EP1561526B1 - Device for setting rivets in components - Google Patents
Device for setting rivets in components Download PDFInfo
- Publication number
- EP1561526B1 EP1561526B1 EP05001307A EP05001307A EP1561526B1 EP 1561526 B1 EP1561526 B1 EP 1561526B1 EP 05001307 A EP05001307 A EP 05001307A EP 05001307 A EP05001307 A EP 05001307A EP 1561526 B1 EP1561526 B1 EP 1561526B1
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- EP
- European Patent Office
- Prior art keywords
- variable
- rivet
- mass element
- components according
- mass
- 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.)
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Images
Classifications
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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
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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
-
- 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
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- 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
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- 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
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- 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
- Y10T29/53065—Responsive to work or work-related machine element with means to fasten by deformation
-
- 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
Definitions
- the invention relates to a device for fixing rivet elements in components according to the preamble of claim 1 (see US-A-5 774 968 ).
- rivet hammers and rivet tongs are widely used for the introduction and fixation of fasteners in components.
- Such systems are usually compressed air, wherein the connecting element in the component introducing and fixing in this moving mass elements contact the connecting element until it has reached its desired fixing position.
- variable-area mass element By the impact energy of the variable-area mass element is changeable, a high flexibility in the adaptation of the achievable impact energy to different boundary conditions is made possible, which ensures that a reduction, in the best case only a single stroke for deformation of a rivet element in the components to be joined is required. This reduces not only noise pollution but above all the mechanical stress of the rivet adapter and the working robot leading to it.
- the impact energy is influenced by the parameters acceleration of the variable-mass mass element, length of the acceleration path of this mass element or its mass, and depending on the flexibility of the adaptation, only individual or all of these parameters are taken into account. Due to the fact that these parameters can be changed in a simple manner, this also leads to an uncomplicated influencing of the impact energy of the position-variable mass element.
- a particularly advantageous development of the invention results when the impact energy is determined as a function of specific properties of the components to be joined and / or of specific properties of the rivet elements and / or of the position of the rivet adapter in space, since precisely these parameters have a significant influence have the required deformation energy and thus ultimately on the impact energy to be generated.
- variable-position mass element By the variable-position mass element is arranged horizontally movable within the rivet adapter, a precise acceleration of a precisely defined mass is possible in a structurally simple manner, so that ultimately the impact energy is precisely adjustable. Due to the sometimes very high accelerations, it is also of particular interest to ensure a compact form of the mass element to be accelerated. In a simple way, this is achieved in that the mass element is formed only by an additional weight and associated therewith, the rivet element deforming plunger and at least one of these elements receiving horizontally movable support frame.
- the Nietadapter also takes on a clamping unit on the one hand after passing through the acceleration section causes a defined delay of the linear guide of the variable position mass element and also the Movement of the variable-mass mass element decelerates after contact with the rivet.
- the braking of the linear guide and the variable-position mass element can be done in the simplest way by pneumatic clamping.
- the mass element is moved in the horizontal direction within the rivet adapter.
- the position-variable mass element is assigned a linear guide system whose path measuring system is formed by a ruler which can be tapped by means of a known sensor, wherein in the simplest case the ruler is integrated directly into the guide rails of the position-variable mass element ,
- the rivet adapter Due to the complex relationships between the parameters influencing the impact energy, it is expedient to assign the rivet adapter a control unit in which executable calculation algorithms can be edited, which take into account the various input data the required impact energy and the size of the individual parameters, such as the mass of the position variable mass element, determine its acceleration and the length of the acceleration section.
- control and computing unit can be designed so that the output signals generated in it directly causes the setting of the various parameters in the rivet adapter.
- control and computing unit can also be assigned a display monitor in such a way that the operator of the rivet setting workstation is visually displayed the various input data taken into account by the system and the determined output data.
- the rivet adapter For fitting the rivet adapter according to the invention in existing production processes, it is also advantageous if the rivet adapter is designed as an end effector of a working robot, so that it can be easily integrated into existing production processes.
