EP0402222B1 - Tool assembly for riveting workpieces - Google Patents

Tool assembly for riveting workpieces Download PDF

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Publication number
EP0402222B1
EP0402222B1 EP90401499A EP90401499A EP0402222B1 EP 0402222 B1 EP0402222 B1 EP 0402222B1 EP 90401499 A EP90401499 A EP 90401499A EP 90401499 A EP90401499 A EP 90401499A EP 0402222 B1 EP0402222 B1 EP 0402222B1
Authority
EP
European Patent Office
Prior art keywords
assembly according
parts
sheet
frames
riveting
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.)
Expired - Lifetime
Application number
EP90401499A
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German (de)
French (fr)
Other versions
EP0402222A1 (en
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
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Dassault Aviation SA
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Filing date
Publication date
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Publication of EP0402222A1 publication Critical patent/EP0402222A1/en
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Anticipated expiration legal-status Critical
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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 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.
  • the two effectors are spaced from each other, and the blanks 3, 6 are spaced from the sheets 7, 8 which must be assembled.
  • the blank holder 3 is slidably mounted relative to the frame 2, a spring 9 tends to push it in the direction of the sheets 7, 8.
  • a stop 10 limits its movement relative to the frame.
  • a jack 11 is able to exert, by means of the blank holder 3, a clamping force on the sheets 7, 8.
  • the blank holder 6, on its side is pushed towards the sheets 7, 8 by the via a lever 12, itself pushed by a spring 13, and a jack 14 can also push the blank holder 6 so that it exerts a determined force for clamping the sheets 7, 8.
  • 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 pliers or rivet holder 41 is axially moving 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 is 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 dowel 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 various tools into place, 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" type or other, 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.

Description

L'invention est relative à un ensemble d'outillage pour le rivetage de pièces, en particulier pour l'assemblage par rivetage de tôles, et à un procédé d'assemblage de pièces utilisant cet assemblage.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.

Le rivetage de tôles comprend habituellement le perçage des tôles, la mise en coïncidence des trous obtenus si les tôles n'étaient pas déjà maintenues en place pendant le perçage, l'introduction d'un rivet, et la déformation plastique de celui-ci à une de ses extrémités, ou aux deux extrémités, pour réaliser la liaison.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.

La déformation du rivet peut se faire par martelage ou par pressage. Lors du martelage, une masse animée d'une certaine vitesse vient percuter de façon répétée l'extrémité du rivet, cependant que l'extrémité opposée du rivet est en appui sur une masse de forte inertie, dite "tas". Lors du pressage, un outil exerce une force importante, continue, sur l'extrémité du rivet à déformer, et la réaction est exercée par une enclume en contact avec l'extrémité opposée du rivet et portée par une pièce robuste, en forme de C, et appelée "Cé", qui relie cette enclume à l'outil de pressage.The deformation of the rivet can be done by hammering or pressing. During 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". During 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.

Le rivetage par martelage, du fait qu'il engendre des chocs et des vibrations, est réservé aux opérations manuelles, à faible productivité. Le rivetage par pressage se prête mieux aux opérations automatisées, mais la masse du Cé, pièce robuste, qui doit fréquemment transmettre une force de plusieurs tonnes entre ses extrémités, impose des installations lourdes, ce qui augmente le prix et la durée de l'opération.Hammering riveting, because it generates shocks and vibrations, is reserved for manual operations, with low productivity. Press riveting lends itself better to automated operations, but the mass of the Cé, a robust piece, which must frequently transmit a force of several tons between its ends, requires heavy installations, which increases the price and the duration of the operation. .

Pour accélérer les opérations, on a proposé dans la demande de brevet européen publiée n°0301964 de monter plusieurs outils, par exemple un serre-tôle et un marteau de pressage sur un bâti situé à une des extrémités du Cé, et le serre-tôle et la bouterolle antagoniste sur un bâti situé à l'autre extrémité, ce qui permet de gagner du temps entre les phases successives de l'opération, mais ne diminue pas la masse du Cé qui porte ces bâtis.To speed up operations, it has been proposed in the published European patent application No. 0301964 to mount several tools, for example a sheet clamp and a pressing hammer on a frame located at one end of the Ce, and the sheet clamp and the opposing snap on a frame located at the other end, which saves time between the successive phases of the operation, but does not reduce the mass of the Ce that carries these frames.

Le but de l'invention est de fournir un appareillage qui permette des gains de prix de revient importants, en permettant d'alléger considérablement le Cé ou même de le supprimer par l'emploi de bras robotiques.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.

