EP0768128A1 - Impact riveting apparatus and method for its use - Google Patents

Impact riveting apparatus and method for its use Download PDF

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Publication number
EP0768128A1
EP0768128A1 EP96402152A EP96402152A EP0768128A1 EP 0768128 A1 EP0768128 A1 EP 0768128A1 EP 96402152 A EP96402152 A EP 96402152A EP 96402152 A EP96402152 A EP 96402152A EP 0768128 A1 EP0768128 A1 EP 0768128A1
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EP
European Patent Office
Prior art keywords
rivet
parts
riveting
bolt
drive means
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Granted
Application number
EP96402152A
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German (de)
French (fr)
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EP0768128B1 (en
Inventor
Sylvain Guerin
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Dassault Aviation SA
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Dassault Aviation SA
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    • 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
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/24—Drives for riveting machines; Transmission means therefor operated by electro-magnets
    • 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
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor
    • 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
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • 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
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element

Definitions

  • the present invention relates to a riveting device and a method of implementing this device.
  • a rivet is a connecting member intended to connect together two or more parts each drilled with a hole.
  • the rivet comprises a rod which is intended to be threaded into the holes of the parts, after these holes have been brought into axial coincidence.
  • the rod must be threaded through the holes in such a way that part of the rod projects from each end of the passage formed by the juxtaposed holes.
  • the rod is deformable, and / or is associated with a deformable ring, which is part of the rivet.
  • the deformation of the rivet can be obtained using slowly acting forces, or by single or repeated shocks.
  • an "anvil” that is to say a part which can be considered as fixed and non-deformable
  • an end of the rivet is placed in abutment on the anvil, and the impact (s) is exerted using a "snap" which acts on the opposite end of the rivet rod.
  • This way of to do is not entirely satisfactory on the theoretical level, because the deformation of the part of the rivet which is close to the anvil causes a slight displacement, or deformation, of the parts.
  • the need to have a fixed anvil or large mass is a troublesome constraint.
  • the rivet to be formed initially consists of a symmetrical, homogeneous cylindrical part, placed symmetrically with respect to the parts to be riveted, it is clear that the result, as regards the displacements and constraints imposed on these parts , will be all the better as the difference between the kinetic energies of the two percussion tools, and the time interval which will separate their impact on one end of the rivet, will be smaller. It will not be exactly the same in case the rivet to be shaped is not symmetrical, and has a head for example. Many other factors can intervene: for example, if we consider that a shock is the very rapid application of a force to an object, the mode of variation of this force is not unimportant.
  • the electromagnetic actuation devices described above can be criticized for being expensive, heavy and bulky.
  • the present invention aims to provide a riveting apparatus which, by operating on the principle of "synchronous percussion” is simpler, less bulky, easier to use and less expensive than those of the prior art.
  • the invention provides a riveting device of the type comprising two tools capable of acting in a substantially synchronous manner on the opposite ends of a rivet, this device comprising two carrying members, on each of which is mounted an assembly to bolt, movable along a defined path, means for holding the load-bearing members in a position such that, when an active face of the bolt comes into contact with a corresponding end of the rivet, this active face moves substantially parallel to the axis of the rivet, each carrier member being provided with drive means capable of communicating to the corresponding chuck moving along its trajectory in the direction of the other sufficient energy for shaping the rivet, control means being provided for actuating the drive means almost simultaneously, this apparatus having the particularity that the means s drive each comprise an electric motor capable of imparting to the bolt assembly a speed such that, when the bolt meets the rivet, the bolt assembly has sufficient kinetic energy to form the rivet, and the means of control are capable of actuating the two drive means in such a way that the snaps meet the rivet to be shaped with a time difference and
  • snap assembly here is meant a set of elements integral with each other and comprising a snap, which is a part intended to come to exert an impact on the rivet, this part being preferably made of a material which can withstand a large number of impacts without deformation or degradation, a mass, the inertia of which is calculated according to the result desired, and possibly connecting means for connecting the bolt and the ground to the drive means.
  • the electric motor must have a very high starting torque if one refers to its weight and size, so as to best communicate the desired kinetic energy.
  • brushless electric motors are those which best meet these conditions.
  • the trajectory of each chuck relative to the support member is straight.
  • This arrangement is known in the prior art. Note that other trajectories are possible.
  • the bolt assembly is mounted on a pivoting arm.
  • the drive means comprise at least one ball screw comprising a shaft and a cage, one of these components being driven by the motor and the other being arranged to drive the set of snaps along its path.
  • This modality is particularly advantageous if the trajectory of the bolt is straight because the connection of the cage to the bolt assembly can be very simple. It will be noted in this regard that it is preferable in all cases that the connection between the bolt assembly and the drive means comprise shock absorbing means to protect these drive means, and the motor itself, of the shock corresponding to the impact of the rivet on the rivet.
  • At least one carrier member is an effector mounted on a robotic arm, and the carrier members are provided with means for clamping the parts to be riveted against each other before riveting, without imposing constraints on them or displacements unacceptable.
  • the means for clamping the parts are constituted by tubular members inside which the chuck can circulate.
  • Such means are also described in document EP-A-0.402.222.
  • this method comprises, after step c) and before step e), an additional step consisting in bringing the rivet into a position fixed in advance with respect to the parts to be connected by riveting.
  • This additional step makes it possible to avoid that part of the kinetic energy of one of the bolt assemblies is used to move the rivet before the impact of the other bolt.
  • position fixed in advance we mean an average position fixed in advance in case it is necessary to take into account the tolerances concerning the length of the rivet.
  • Figure 3 is a partial section on a plane perpendicular to that of Figure 2.
  • the apparatus described is shown in the position where it is about to form a rivet 1 driven into a hole which passes through two sheet metal parts 2 and 3, which must be bonded together by riveting.
  • the apparatus comprises two sets 4 and 5, which are identical, and act in opposite directions. Each assembly is mounted on a separate robotic arm A, B, these arms being placed in front of opposite faces of the parts 2 and 3 to be linked.
  • the assembly 4 will be described below, on the left in FIGS. 1 and 2, it being understood that the assembly 5 comprises the same elements.
  • the assembly 4 comprises a rear plate 6, which carries means 7 for coupling to the corresponding robotic arm A.
  • the assembly 4 also includes a front plate 8, fixedly connected to the rear plate 6 by rigid uprights 9.
  • the plate 8 carries a docking nose 10, which is mounted on the front plate 8 so that it can be move along an axis 11, which, in the active position, is substantially coincident with the axis of the rivet 1.
  • the docking nose 10 is movable relative to the plate 8, and is provided with means not shown which exercise on the nose docking 10 a force tending to spread said nose of docking of the plate in the direction of the part 2, in order to hold and tighten together the parts 2, 3, in cooperation with the nose of docking 10 of the effector 5 .
  • the assembly 5 is arranged in such a way that its axis 11 is also coincident with the axis of the rivet, and that its mating nose 10 exerts on the part 3 a force equal to that that the mating nose of the together 4 exerts on the part 2, which keeps these two parts tight against one another, provided, of course, that the robotic arms which carry the two plates 6 are immobilized.
  • the chassis constituted by the plates 6, 8 and the uprights 9 carries a guide tube 12, the axis 11 of which coincides with that of the docking nose. Inside this guide tube can slide a riveting mass 13, which carries, rigidly, at its end facing the docking nose 10, a chuck 14, of smaller diameter. The mass 13 slides in the guide tube 12 with gentle friction.
  • the tube 12 has a longitudinal lumen 15 see Figure 3, through which passes a connecting piece 16 which is integral with the mass 13 and comes into engagement with a drive plate 17.
  • This drive plate is integral with two cages 18, which are each part of a ball screw device.
  • the shafts 19 of these two ball screw devices have their axes parallel to the axis 11, and are immobilized axially relative to the chassis formed by the plates 6 and 8 and the uprights 9, by fixed supports 20.
  • the shafts 19 of the ball screws are rotated by a brushless electric motor 21, by means of a conventional transmission 22 with toothed belts and pulleys.
  • a brushless electric motor 21 by means of a conventional transmission 22 with toothed belts and pulleys.
  • At least one of the shafts 19 is driven directly by an electric motor. It will be understood that the rotation of the motor 25 is transformed, by means of the ball screws 18, 19, into a rectilinear displacement of the bolt assembly 13 and 14, so as to move the latter in the direction of the rivet with controlled speed, and / or acceleration.
  • control assembly connected to both the two robotic arms A and B.
  • This assembly is capable of processing data relating to the various parameters of the operation, set memory beforehand or transmitted by sensors mounted on the effectors, and to transmit control signals from the two motors 21 at times chosen as a function of these parameters.

