Saab Scania Ab Anordning for nitning av skivformade material
DE3715927A1 (de) * 1987-05-13 1988-12-01 Messerschmitt Boelkow Blohm Vorrichtung und verfahren zum automatisch gesteuerten bohrsenken und vernieten mit hilfe eines wenigstens zweiteiligen verbindungselementes
US4862043A (en) * 1987-05-27 1989-08-29 Zieve Peter B Low voltage electromagnetic pulse actuator
US4885836A (en) * 1988-04-19 1989-12-12 Imta Riveting process and apparatus
US4955119A (en) * 1989-07-11 1990-09-11 Imta Multi-task end effector for robotic machining center
US4995148A (en) * 1990-03-30 1991-02-26 Imta Robotically controlled multi-task end effector

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2148170A (en) * 1983-10-21 1985-05-30 Atlas Copco Ab Device for mechanized riveting of large structural sections
FR2598640A1 (fr) * 1986-05-15 1987-11-20 Saint Chamond Granat Ets Procede et machine de rivetage
EP0301964A1 (de) * 1987-07-29 1989-02-01 Recoules Automation (S.A.) Vorrichtung zum Bohren und Nieten
US4815193A (en) * 1988-02-22 1989-03-28 Cherry Division Of Textron, Inc. Rivet installation tool and method of installing rivets

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0512649A1 (de) * 1991-05-08 1992-11-11 Construcciones Aeronauticas, S.A. Nietmaschine
ES2039137A1 (es) * 1991-05-08 1993-08-16 Const Aeronauticas Sa Maquina remachadora.
WO1995005260A1 (en) * 1993-08-16 1995-02-23 Avco Corporation Robotic drill clamp
US5404641A (en) * 1993-08-16 1995-04-11 Avco Corporation Method of drilling through contiguous plate members using a robotic drill clamp
US5542796A (en) * 1993-08-16 1996-08-06 Avco Corporation Robotic drill clamp
US9321099B1 (en) 2013-07-30 2016-04-26 The Boeing Company Ultrasonic riveting tool and method
FR3068902A1 (fr) * 2017-07-13 2019-01-18 Latecoere Services Procede d'assemblage de pieces par combinaison d'etancheification et d'insertion de moyen de fixation ainsi qu'outil de mise en oeuvre

Also Published As

Publication number Publication date
EP0402222B1 (de) 1993-03-31
DE69001202T2 (de) 1993-07-08
US6108896A (en) 2000-08-29
FR2647696B1 (fr) 1991-09-27
DE69001202D1 (de) 1993-05-06
FR2647696A1 (fr) 1990-12-07

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