- Fig. 1 shows a Nietsetzarbeitsstation 1 essentially from a first, a position fixing adapter 3 for preferably rivet elements 4 pivotally receiving working robot 2 and another the inventive Nietadapter 5 pivotally leading working robot 6 is formed.
- the segments 7, 8 of the working robot 2, 6 to arbitrarily arranged in space pivot axes 9, 10 are pivotable, so that guided by the respective working robot 2, 6 Siegfixieradapter 2 and the Nietadapter 5 arbitrary positions within the working areas of the working robot 2, 6 can take.
- the working areas of both working robots 2, 6 are coordinated so that they can work together at least in a partial area of their action radii.
- the Nietsetzarbeitsstadion 1 shown are associated with each other to be joined components 11 so that the Lüfixieradapter 3 and the Nietadapter 5 can cooperate in the introduction and fixation of rivet elements 4 in the interconnected components 11.
- the position fixing adapter 3 pivotally arranged on the front segment 7 of the first working robot 2 can be designed so that its front adaptation unit 12 both tools 13 for introducing holes 14 in the components 11 to be joined as well the rivet elements 4 can accommodate for connecting the components 11.
- the adaptation unit 12 cooperates with corresponding tool and connection element stores (not shown), from which various tools 13 can be removed and returned to them, on the one hand, and a variety of rivet elements 4, on the other hand, for the adaptation unit 12 can be supplied.
- the adaptation unit 12 of the position fixing adapter 3 has been given a rivet element 4, which inserts this by pivoting the segments 7 of the working robot 2 in one of the components to be joined 11 passing through holes 14 in such a way that the head 15 of the rivet element 4 flush the, the Lüfixieradapter 3 associated component 11 is applied. It is within the scope of the invention that the adaptation unit 12 can also accommodate a plurality of rivet elements 4, so that at the same time several rivet elements 4 can be inserted into the corresponding holes 14 and fixed in this position.
- the segments 7 of the position fixing adapter 3 receiving working robot 2 are fixed in the working position in position and only the Adaptieranne 12 is designed, for example, horizontally displaceable, so that the first tool 13 edit the bore 14 or manufacture and then the Insertion of the rivet element 4 can take place.
- the rivet adapter 5 is brought to the respective rivet element 4 by pivoting the segments 8 of the working robot 6 carrying the rivet adapter 5 about the respective pivot axes 10.
- the support frame 16 of the rivet adapter 5 in the simplest case by means of screw rotatably connected to the adapter flange 17 of the front segment 8 of the corresponding working robot 6, so that the rivet adapter 5 by pivoting the individual segments 8 of the working robot 6 to the respective pivot axes 10 precisely in the working area of Working robot 6 can be performed.
- the non-rotatably connected to the working robot 6 supporting frame 16 of the rivet adapter 5 are assigned in its outer edge regions as a pneumatic cylinder 18 adjusting means 19, the piston rod side are fixed to an intermediate frame 21 of the rivet adapter 5 adjusting flanges 20.
- the intermediate frame 21 is mounted in the rivet adapter 5 so that it is pressurized or depressurized in the support frame 16 integrated pneumatic cylinder 18 in the horizontal direction 22 relative to the support frame 16 is movable. Fron note the intermediate frame 21 is penetrated by a so-called plunger sleeve 23, which projects beyond the intermediate frame 21 at its front end.
- the intermediate frame 21 can be brought to the components to be joined 11 passing rivet 4 so that the front end of the plunger sleeve 23 is firmly seated on its facing member 11 and the free end of the rivet 4 at least partially protrudes into the pressure piston sleeve 23, wherein at the same time the position of the rivet 4 is set within the components 11 to be joined.
- the described pneumatic cylinder 18 may be replaced for more accurate positioning of the intermediate frame 21 by not shown electrically operated linear motors.