Abstract

The system has two riveting assemblies (14) mounted in casings (4,5) which can be mounted on robot arms (A,B) on each side of the two parts (2,3) to be riveted. Each casing is fitted with an electrical drive motor (21), preferably of the brushless type, which drives the riveting assemblies. A control system (25) actuates the two motors so that the riveters (14) encounter the rivet (1) at different times and/or with different kinetic energy, chosen to ensure the desired shape of the rivet while ensuring that the two pieces to be joined are not deformed or displaced.

Description

La présente invention est relative à un appareillage de rivetage et un procédé de mise en oeuvre de cet appareillage.The present invention relates to a riveting device and a method of implementing this device.

Un rivet est un organe de liaison destiné à relier ensemble deux ou plusieurs pièces percées chacune d'un trou. Le rivet comprend une tige qui est destinée à être enfilée dans les trous des pièces, après que ces trous ont été amenés en coïncidence axiale. La tige doit être enfilée dans les trous de telle façon qu'une partie de la tige fasse saillie de chacune des extrémités du passage formé par les trous juxtaposés. La tige est déformable, et/ou est associée à une bague déformable, qui fait partie du rivet.A rivet is a connecting member intended to connect together two or more parts each drilled with a hole. The rivet comprises a rod which is intended to be threaded into the holes of the parts, after these holes have been brought into axial coincidence. The rod must be threaded through the holes in such a way that part of the rod projects from each end of the passage formed by the juxtaposed holes. The rod is deformable, and / or is associated with a deformable ring, which is part of the rivet.

Pour relier ensemble les pièces, on applique au rivet de forces telles qu'il se déforme jusqu'à présenter, au voisinage des deux extrémités du passage, des parties élargies, en contact de serrage avec les pièces correspondantes.To connect the parts together, forces such that it deforms are applied to the rivet until they present, in the vicinity of the two ends of the passage, enlarged parts, in clamping contact with the corresponding parts.

La déformation du rivet peut être obtenue à l'aide de forces agissant lentement, ou par chocs uniques ou répétés.The deformation of the rivet can be obtained using slowly acting forces, or by single or repeated shocks.

Il est souvent important que, pendant la déformation du rivet, les déplacements des pièces à relier, ou les contraintes qu'elles subissent, soient faibles et/ou étroitement contrôlés.It is often important that, during the deformation of the rivet, the displacements of the parts to be connected, or the stresses which they undergo, are low and / or tightly controlled.

La déformation par forces agissant lentement permet de contrôler avec précision les déplacements des pièces et leurs contraintes, mais elle exige des outillages lourds pour mettre en jeu des forces importantes.Deformation by slowly acting forces makes it possible to precisely control the displacements of the parts and their constraints, but it requires heavy tools to bring into play significant forces.