Résumé de l'inventionSummary of the invention

Pour obtenir ce résultat, l'invention fournit un ensemble d'outillage pour le rivetage de pièces, comprenant :

  • un premier et un second bâtis susceptibles d'être montés sur un Cé commun ou sur des bras robotiques distincts,
  • une paire de serre-flans montés chacun sur un des bâtis et dont l'un au moins est pourvu de moyens pour le déplacer par rapport au châssis correspondant avec une force correspondant au serrage prévu pour le maintien des pièces à riveter pendant le perçage,
  • au moins une perceuse montée sur un bâti et pourvue de moyens pour la déplacer entre une position active et une position de repos,
  • des moyens de mise en place d'un rivet dans un trou foré par la perceuse, ces moyens étant portés par un bâti et pourvus de moyens pour les déplacer entre une position active et une position de repos,
  • un outil de rivetage porté par un bâti et une contre-pièce associée portée par l'autre bâti.
To obtain this result, 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.

Cet ensemble ayant pour particularité principale que:

  • l'outil de rivetage est un marteau de rivetage par percussion, et il est pourvu de moyens pour le déplacer entre une position active et une position de repos,
  • la contre-pièce est solidaire d'un tas de réaction et l'ensemble est pourvu de moyens pour le déplacer entre une position active et une position de repos.
The main feature of this set is that:
  • 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 counter-piece is secured to a reaction pile and the assembly is provided with means for moving it between an active position and a rest position.

De préférence, les serre-flans, les moyens de mise en place du rivet, l'outil de rivetage et le tas de réaction se déplacent selon l'axe du trou, et les autres outils suivent au moins un déplacement perpendiculaire à l'axe pour passer de la position de repos à la position d'action.Preferably, 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.

De préférence aussi, les différents mouvements des outils sont commandés par des vérins pneumatiques. De cette façon, on évite tout appareillage hydraulique sur les effecteurs.Preferably also, the different movements of the tools are controlled by pneumatic cylinders. In this way, any hydraulic equipment on the effectors is avoided.

Avantageusement, au moins un des bâtis porte en outre un moyen de mise en place d'un produit d'étanchéité, ce moyen étant déplaçable entre une position active et une position de repos.Advantageously, 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.

L'invention fournit aussi un procédé d'assemblage de pièces qui comprend les étapes de monter chacun des bâtis d'un ensemble tel que ci-dessus sur un bras robotique distinct, d'amener les deux serre-flans au contact des faces opposées des pièces à assembler par déplacement des bras robotiques, de bloquer les freins des robots, et de serrer les pièces à assembler l'une contre l'autre avec une force suffisante pour empêcher leur déplacement relatif pendant le perçage ultérieur, la réaction à cette force étant fournie par les bras robotiques bloqués, et de procéder au perçage et au rivetage des pièces ainsi serrées.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.

Brève description des figuresBrief description of the figures

La présente invention va maintenant être décrite de façon plus détaillée à l'aide d'un exemple pratique illustré avec les dessins parmi lesquels :

  • Figures 1 à 7 sont des coupes schématiques montrant les phases successives d'une opération de rivetage, et
  • Figure 8 est une vue en élévation montrant l'ensemble d'outillage monté sur deux bras robotiques.
The present invention will now be described in more detail with the aid of a practical example illustrated with the drawings among which:
  • Figures 1 to 7 are schematic sections showing the successive phases of a riveting operation, and
  • Figure 8 is an elevational view showing the tool assembly mounted on two robotic arms.

Description détaillée de l'inventionDetailed description of the invention

Comme on l'a compris, l'ensemble d'outillage est formé de deux sous-ensembles, constitués chacun par un châssis et un certain nombre d'outils portés par ce châssis. Ces sous-ensembles, suivant le langage habituel de la profession, sont appelés "effecteurs". Un premier effecteur 1 comprend un bâti 2, qui porte, entre autres, un premier serre-flan 3. Un deuxième effecteur 4 comprend, lui aussi, un bâti 5, qui porte le second serre-flan 6.As has been understood, the tool assembly is formed of two sub-assemblies, each consisting of a chassis and a number of tools carried by this chassis. These subsets, according to the usual language of the profession, are called "effectors". 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.