- the intermediate frame 21 guide rails 24 assigned to which a further support frame 25 is arranged horizontally movable.
- the horizontal mobility of the support frame 25 is made possible by adjusting means 27, which are designed as electrically operated linear motors 26 and which are fixed to the intermediate frame 21, wherein the linear motors 26 leading and supporting stators 28 extend below the support frame 25 along the intermediate frame 21 and are fixed on this.
- adjusting means 27 are designed as electrically operated linear motors 26 and which are fixed to the intermediate frame 21, wherein the linear motors 26 leading and supporting stators 28 extend below the support frame 25 along the intermediate frame 21 and are fixed on this.
- the relative to the intermediate frame 21 movable support frame 25 takes at least one additional weight 31 and in its front region on a plunger 32, wherein the plunger 32 is disposed on the support frame 25 so that he enforce this in the horizontal movement 29 in the direction of the plunger sleeve 23 and can impinge on the assigned him end of the rivet 4.
- the energy inherent in the plunger 32 at the moment of impact of the plunger 32 on the rivet element 4, hereinafter referred to as impact energy 33 results in deformation of the rivet element 4 in such a way that the end associated with the plunger 32 is compressed and thus a firm connection that of the rivet element 4 permeated components 11 is achieved.
- the components to be joined 11 associated area of the additional frame 21 also receives a clamping unit 35 which has at least one stop element 36 which limits on the one hand caused by the linear motors 26 horizontal movement 30 of the mass element 34 and the stop element 36 in the simplest case pneumatically the mass element 34 holds on the rivet element 4 after a successful impact of the plunger 32, so that springback of the mass element 34 and a repeated contacting of the rivet element 4 is avoided.
- the pneumatic fixation of the mass element 34 can be carried out in such a way that the additional weight 31 is sucked in by the vacuum element in the region of the stop element 36.
- the clamping unit 35, the mass element 34 at a different location for example in the region of the support frame 25, fix.
- the deceleration effect of the variable-position mass element 34 can also be increased by the fact that damping elements 29 are assigned to the thrust finger 29 in a manner not shown which absorbs at least part of the energy inherent in the spring-back mass element 34.
- variable-position mass element 34 in its initial position for performing a further riveting operation is carried out by returning the linear motors 26 in their initial position, the linear motors 26 detect the variable-position mass element 34 by means of a Linearhubelement 37 associated return element 38 and in the pressure bushing 23 facing away from the area Submit frame 21 in the direction of arrow 40, the position fixing is effected in this initial position in the simplest case by a so-called resilient pressure piece 39.
- the impact energy 33 of the variable-position mass element 34 is adjustable, at least one of the associated with the intermediate frame 21 guide rails 24 is associated with a so-called linear guide 41 with integrated displacement measurement.
- Such LinearInstitute 41 are usually constructed so that the guide rail 24 carrying them is assigned a displacement measuring device 42 in the form of a ruler 43 engraved, for example, and the linear guiding device 41 taps off this ruler 43 via suitable sensors 44, so that the positionally variable mass element 34 can be exactly positioned by means of this ruler 43.
- the impact energy 33 of the plunger 32 on the rivet element 4 is decisively determined by the mass of the variable-position mass element 34, its acceleration and the available acceleration path 45.
- a first possibility of changing the impact energy 33 would be to use additional weights 31 of different mass, with higher masses of the additional weights 31 leading to higher impact energies 33.
- the replacement of the additional weights 31 leads to considerable installation effort.
- the impact energy change that can be achieved in this way is very limited, since as a rule the available installation space does not allow a high degree of flexibility when using different additional weights 31.
- Significantly more effective is the change in the impact energy 33 by changing the acceleration of the variable-mass mass element 34 and the length of the accelerating section 45 available for acceleration of the mass element 34.
- the change in the impact energy 33 by changing the acceleration of the variable-mass element 34 can thereby easily achieve that the current loading of the linear motors 26 is changed, with higher accelerations of the mass element 34 lead to increase in the impact energy 33.