La déformation par chocs exige des outillages bien plus légers, mais permet difficilement de contrôler la position des pièces à relier et peut leur faire subir de fortes contraintes.Deformation by impact requires much lighter tools, but makes it difficult to control the position of the parts to be connected and can place them under great stress.

Habituellement, dans le cas de la déformation par chocs, on utilise une "enclume", c'est-à-dire une pièce qu'on peut considérer comme fixe et indéformable, on place une extrémité du rivet en appui sur l'enclume, et on exerce le ou les chocs à l'aide d'une "bouterolle" qui agit sur l'extrémité opposée de la tige de rivet. Cette manière de faire n'est pas totalement satisfaisante sur le plan théorique, car la déformation de la partie du rivet qui est proche de l'enclume entraîne un léger déplacement, ou déformation, des pièces. En outre, la nécessité d'avoir une enclume fixe ou de masse importante est une contrainte gênante.Usually, in the case of impact deformation, an "anvil" is used, that is to say a part which can be considered as fixed and non-deformable, an end of the rivet is placed in abutment on the anvil, and the impact (s) is exerted using a "snap" which acts on the opposite end of the rivet rod. This way of to do is not entirely satisfactory on the theoretical level, because the deformation of the part of the rivet which is close to the anvil causes a slight displacement, or deformation, of the parts. In addition, the need to have a fixed anvil or large mass is a troublesome constraint.

On conçoit qu'il serait plus avantageux d'exercer les chocs sur les deux extrémités de la tige de rivet, mais la manière dont l'énergie de choc est appliquée sur l'une et l'autre des extrémités du rivet doit être contrôlée avec une très grande précision pour éviter des déplacements du rivet dans son trou et des pièces à relier ou des contraintes sur ces pièces.It is understood that it would be more advantageous to exert impacts on both ends of the rivet rod, but the manner in which the impact energy is applied to both ends of the rivet must be controlled with great precision to avoid displacement of the rivet in its hole and the parts to be connected or constraints on these parts.

Plus précisément, si le rivet à mettre en forme est constitué initialement d'une pièce cylindrique symétrique, homogène, placée symétriquement par rapport aux pièces à riveter, il est clair que le résultat, en ce qui concerne les déplacements et contraintes imposées à ces pièces, sera d'autant meilleur que l'écart entre les énergies cinétiques des deux outils de percussion, et l'intervalle de temps qui séparera leur impact sur une extrémité du rivet, sera plus faible. Il n'en sera pas exactement de même au cas où le rivet à mettre en forme n'est pas symétrique, et présente une tête par exemple. De nombreux autres facteurs peuvent intervenir : par exemple, si on considère qu'un choc est l'application très rapide d'une force à un objet, le mode de variation de cette force n'est pas sans importance.More precisely, if the rivet to be formed initially consists of a symmetrical, homogeneous cylindrical part, placed symmetrically with respect to the parts to be riveted, it is clear that the result, as regards the displacements and constraints imposed on these parts , will be all the better as the difference between the kinetic energies of the two percussion tools, and the time interval which will separate their impact on one end of the rivet, will be smaller. It will not be exactly the same in case the rivet to be shaped is not symmetrical, and has a head for example. Many other factors can intervene: for example, if we consider that a shock is the very rapid application of a force to an object, the mode of variation of this force is not unimportant.

Pour simplifier, on parlera dans la suite de "percussions synchrones", et d'énergies cinétiques égales, il y a lieu cependant de toujours tenir compte des réserves qu'on vient d'indiquer.To simplify, one will speak in the continuation of "synchronous percussions", and of equal kinetic energies, it is however necessary to always take account of the reserves which one has just indicated.

Selon le document US-A-3.704.506, on propose d'exécuter des "percussions synchrones" en prévoyant, de chaque côté du rivet, une bouterolle associée à un moyen de propulsion comprenant une bobine électrique dans laquelle on peut envoyer un courant électrique provenant de la décharge de condensateurs. La bouterolle est d'abord mise en appui sur le rivet, puis le courant électrique envoyé dans la bobine impose à la bouterolle une force suffisante pour déformer le rivet.According to document US-A-3,704,506, it is proposed to execute "synchronous percussion" by providing, on each side of the rivet, a chuck associated with a means of propulsion comprising an electric coil in which an electric current can be sent from the discharge of capacitors. The snap is first pressed on the rivet, then the electric current sent into the coil imposes on the chuck a force sufficient to deform the rivet.

Le document US-A-4.862.043 contient une critique de ce procédé de l'art antérieur. D'après ce document, même si la bouterolle est déjà en contact avec le rivet avant l'opération, la technique antérieure est du type "balistique", c'est-à-dire que l'énergie est fournie à la bouterolle en un temps notablement plus court que celui pendant lequel la matière du rivet et des pièces se déforme, ce qui serait cause de déformations. US-A-4.862.043 propose de remédier à cet inconvénient par une conformation qui assure que la force agissant sur la bouterolle agit pendant une durée à peu près égale à celle de la déformation du rivet et des pièces.Document US-A-4,862,043 contains a review of this process of the prior art. According to this document, even if the bolt is already in contact with the rivet before the operation, the prior art is of the "ballistic" type, that is to say that energy is supplied to the bolt in one significantly shorter time than that during which the material of the rivet and of the parts deforms, which would be the cause of deformations. US-A-4,862,043 proposes to remedy this drawback by a conformation which ensures that the force acting on the head press acts for a period of time roughly equal to that of the deformation of the rivet and of the parts.

On peut faire aux dispositifs à actionnement électromagnétique décrits ci-dessus le reproche d'être coûteux, lourds et encombrants.The electromagnetic actuation devices described above can be criticized for being expensive, heavy and bulky.