Dans la position d'attente de la figure 1, les deux effecteurs sont écartés l'un de l'autre, et les serre-flans 3, 6 sont écartés des tôles 7, 8 qu'on doit assembler. Le serre-flan 3 est monté coulissant par rapport au bâti 2, un ressort 9 tend à le pousser en direction des tôles 7, 8. Une butée 10 limite son déplacement par rapport au bâti. Un vérin 11 est apte à exercer, par l'intermédiaire du serre-flan 3, une force de serrage sur les tôles 7, 8. Le serre-flan 6, de son côté, est poussé vers les tôles 7, 8 par l'intermédiaire d'un levier 12, poussé lui-même par un ressort 13, et un vérin 14 peut également pousser le serre-flan 6 pour qu'il exerce une force déterminée de serrage des tôles 7, 8.In the waiting position of Figure 1, the two effectors are spaced from each other, and the blanks 3, 6 are spaced from the sheets 7, 8 which must be assembled. The blank holder 3 is slidably mounted relative to the frame 2, a spring 9 tends to push it in the direction of the sheets 7, 8. A stop 10 limits its movement relative to the frame. A jack 11 is able to exert, by means of the blank holder 3, a clamping force on the sheets 7, 8. The blank holder 6, on its side, is pushed towards the sheets 7, 8 by the via a lever 12, itself pushed by a spring 13, and a jack 14 can also push the blank holder 6 so that it exerts a determined force for clamping the sheets 7, 8.

Dans la position dite de "préaccostage" de la figure 2, les effecteurs 1 et 4 ont été rapprochés l'un de l'autre, et les serre-flans 3 et 6 sont venus au contact des tôles 7, 8, et ont reculé en écrasant légèrement les ressorts 9 et 13. Des contacteurs 15 et 16 ont donné les signaux de préaccostage, qui commandent la phase suivante d' "accostage".In the so-called "pre-docking" position of FIG. 2, the effectors 1 and 4 have been brought together, and the blanks 3 and 6 have come into contact with the sheets 7, 8, and have moved back by slightly crushing the springs 9 and 13. Contactors 15 and 16 gave the pre-docking signals, which control the next phase of "docking".

Il faut noter qu'à partir de ce moment, les bâtis 2 et 5 sont immobilisés pour la suite de l'opération.It should be noted that from this moment, the frames 2 and 5 are immobilized for the rest of the operation.

Dans la situation de la figure 3, les serre-flans 3 et 6 n'ont pratiquement pas bougé, mais les vérins 11 et 14 ont été actionnés avec une force déterminée, pour obtenir que les tôles 7, 8 soient serrées sous une force qui peut être de l'ordre de 1500 N.In the situation in FIG. 3, the blank clamps 3 and 6 have practically not moved, but the jacks 11 and 14 have been actuated with a determined force, in order to obtain that the sheets 7, 8 are tightened under a force which may be of the order of 1500 N.

A la figure 4, on a représenté l'opération de perçage. L'outil de perçage 20 est entraîné en rotation par un moteur pneumatique 21 et l'ensemble est monté sur un bras articulé 22 qui permet d'amener l'outil de perçage dans l'axe du serre-flan 3. Les vérins 11 et 14 sont toujours actionnés, si bien que les tôles 7 et 8 sont maintenues serrées l'une contre l'autre avec une force de l'ordre de 1500 N, capable de permettre le perçage successif des deux tôles en une seule opération, sans risque de formation de bavures ou autres, si bien qu'il ne sera pas nécessaire ensuite de procéder à un travail supplémentaire de préparation des trous. Pour obtenir un trou fraisé, on utilise un outil 20 de forme cylindro-conique, son enfoncement est contrôlé par une butée réglable 23 et un contacteur 24. Un vérin 25, agissant sur le bras articulé 22, pousse, de façon classique, l'outil de perçage 20 en direction des tôles 7 et 8. Son alimentation est commandée, notamment, par le contacteur 24. Les copeaux sont évacués à travers des évents 26 qui traversent radialement la paroi du second serre-flan 6.In Figure 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. To obtain a countersunk hole, a tool 20 of cylindrical-conical shape is used, its penetration is controlled by an adjustable stop 23 and a contactor 24. A jack 25, acting on the articulated arm 22, pushes, in a conventional manner, the drilling tool 20 in the direction of the sheets 7 and 8. Its supply is controlled, in particular, by the contactor 24. The chips are evacuated through vents 26 which radially pass through the wall of the second blank holder 6.