- the available acceleration section 45 can be varied, wherein an increase in the acceleration section 45 also entails higher impact energies 33.
- a delay path 46 is provided within which the linear motors 26 are gradually decelerated, while the variable-position mass element 34 continues in the direction the rivet 4 moves and is decelerated only after its contact with the rivet 4 as described above by means of the clamping unit 35.
- the change in the impact energy 33 must in particular have material properties connecting components 11, rivet element properties and the position of the rivet adapter 5 in the room considered.
- the material thickness and material-specific deformation characteristics such as the modulus of elasticity, play a role.
- the required impact energy depends very substantially on the nature of the rivet element 4 itself, in which case geometrical dimensions and material characteristics of the rivet element 4 in particular play a role.
- the position of the rivet adapter 5 in space influences the generatable impact energy 33, since Fig. 3
- the component of the force of gravity (G, -Gx, + Gx) of the position-variable mass element 34 acting in the direction of the ram 32 is directed in or counter to the direction of movement of the position-variable mass element 34.
- the rivet adapter 5 is assigned at least one position sensor 48, which is known per se as a tilt sensor 47 and determines the deviation of the position of the rivet adapter 5 from the vertical arrangement. Due to the fact that the rivet adapter 5 is non-rotatably connected to the front-side element 8 of the working robot 6, it is within the scope of the invention to integrate the inclination sensor 47 directly into this front-side segment 8.
- the rivet adapter 5 is according to Fig. 3 with an electronic control and processing unit 49 to be described later.
- the control and computing unit 49 as shown, be arranged directly on the rivet adapter 5 or at any position of the working robot 6. According to the schematic representation in Fig.
- the inclination sensor 47 determining the inclination of the rivet adapter 5 transfers the inclination signals X generated by it to the control and arithmetic unit 49.
- the control and arithmetic unit 49 has an input field 50 via which, among other things, the mass of the position-variable mass element 34 can be read by an operator as well as specific data of the rivet element 4 and / or the components to be connected 11 can be entered, wherein the control and arithmetic unit 49 is also assigned a memory module 51, which can store the various transferred to the control and processing unit 49 data editable.
- the control and computing unit 49 also has a display monitor 52 on which various process data can be represented alphanumerically or graphically.
- calculation algorithms 54 are stored in the control and arithmetic unit 49, which output data from the transferred to the control and arithmetic unit 49 input data 53, such as the mass of the variable position mass element 34 and the specific data of the connecting element 4 and the components to be connected 11, output data 55 determined.
- the output data 55 initially comprise optimized values for the required impact energy 33 and adjustment parameters 56 for various impact assemblies 33 influencing functional assemblies of Nietadapters 5.
- the determined adjustment parameters 56 include the length of the acceleration section 45, the achievable by means of the linear motors 26 accelerations of the position variable Mass element 34 and optionally the required mass of the variable-position mass element 34, which may be limited in the simplest case to the required mass of the additional weight 31.
- control and computing unit 49 generates output signals Y1..Yn which are either transferred via a data line system 57 or wirelessly to the corresponding organs of the rivet adapter 5 and which lead to these organs for setting the determined output data 55.
- the required length of the acceleration section 45 can be adjusted in such a way that the corresponding output signal Y1 is transferred to the linear guide 41 and this by means of the path measuring device 42, the exact positioning of the variable position mass element 34 makes, so that the determined acceleration section 45 of the mass element 34 can also be traversed.
- the accelerations coded in the output signals Y can of the position-variable mass element 34 are transferred to the linear motors 26, wherein the linear motors 26 associated with known and therefore not shown control units from these acceleration signals Y2 accelerations of the linear motors 26 determine that are finally transmitted by means of the push finger 29 on the variable position mass element 34.