On connaît par ailleurs, voir par exemple le document US-A-4.039.034, des pistolets de rivetage pneumatiques, avec un piston mobile dans un cylindre et un accumulateur d'air comprimé destiné à mettre le piston en mouvement jusqu'à ce qu'il percute une bouterolle. Ces pistolets sont pourvus d'une gâchette à actionnement manuel. Il est douteux qu'on puisse les associer à des moyens permettant, avec une précision suffisante, un déclenchement simultané de deux pistolets, des pressions égales et stables dans les deux accumulateurs, et des courses identiques pour les pistons, en particulier à cause de la difficulté de maîtriser les oscillations de pression dans les conduits et l'accumulateur.We also know, see for example the document US-A-4,039,034, pneumatic riveting guns, with a piston movable in a cylinder and an accumulator of compressed air intended to set the piston in motion until 'he collides with a snap. These guns are equipped with a manually operated trigger. It is doubtful that they can be associated with means allowing, with sufficient precision, a simultaneous triggering of two pistols, equal and stable pressures in the two accumulators, and identical strokes for the pistons, in particular because of the difficulty in controlling the pressure oscillations in the conduits and the accumulator.

Le document US-A-3.562.893 prévoit un système à deux bouterolles agissant en opposition, l'une étant actionné par l'air comprimé et l'autre par une charge explosive déclenchée par l'impact de la première bouterolle sur le rivet. Il n'y a pas de symétrie complète entre les deux outils, qui n'opèrent pas de façon réellement synchrone. L'adaptation de ce système à des types de rivets variables est manifestement difficile.Document US-A-3,562,893 provides a system with two bolts acting in opposition, one being actuated by compressed air and the other by an explosive charge triggered by the impact of the first bolt on the rivet. There is no complete symmetry between the two tools, which do not really work synchronously. Adapting this system to varying types of rivets is clearly difficult.

La présente invention a pour but de fournir un appareillage de rivetage qui, en fonctionnant selon le principe des "percussions synchrones" soit plus simple, moins encombrant, d'utilisation plus facile et moins coûteux que ceux de l'art antérieur.The present invention aims to provide a riveting apparatus which, by operating on the principle of "synchronous percussion" is simpler, less bulky, easier to use and less expensive than those of the prior art.

Pour atteindre ce but, l'invention fournit un appareillage de rivetage du type comportant deux outils capables d'agir de façon sensiblement synchrone sur les extrémités opposées d'un rivet, cet appareillage comprenant deux organes porteurs, sur chacun desquels est monté un ensemble à bouterolle, mobile selon une trajectoire définie, des moyens pour maintenir les organes porteurs dans une position telle que, lorsqu'une face active de la bouterolle arrive en contact avec une extrémité correspondante du rivet, cette face active se déplace sensiblement parallèlement à l'axe du rivet, chaque organe porteur étant pourvu de moyens d'entraînement aptes à communiquer à la bouterolle correspondante se déplaçant le long de sa trajectoire en direction de l'autre une énergie suffisante pour la mise en forme du rivet, des moyens de commande étant prévus pour actionner à peu près simultanément les moyens d'entraînement, cet appareillage ayant pour particularité que les moyens d'entraînement comprennent chacun un moteur électrique apte à imprimer à l'ensemble à bouterolle une vitesse telle pour que, lorsque la bouterolle rencontre le rivet, l'ensemble à bouterolle a une énergie cinétique suffisante pour former le rivet, et les moyens de commande sont capables d'actionner les deux moyens d'entraînement de telle façon que les bouterolles rencontrent le rivet à mettre en forme avec un décalage de temps et une différence d'énergie cinétique inférieurs à des limites choisies pour éviter aux pièces à relier des déplacements ou des contraintes exagérées.To achieve this object, the invention provides a riveting device of the type comprising two tools capable of acting in a substantially synchronous manner on the opposite ends of a rivet, this device comprising two carrying members, on each of which is mounted an assembly to bolt, movable along a defined path, means for holding the load-bearing members in a position such that, when an active face of the bolt comes into contact with a corresponding end of the rivet, this active face moves substantially parallel to the axis of the rivet, each carrier member being provided with drive means capable of communicating to the corresponding chuck moving along its trajectory in the direction of the other sufficient energy for shaping the rivet, control means being provided for actuating the drive means almost simultaneously, this apparatus having the particularity that the means s drive each comprise an electric motor capable of imparting to the bolt assembly a speed such that, when the bolt meets the rivet, the bolt assembly has sufficient kinetic energy to form the rivet, and the means of control are capable of actuating the two drive means in such a way that the snaps meet the rivet to be shaped with a time difference and a difference in kinetic energy below chosen limits to avoid displacements of the parts to be connected or exaggerated constraints.

Par "ensemble à bouterolle", on entend ici un ensemble d'éléments solidaires entre-eux et comprenant une bouterolle, qui est une pièce destinée à venir exercer un impact sur le rivet, cette pièce étant de préférence en un matériau pouvant supporter un grand nombre d'impacts sans déformation ou dégradation, une masse, dont l'inertie est calculée en fonction du résultat désiré, et éventuellement des moyens de liaison pour relier la bouterolle et la masse aux moyens d'entraînement.By "snap assembly" here is meant a set of elements integral with each other and comprising a snap, which is a part intended to come to exert an impact on the rivet, this part being preferably made of a material which can withstand a large number of impacts without deformation or degradation, a mass, the inertia of which is calculated according to the result desired, and possibly connecting means for connecting the bolt and the ground to the drive means.