La figure 5 montre une autre phase de l'opération, à savoir la pose d'un produit d'étanchéité sur le fraisage du trou. Une buse 30 est reliée à un réservoir de produit d'étanchéité 31 par un conduit rigide 32. L'ensemble est porté par un support 33 muni de deux vérins, l'un 34 est apte à déplacer la buse selon l'axe du trou, et l'autre 35 déplace l'ensemble dans une direction perpendiculaire de façon à amener la buse en position active ou à l'en retirer. Ce vérin 35 est fixé au bâti 2.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.

Simultanément à la pose de produit d'étanchéité, un rivet 40 est transféré sur une pince 41, coaxiale au trou, à partir d'un dispositif de stockage intermédiaire 42, grâce à un moyen de transfert 43, mobile linéairement grâce à un vérin 44, dans une direction perpendiculaire à l'axe du trou.Simultaneously with the installation of sealant, 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.

Comme le montre la figure 6, la pince ou porte-rivet 41 est à mouvement axial, le long de l'axe du trou. Elle se déplace jusqu'à amener le rivet 40 dans le trou et s'ouvre à ce moment. Une bouterolle 50 qui fait partie du marteau et est coaxiale à la pince 41 vient alors en appui sur la tête du rivet 40. Un contacteur actionné par une came 45 solidaire de la pince contrôle la position de celle-ci.As shown in Figure 6, the pliers or rivet holder 41 is axially moving 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 is 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.

La figure 7 montre l'opération de rivetage proprement dit. D'une part, le marteau de rivetage 51, solidaire de la bouterolle 50, est entré en action, et, d'autre part, sur l'effecteur 5, le tas de réaction 52 a été déplacé axialement sous l'action d'un vérin 53, et la tige de réaction 54, solidaire du tas, s'est déplacée jusqu'à venir en contact avec l'extrémité du rivet 40, en passant à travers le serre-flan 6.Figure 7 shows the actual riveting operation. On the one hand, the riveting hammer 51, integral with the dowel 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.

Après le formage du rivet, l'opération est terminée, les bâtis 2 et 4, entraînant les serre-flans 3 et 6, s'écartent l'un de l'autre, la pression étant coupée aux vérins 11 et 14 d'actionnement de ces serre-flans.After the rivet has been formed, the operation is completed, the frames 2 and 4, driving the blanks 3 and 6, move away from each other, the pressure being cut off at the actuating cylinders 11 and 14 of these hold-downs.

La figure 8, à une échelle différente, montre la disposition des effecteurs 1 et 4, montés chacun sur un bras robotique 60, 61. Pendant la durée de l'opération, les freins des deux bras robotiques sont bloqués, ce qui assure l'immobilisation des bâtis 2 et 5. On notera que la force qui s'exerce sur les bras robotiques correspond à celle qui est exercée par les vérins 11 et 14 sur les serre-flans, soit environ 1500 N, force qui n'exige aucun renforcement de ces bras robotiques.FIG. 8, on a different scale, shows the arrangement of the effectors 1 and 4, each mounted on a robotic arm 60, 61. During the duration of the operation, the brakes of the two robotic arms are locked, which ensures the immobilization of the frames 2 and 5. It will be noted that 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.

Bien entendu, l'invention est susceptible de nombreuses variantes. Par exemple, au lieu de prévoir que les différents outils de chacun des effecteurs sont déplacés linéairement par des vérins pour les amener en position active ou les en retirer, on peut prévoir que le bâti porte un carrousel qui amène successivement en place les différents outils, ou certains d'entre eux.Of course, the invention is susceptible of numerous variants. For example, instead of providing that the various tools of each of the effectors are moved linearly by jacks to bring them into the active position or remove them, it can be provided that the frame carries a carousel which successively brings the various tools into place, or some of them.

Le marteau peut être du type pneumatique multifrappe à basse fréquence, courant et simple d'emploi, mais qui est bruyant et dont les chocs sont en partie transmis aux bras robotiques. Il peut être du type monocoup, plus rapide mais occasionnant des chocs plus importants. Dans le cas où on utilise un marteau électrique ou électromagnétique, il est possible, par exemple dans le cas d'utilisation de rivets sans tête du type "SLUG" ou autre, de remplacer le tas de réaction par un second marteau synchronisé électroniquement avec le premier. Il est enfin possible d'utiliser des outils de rivetage fonctionnant à fréquence ultrasonore (20 à 40 kHz).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" type or other, 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).

Les différents outillages décrits, comme par exemple les moyens d'alimentation en rivet, ou l'outil de rivetage proprement dit, peuvent être de tout type classique. C'est pourquoi ils n'ont pas été décrits ici plus en détail.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.