- the linear motors 26 a separate, not shown displacement measuring system 42 is associated with their precise positioning, which ultimately increases the flexibility and accuracy of the adjustability of the impact energy 33
- via the display monitor 52 to the operator an indication, that in the rivet adapter 5 integrated additional weight 31 to replace by a more suitable for the achievement of the required impact energy 33 additional weight 31.
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Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur Fixierung von Nietelementen in Bauteilen nach dem Oberbegriff des Anspruchs 1 (siehe
Aus dem Stand der Technik sind vielfältigste Mechanismen zur Einbringung und Fixierung von Verbindungselementen wie etwa Nietelementen in Bauteile bekannt. So offenbart beispielsweise die
Weit verbreitet zur Einbringung und Fixierung von Verbindungselementen in Bauteile sind auch sogenannte Niethämmer und Nietzangen. Derartige Systeme sind in der Regel druckluftbetrieben, wobei die das Verbindungselement in das Bauteil einbringenden und in diesem fixierenden bewegten Masseelemente das Verbindungselement solange kontaktieren bis dieses seine gewünschte Fixierposition erreicht hat.Also widely used for the introduction and fixation of fasteners in components are so-called rivet hammers and rivet tongs. Such systems are usually compressed air, wherein the connecting element in the component introducing and fixing in this moving mass elements contact the connecting element until it has reached its desired fixing position.
Neben Ungenauigkeiten bei der Montage durch das mehrmalige Kontaktieren ein und desselben Verbindungselementes haben derartige Systeme insbesondere den Nachteil, dass sie sehr geräuschintensiv arbeiten.In addition to inaccuracies in the assembly by the repeated contact one and the same connection element such systems have the particular disadvantage that they work very noisy.
Weiter ist aus der
Es ist deshalb Aufgabe der Erfindung einen Fixiermechanismus für Verbindungselemente vorzuschlagen, der eine präzise und geräuscharme Montage der Verbindungselemente ermöglicht.It is therefore an object of the invention to propose a fixing mechanism for fasteners, which allows a precise and low-noise mounting of the connecting elements.
Diese Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale des Anspruchs 1 gelöst.This object is achieved by the characterizing features of
Damit wird eine präzise Positionierung des lageveränderlichen Masseelementes zur Einstellung einer definierten Beschleunigungsstrecke ermöglichtThis enables a precise positioning of the position-variable mass element for setting a defined acceleration distance
Indem die Aufprallenergie des lageveränderlichen Masseelementes änderbar ist, wird eine hohe Flexibilität in der Anpassung der erzielbaren Aufprallenergie an verschiedene Randbedingungen ermöglicht, die sicherstellt, dass eine Reduzierung, im besten Fall nur ein einziger Arbeitshub zur Verformung eines Nietelementes in den zu verbindenden Bauteilen erforderlich ist. Dies reduziert neben Geräuschbelästigungen vor allem die mechanische Beanspruchung des Nietadapters und des ihn führenden Arbeitsroboters.By the impact energy of the variable-area mass element is changeable, a high flexibility in the adaptation of the achievable impact energy to different boundary conditions is made possible, which ensures that a reduction, in the best case only a single stroke for deformation of a rivet element in the components to be joined is required. This reduces not only noise pollution but above all the mechanical stress of the rivet adapter and the working robot leading to it.
Die Aufprallenergie wird über die Parameter Beschleunigung des lageveränderlichen Masseelementes, Länge der Beschleunigungsstrecke dieses Masseelementes oder dessen Masse beeinflusst, wobei je nach Flexibilität der Anpassung nur einzelne oder alle diese Parameter Berücksichtigung finden. Aufgrund dessen, dass diese Parameter auf einfache Weise änderbar sind, führt dies auch zu einer unkomplizierten Beeinflussung der Aufprallenergie des lageveränderlichen Masseelementes.The impact energy is influenced by the parameters acceleration of the variable-mass mass element, length of the acceleration path of this mass element or its mass, and depending on the flexibility of the adaptation, only individual or all of these parameters are taken into account. Due to the fact that these parameters can be changed in a simple manner, this also leads to an uncomplicated influencing of the impact energy of the position-variable mass element.