Le moteur électrique doit avoir un couple au démarrage très important si on se rapporte à son poids et son encombrement, de façon à communiquer au mieux l'énergie cinétique désirée. Dans l'état actuel de la technique, les moteurs électriques sans balai sont ceux qui répondent le mieux à ces conditions.The electric motor must have a very high starting torque if one refers to its weight and size, so as to best communicate the desired kinetic energy. In the current state of the art, brushless electric motors are those which best meet these conditions.

De préférence, la trajectoire de chaque bouterolle par rapport à l'organe de support est rectiligne. Cette disposition est connue dans l'art antérieur. On notera que d'autres trajectoires sont possibles. Par exemple, pour réduire les frottements, on peut prévoir que l'ensemble à bouterolle est monté sur un bras pivotant.Preferably, the trajectory of each chuck relative to the support member is straight. This arrangement is known in the prior art. Note that other trajectories are possible. For example, to reduce friction, it can be provided that the bolt assembly is mounted on a pivoting arm.

Avantageusement, les moyens d'entraînement comprennent au moins une vis à bille comprenant un arbre et une cage, l'un de ces composants étant entraîné par le moteur et l'autre étant disposé pour entraîner l'ensemble à bouterolle selon sa trajectoire. Cette modalité est particulièrement avantageuse si la trajectoire de la bouterolle est rectiligne car la liaison de la cage à l'ensemble à bouterolle peut être très simple. On notera à ce sujet qu'il est préférable dans tous les cas que la liaison entre l'ensemble à bouterolle et les moyens d'entraînement comprennent des moyens amortisseurs de choc pour protéger ces moyens d'entraînement, et le moteur lui-même, du choc correspondant à l'impact de la bouterolle sur le rivet.Advantageously, the drive means comprise at least one ball screw comprising a shaft and a cage, one of these components being driven by the motor and the other being arranged to drive the set of snaps along its path. This modality is particularly advantageous if the trajectory of the bolt is straight because the connection of the cage to the bolt assembly can be very simple. It will be noted in this regard that it is preferable in all cases that the connection between the bolt assembly and the drive means comprise shock absorbing means to protect these drive means, and the motor itself, of the shock corresponding to the impact of the rivet on the rivet.

Suivant une réalisation intéressante, au moins un organe porteur est un effecteur monté sur un bras robotique, et les organes porteurs sont pourvus de moyens pour serrer les pièces à riveter l'une contre l'autre avant le rivetage, sans leur imposer de contraintes ou déplacements inacceptables.According to an advantageous embodiment, at least one carrier member is an effector mounted on a robotic arm, and the carrier members are provided with means for clamping the parts to be riveted against each other before riveting, without imposing constraints on them or displacements unacceptable.

De tels moyens sont décrits dans le document EP-A-0.402.222 au nom de la Demanderesse.Such means are described in document EP-A-0.402.222 in the name of the Applicant.

Avantageusement, les moyens pour serrer les pièces sont constitués par des organes tubulaires à l'intérieur desquels la bouterolle peut circuler. De tels moyens sont également décrits dans le document EP-A-0.402.222.Advantageously, the means for clamping the parts are constituted by tubular members inside which the chuck can circulate. Such means are also described in document EP-A-0.402.222.

L'invention concerne également un procédé pour la mise en oeuvre de l'appareillage qu'on vient de décrire, ce procédé comportant les étapes suivantes :

  • a) mettre en mémoire des paramètres relatifs à un trou préparé dans deux pièces à solidariser par rivetage et à un rivet destiné à être introduit dans le trou en vue du rivetage, ainsi que des paramètres relatifs à l'ensemble à bouterolle et aux moyens d'entraînement,
  • b) amener chacune des bouterolles dans une position de départ à peu près fixe par rapport aux pièces à solidariser et au rivet,
  • c) déterminer avec précision les positions relatives des bouterolles, du rivet et des pièces à relier par rivetage,
  • d) calculer, en fonction desdits paramètres mis en mémoire et desdites données de position, au moins un paramètre choisi parmi le décalage de temps entre le démarrage de chacun des ensembles à bouterolle et la distance de chacune des bouterolles au rivet au moment du démarrage,
  • e) actionner chacun des moyens d'entraînement en fonction du résultat des calculs de l'étape d).
The invention also relates to a method for implementing the apparatus that has just been described, this method comprising the following steps:
  • a) store parameters relating to a hole prepared in two parts to be secured by riveting and to a rivet intended to be introduced into the hole for riveting, as well as parameters relating to the bolt assembly and the means of 'training,
  • b) bringing each of the snaps into an almost fixed starting position relative to the parts to be secured and to the rivet,
  • c) determine with precision the relative positions of the rivet bolts, the rivet and the parts to be connected by riveting,
  • d) calculate, as a function of said parameters stored in memory and said position data, at least one parameter chosen from the time difference between the start of each of the bolt-on assemblies and the distance of each of the bolt-to-rivet at the time of start-up,
  • e) actuate each of the drive means according to the result of the calculations in step d).

De préférence, ce procédé comprend, après l'étape c) et avant l'étape e), une étape supplémentaire consistant à amener le rivet dans une position fixée à l'avance par rapport aux pièces à relier par rivetage.Preferably, this method comprises, after step c) and before step e), an additional step consisting in bringing the rivet into a position fixed in advance with respect to the parts to be connected by riveting.

Cette étape supplémentaire permet d'éviter qu'une partie de l'énergie cinétique de l'un des ensembles à bouterolle soit utilisée à déplacer le rivet avant l'impact de l'autre bouterolle.This additional step makes it possible to avoid that part of the kinetic energy of one of the bolt assemblies is used to move the rivet before the impact of the other bolt.