Claims (12)

  1. Tool assembly for riveting parts, comprising :
    - a first and a second frame (2, 5) capable of being mounted on a common C or on separate robot arms (60, 61),
    - a pair of sheet-holding devices (3, 6) each mounted on one of the frames (2, 5) and at least one which is provided with means (9, 11) for displacing it relative to the corresponding frame with a force corresponding to the clamping provided for holding the parts to be riveted (7, 8) during drilling,
    - at least one drill (20, 21) mounted on a frame and provided with means (22) for displacing it between an active position and a rest position,
    - means (41) for placing a rivet (40) in a hole drilled by the drill (20, 21), these means being carried by a frame and provided with means (44) for displacing them between an active position and a rest position,
    - a percussion riveting hammer (50, 51) carried by one of the said first and second frames (2, 5) and provided with means for displacing it between an active position and a rest position, and
    - a counter-piece (54) carried by the other of the said first and second frames (2, 5), integral with a reaction dolly (52) and provided with means (53) for displacing it between an active position and a rest position.
  2. Assembly according to Claim 1, in which the sheet-holding devices (3, 6), the means (41) for placing the rivet (40), the riveting tool (50, 51) and the reaction dolly (52, 54) are displaced along the axis of the hole and the other tools perform at least one displacement perpendicular to the axis in order to pass from the rest position to the active position.
  3. Assembly according to claim 2, characterized in that the drill (20, 21) is mounted on a support (22) which allows it to be brought into active position on the axis of sheet-holding device (3) by pivoting in a plane perpendicular to the axis.
  4. Assembly according to claim 2 or 3, characterized in that one of the frames carries a carrousel which places successively at least some of the tools in position.
  5. Assembly according to one of the Claims 1 to 4, in which the different movements of the tools are controlled by pneumatic cylinders (11, 14, 24, 25, 35, 53).
  6. Assembly according to one of the Claims 1 to 5, in which at least one of the frames (2, 5) furthermore carries a means for placing a sealing agent (30, 35), this means being displaceable between an active position and a rest position.
  7. Assembly according to one of the Claims 1 to 6, characterized in that each of the sheet-holding devices (3, 6) is associated with a sensor (15, 16) capable of emitting a signal when the corresponding sheet-holding device comes into contact with one of parts to be riveted, the said signals controlling the actuation of the means (9, 11) for exerting the force which corresponds to desired clamping.
  8. Assembly according to one of the Claims 1 to 7, in which the sheet-holding devices (6) which is on the side opposite to the drill (20, 21) has vents for discharging chips.
  9. Assembly according to one of the Claims 1 to 8, in which the riveting hammer (50, 51) is pneumatically actuated.
  10. Assembly according to one of the Claims 1 to 8, in which the riveting hammer (50, 51) is electrically or electromagnetically actuated.
  11. Assembly according to one of the Claims 1 to 8, in which the riveting hammer (50, 51) is of the type functioning at ultrasonic frequency.
  12. Process for assembling parts (7, 8), comprising the stages of mounting each of the frames (2, 5) of an assembly according to Claim 1 on a separate robot arms (60, 61), of bringing the two sheet-holding devices (3, 6) into contact with the opposite faces of the parts to be assembled (7, 8) by displacing the robot arms (60, 61), locking the brakes of the robots and clamping the parts to be assembled (7, 8) against one another with a force sufficient to prevent their relative displacement during the subsequent drilling, the reaction to this force being provided by the locked robot arms (60, 61), and proceeding to drill and rivet the parts (7, 8) thus clamped.
EP90401499A 1989-06-06 1990-06-05 Tool assembly for riveting workpieces Expired - Lifetime EP0402222B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8907439 1989-06-06
FR8907439A FR2647696B1 (en) 1989-06-06 1989-06-06 TOOL ASSEMBLY FOR PARTS RIVETING

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EP0402222A1 EP0402222A1 (en) 1990-12-12
EP0402222B1 true EP0402222B1 (en) 1993-03-31

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US (1) US6108896A (en)
EP (1) EP0402222B1 (en)
DE (1) DE69001202T2 (en)
FR (1) FR2647696B1 (en)

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Also Published As

Publication number Publication date
EP0402222A1 (en) 1990-12-12
FR2647696A1 (en) 1990-12-07
DE69001202D1 (en) 1993-05-06
DE69001202T2 (en) 1993-07-08
FR2647696B1 (en) 1991-09-27
US6108896A (en) 2000-08-29

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