Par position fixée à l'avance, on entendra une position moyenne fixée à l'avance au cas où il est nécessaire de prendre en compte les tolérances concernant la longueur du rivet.By position fixed in advance, we mean an average position fixed in advance in case it is necessary to take into account the tolerances concerning the length of the rivet.

Avantageusement, on utilise, pour déplacer le rivet, le moteur d'entraînement d'une bouterolle, fonctionnant à vitesse lente.Advantageously, use is made, to move the rivet, of the drive motor of a chuck, operating at slow speed.

L'invention va maintenant être exposée de façon plus détaillée à l'aide d'un exemple pratique, illustré à l'aide des dessins, parmi lesquels :

  • Figure 1 est une vue schématique d'ensemble, en élévation d'un appareillage selon l'invention.
  • Figure 2 est une vue en élévation et coupe partielle de l'appareillage, à plus grande échelle.
The invention will now be explained in more detail with the aid of a practical example, illustrated with the aid of the drawings, among which:
  • Figure 1 is a schematic overview, in elevation of an apparatus according to the invention.
  • Figure 2 is an elevational view in partial section of the apparatus, on a larger scale.

Figure 3 est une coupe partielle, selon un plan perpendiculaire à celui de la figure 2.Figure 3 is a partial section on a plane perpendicular to that of Figure 2.

L'appareillage décrit est représenté dans la position où il s'apprête à procéder au formage d'un rivet 1 enfoncé dans un trou qui traverse deux pièces de tôle 2 et 3, qui doivent être liées ensemble par rivetage.The apparatus described is shown in the position where it is about to form a rivet 1 driven into a hole which passes through two sheet metal parts 2 and 3, which must be bonded together by riveting.

L'appareillage comprend deux ensembles 4 et 5, qui sont identiques, et agissent en sens opposé. Chaque ensemble est monté sur un bras robotique distinct A, B, ces bras étant placés devant des faces opposées des pièces 2 et 3 à lier. On décrira ci-après l'ensemble 4, à gauche sur les figures 1 et 2, étant entendu que l'ensemble 5 comporte les mêmes éléments.The apparatus comprises two sets 4 and 5, which are identical, and act in opposite directions. Each assembly is mounted on a separate robotic arm A, B, these arms being placed in front of opposite faces of the parts 2 and 3 to be linked. The assembly 4 will be described below, on the left in FIGS. 1 and 2, it being understood that the assembly 5 comprises the same elements.

L'ensemble 4 comprend une platine arrière 6, qui porte des moyens 7 d'accouplement au bras robotique A correspondant. L'ensemble 4 comprend également une platine avant 8, reliée de façon fixe à la platine arrière 6 par des montants rigides 9. La platine 8 porte un nez d'accostage 10, qui est monté sur la platine avant 8 de façon à pouvoir se déplacer le long d'un axe 11, qui, dans la position active, est sensiblement confondu avec l'axe du rivet 1. Le nez d'accostage 10 est mobile par rapport à la platine 8, et est pourvu de moyens non représentés qui exercent sur le nez d'accostage 10 une force tendant à écarter ledit nez d'accostage de la platine en direction de la pièce 2, afin de maintenir et serrer ensemble les pièces 2, 3, en coopération avec le nez d'accostage 10 de l'effecteur 5.The assembly 4 comprises a rear plate 6, which carries means 7 for coupling to the corresponding robotic arm A. The assembly 4 also includes a front plate 8, fixedly connected to the rear plate 6 by rigid uprights 9. The plate 8 carries a docking nose 10, which is mounted on the front plate 8 so that it can be move along an axis 11, which, in the active position, is substantially coincident with the axis of the rivet 1. The docking nose 10 is movable relative to the plate 8, and is provided with means not shown which exercise on the nose docking 10 a force tending to spread said nose of docking of the plate in the direction of the part 2, in order to hold and tighten together the parts 2, 3, in cooperation with the nose of docking 10 of the effector 5 .

L'ensemble 5 est disposé de telle façon que son axe 11 est également confondu avec l'axe du rivet, et que son nez d'accostage 10 exerce sur la pièce 3 une force égale à celle que le nez d'accostage de l'ensemble 4 exerce sur la pièce 2, ce qui maintient ces deux pièces serrées l'une contre l'autre, à condition, bien entendu, que les bras robotiques qui portent les deux platines 6 soient immobilisés.The assembly 5 is arranged in such a way that its axis 11 is also coincident with the axis of the rivet, and that its mating nose 10 exerts on the part 3 a force equal to that that the mating nose of the together 4 exerts on the part 2, which keeps these two parts tight against one another, provided, of course, that the robotic arms which carry the two plates 6 are immobilized.

Le châssis constitué par les platines 6, 8 et les montants 9 porte un tube-guide 12, dont l'axe 11 coïncide avec celui du nez d'accostage. A l'intérieur de ce tube-guide peut coulisser une masse de rivetage 13, qui porte, rigidement, à son extrémité tournée vers le nez d'accostage 10, une bouterolle 14, de diamètre plus faible. La masse 13 coulisse dans le tube-guide 12 à frottement doux.The chassis constituted by the plates 6, 8 and the uprights 9 carries a guide tube 12, the axis 11 of which coincides with that of the docking nose. Inside this guide tube can slide a riveting mass 13, which carries, rigidly, at its end facing the docking nose 10, a chuck 14, of smaller diameter. The mass 13 slides in the guide tube 12 with gentle friction.

Le tube 12 comporte une lumière longitudinale 15 voir figure 3, à travers laquelle passe une pièce de liaison 16 qui est solidaire de la masse 13 et vient en engagement avec une plaque d'entraînement 17. Cette plaque d'entraînement est solidaire de deux cages 18, qui font partie chacune d'un dispositif à vis à billes. Les arbres 19 de ces deux dispositifs à vis à billes ont leurs axes parallèles à l'axe 11, et sont immobilisés axialement par rapport au châssis formé par les platines 6 et 8 et les montants 9, par des supports fixes 20.The tube 12 has a longitudinal lumen 15 see Figure 3, through which passes a connecting piece 16 which is integral with the mass 13 and comes into engagement with a drive plate 17. This drive plate is integral with two cages 18, which are each part of a ball screw device. The shafts 19 of these two ball screw devices have their axes parallel to the axis 11, and are immobilized axially relative to the chassis formed by the plates 6 and 8 and the uprights 9, by fixed supports 20.

Les arbres 19 des vis à billes sont entraînés en rotation par un moteur électrique sans balai 21, par l'intermédiaire d'une transmission classique 22 à courroies crantées et poulies. On pourrait aussi prévoir qu'au moins un des arbres 19 est entraîné directement par un moteur électrique. On conçoit que la rotation du moteur 25 est transformée, par l'intermédiaire des vis à billes 18, 19, en un déplacement rectiligne de l'ensemble à bouterolle 13 et 14, de façon à déplacer cette dernière en direction du rivet avec une vitesse, et/ou accélération, contrôlée.The shafts 19 of the ball screws are rotated by a brushless electric motor 21, by means of a conventional transmission 22 with toothed belts and pulleys. One could also provide that at least one of the shafts 19 is driven directly by an electric motor. It will be understood that the rotation of the motor 25 is transformed, by means of the ball screws 18, 19, into a rectilinear displacement of the bolt assembly 13 and 14, so as to move the latter in the direction of the rivet with controlled speed, and / or acceleration.

Une disposition inverse, avec les cages 18 entraînées en rotation par le moteur et les arbres 19 solidaires en translation de l'ensemble à bouterolle, est, bien entendu, possible.A reverse arrangement, with the cages 18 driven in rotation by the motor and the shafts 19 integral in translation with the bolt assembly, is, of course, possible.

On a représenté, de façon symbolique, en 25 à la figure 1, un ensemble de commande relié à la fois aux deux bras robotiques A et B. Cet ensemble est capable de traiter des données relatives aux divers paramètres de l'opération, mises en mémoire au préalable ou transmises par des capteurs montés sur les effecteurs, et d'émettre des signaux de commande des deux moteurs 21 à des instants choisis en fonction de ces paramètres.There is shown, symbolically, at 25 in Figure 1, a control assembly connected to both the two robotic arms A and B. This assembly is capable of processing data relating to the various parameters of the operation, set memory beforehand or transmitted by sensors mounted on the effectors, and to transmit control signals from the two motors 21 at times chosen as a function of these parameters.

Claims (9)

Appareillage pour relier des pièces par rivetage du type comportant deux outils capables d'agir de façon sensiblement synchrone sur les extrémités opposées d'un rivet, cet appareillage comprenant deux organes porteurs, sur chacun desquels est monté un ensemble à bouterolle (13, 14, 15), mobile selon une trajectoire définie grâce à des moyens de guidage (12), des moyens pour maintenir les organes porteurs dans une position telle que, lorsqu'une face active de la bouterolle (13) arrive en contact avec une extrémité correspondante du rivet, cette face active se déplace sensiblement parallèlement à l'axe du rivet (1), chaque organe porteur étant pourvu de moyens d'entraînement aptes à communiquer à la bouterolle correspondante se déplaçant le long de sa trajectoire en direction de l'autre bouterolle une énergie suffisante pour la mise en forme du rivet, des moyens de commande (25) étant prévus pour actionner à peu près simultanément les moyens d'entraînement,
   caractérisé en ce que les moyens d'entraînement comprennent chacun un moteur électrique (21) apte à imprimer à l'ensemble à bouterolle une vitesse telle que, lorsque la bouterolle rencontre le rivet, l'ensemble à bouterolle a une énergie cinétique suffisante pour former le rivet,
   et en ce que les moyens de commande (25) sont capables d'actionner les deux moteurs électriques (21), de telle façon que les bouterolles rencontrent le rivet à mettre en forme avec un décalage de temps et une différence d'énergie cinétique inférieurs à des limites choisies pour éviter aux pièces à relier des déplacements ou des contraintes exagérées.Apparatus for connecting parts by riveting of the type comprising two tools capable of acting in a substantially synchronous manner on the opposite ends of a rivet, this apparatus comprising two load-bearing members, on each of which is mounted a bolt assembly (13, 14, 15), movable along a defined path thanks to guide means (12), means for holding the carrier members in a position such that, when an active face of the chuck (13) comes into contact with a corresponding end of the rivet, this active face moves substantially parallel to the axis of the rivet (1), each carrier member being provided with drive means capable of communicating with the corresponding bolt moving along its path in the direction of the other bolt sufficient energy for shaping the rivet, control means (25) being provided for actuating the drive means almost simultaneously,
characterized in that the drive means each comprise an electric motor (21) capable of imparting to the bolt assembly a speed such that, when the bolt meets the rivet, the bolt assembly has sufficient kinetic energy to form the rivet,
and in that the control means (25) are capable of actuating the two electric motors (21), so that the snaps meet the rivet to be shaped with a time difference and a lower kinetic energy difference to selected limits to avoid excessive displacement or constraints on the parts to be connected. Appareillage selon la revendication 1, caractérisé en ce que le moteur électrique (21) est un moteur sans balais.Apparatus according to claim 1, characterized in that the electric motor (21) is a brushless motor. Appareillage selon la revendication 1 ou 2, caractérisé en ce que les moyens d'entraînement comprennent au moins un dispositif à vis à bille (18, 19) comprenant un arbre (19) et une cage (18), l'un de ces composants étant entraîné en rotation par le moteur et l'autre étant disposé pour entraîner l'ensemble à bouterolle selon sa trajectoire.Apparatus according to claim 1 or 2, characterized in that the drive means comprise at least one ball screw device (18, 19) comprising a shaft (19) and a cage (18), one of these components being driven in rotation by the motor and the other being arranged to drive the bolt assembly along its path. Appareillage selon l'une des revendications 1 à 3, caractérisé en ce qu'au moins un organe porteur est un effecteur (4, 5) monté sur un bras robotique (A, B), et les organes porteurs sont pourvus de moyens (10) pour serrer les pièces à riveter l'une contre l'autre avant le rivetage, sans leur imposer de contraintes ou déplacements inacceptables.Apparatus according to one of claims 1 to 3, characterized in that at least one carrier member is an effector (4, 5) mounted on a robotic arm (A, B), and the carrier members are provided with means (10 ) to clamp the parts to be riveted against each other before riveting, without imposing unacceptable constraints or displacements on them. Appareillage selon la revendication 4, caractérisé en ce que les moyens pour serrer les pièces sont constitués par des organes tubulaires (10) à l'intérieur desquels la bouterolle peut circuler.Apparatus according to claim 4, characterized in that the means for clamping the parts are constituted by tubular members (10) inside which the chuck can circulate. Appareillage de rivetage selon l'une des revendications précédentes, caractérisé en ce que chacun des moyens de guidage (12), ensembles à bouterolle (13 à 15) et moyens d'entraînement (16 à 22), est conçu pour être monté sur un effecteur (A, B) sur lequel sont également montés (10) des moyens pour maintenir et serrer ensemble deux pièces (2, 3) à relier par rivetage, des moyens pour préparer un trou dans ces pièces et des moyens pour amener un rivet dans le trou, ces moyens pouvant être amenés successivement sensiblement dans l'axe du trou.Riveting apparatus according to one of the preceding claims, characterized in that each of the guide means (12), rivet assemblies (13 to 15) and drive means (16 to 22), is designed to be mounted on a effector (A, B) on which are also mounted (10) means for holding and clamping together two parts (2, 3) to be connected by riveting, means for preparing a hole in these parts and means for bringing a rivet into the hole, these means being able to be brought successively substantially in the axis of the hole. Appareillage selon la revendication 6, caractérisé en ce que l'effecteur porte également des moyens pour déterminer la forme exacte du trou, les indications fournies par ces moyens étant utilisées par les moyens de commande pour définir les déplacements des deux ensembles à bouterolle.Apparatus according to claim 6, characterized in that the effector also carries means for determining the exact shape of the hole, the indications provided by these means being used by the control means to define the displacements of the two sets of snaps. Procédé pour la mise en oeuvre d'un appareillage selon l'une des revendications 1 à 7, caractérisé en ce qu'il comprend les étapes suivantes : a) mettre en mémoire des paramètres relatifs à un trou préparé dans deux pièces (2, 3) à solidariser par rivetage et à un rivet (1) destiné à être introduit dans le trou en vue du rivetage, ainsi que des paramètres relatifs à l'ensemble à bouterolle et aux moyens d'entraînement, b) amener chacune des bouterolles (14) dans une position de départ à peu près fixe par rapport aux pièces à solidariser et au rivet, c) déterminer avec précision les positions relatives des bouterolles, du rivet et des pièces à relier par rivetage, d) calculer, en fonction desdits paramètres mis en mémoire et desdites données de position, au moins un paramètre choisi parmi le décalage de temps entre le démarrage de chacun des ensembles à bouterolle et la distance de chacune des bouterolles au rivet au moment du démarrage, e) actionner chacun des moyens d'entraînement en fonction du résultat des calculs de l'étape d). Method for implementing an apparatus according to one of claims 1 to 7, characterized in that it comprises the following steps: a) memorize the parameters relating to a hole prepared in two parts (2, 3) to be secured by riveting and to a rivet (1) intended to be introduced into the hole for riveting, as well as parameters relating to the '' set with bolt and drive means, b) bring each of the snaps (14) into a roughly fixed starting position with respect to the parts to be joined and the rivet, c) determine with precision the relative positions of the rivet bolts, the rivet and the parts to be connected by riveting, d) calculate, as a function of said parameters stored in memory and said position data, at least one parameter chosen from the time difference between the start of each of the bolt-on assemblies and the distance of each of the bolt-to-rivet at the time of start-up, e) actuate each of the drive means according to the result of the calculations in step d). Procédé selon la revendication 8, caractérisé en ce qu'il comprend, après l'étape c) et avant l'étape e), une étape supplémentaire consistant à amener le rivet dans une position fixée à l'avance par rapport aux pièces à relier par rivetage.Method according to claim 8, characterized in that it comprises, after step c) and before step e), an additional step consisting in bringing the rivet into a position fixed in advance with respect to the parts to be connected by riveting.
EP96402152A 1995-10-11 1996-10-10 Impact riveting apparatus and method for its use Expired - Lifetime EP0768128B1 (en)

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FR9511935A FR2739794B1 (en) 1995-10-11 1995-10-11 SHOCK OPERATING RIVET APPARATUS AND METHOD FOR IMPLEMENTING THE APPARATUS
FR9511935 1995-10-11

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EP0768128B1 EP0768128B1 (en) 1999-12-15

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DE69605635T2 (en) 2000-06-21
FR2739794A1 (en) 1997-04-18
CA2187420A1 (en) 1997-04-12
US6014802A (en) 2000-01-18
FR2739794B1 (en) 1997-12-26
EP0768128B1 (en) 1999-12-15
JPH09108767A (en) 1997-04-28
DE69605635D1 (en) 2000-01-20

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