Eine besonders vorteilhafte Weiterbildung der Erfindung ergibt sich dann, wenn die Aufprallenergie in Abhängigkeit von spezifischen Eigenschaften der zu verbindenden Bauteile und/oder von spezifischen Eigenschaften der Nietelemente und/oder von der Lage des Nietadapters im Raum bestimmt werden, da gerade diese Parameter maßgeblichen Einfluss auf die erforderliche Verformungsenergie und damit letztlich auf die zu generierende Aufprallenergie haben.A particularly advantageous development of the invention results when the impact energy is determined as a function of specific properties of the components to be joined and / or of specific properties of the rivet elements and / or of the position of the rivet adapter in space, since precisely these parameters have a significant influence have the required deformation energy and thus ultimately on the impact energy to be generated.
Indem das lageveränderliche Masseelement innerhalb des Nietadapters horizontal verfahrbar angeordnet ist, wird auf konstruktiv einfache Weise eine präzise Beschleunigung einer exakt definierten Masse ermöglicht, sodass letztlich die Aufprallenergie präzise einstellbar wird. Aufgrund der zum Teil sehr hohen Beschleunigungen ist es zudem von besonderem Interesse eine möglichst kompakte Form des zu beschleunigenden Masseelementes sicherzustellen. Auf einfache Weise wird dies dadurch erreicht, dass das Masseelement nur von einem Zusatzgewicht und einem diesem zugeordneten, das Nietelement verformenden Stößel sowie einen zumindest diese Elemente aufnehmenden horizontal verfahrbaren Tragrahmen gebildet wird.By the variable-position mass element is arranged horizontally movable within the rivet adapter, a precise acceleration of a precisely defined mass is possible in a structurally simple manner, so that ultimately the impact energy is precisely adjustable. Due to the sometimes very high accelerations, it is also of particular interest to ensure a compact form of the mass element to be accelerated. In a simple way, this is achieved in that the mass element is formed only by an additional weight and associated therewith, the rivet element deforming plunger and at least one of these elements receiving horizontally movable support frame.
Damit nach dem Kontakt des Stößels mit dem Nietelement eine Rückfederung und damit ein mehrmaliges Kontaktieren des Nietelementes durch den Stößel vermieden wird, nimmt der Nietadapter zudem eine Klemmeinheit auf, die einerseits nach Durchlaufen der Beschleunigungsstrecke eine definierte Verzögerung der Linearführeinrichtung des lageveränderlichen Masseelementes bewirkt und zudem die Bewegung des lageveränderlichen Masseelementes nach dem Kontakt mit dem Nietelement abbremst. Das Abbremsen der Linearführeinrichtung und des lageveränderlichen Masseelementes kann im einfachsten durch pneumatisches Klemmen erfolgen.So that after the contact of the plunger with the rivet element springback and thus repeated contact of the rivet by the plunger is avoided, the Nietadapter also takes on a clamping unit on the one hand after passing through the acceleration section causes a defined delay of the linear guide of the variable position mass element and also the Movement of the variable-mass mass element decelerates after contact with the rivet. The braking of the linear guide and the variable-position mass element can be done in the simplest way by pneumatic clamping.
In vorteilhafter Weiterbildung der Erfindung wird das Masseelement in horizontaler Richtung innerhalb des Nietadapters bewegt.In an advantageous embodiment of the invention, the mass element is moved in the horizontal direction within the rivet adapter.
Eine einfache Einstellung der ermittelten Länge der Beschleunigungsstrecke wird dann möglich, wenn dem lageveränderlichen Masseelement ein Linearführungssystem zugeordnet ist, dessen Wegmesssystem von einem mittels an sich bekanntem Sensor abgreifbaren Lineal gebildet wird, wobei das Lineal im einfachsten Fall unmittelbar in die Führungsschienen des lageveränderlichen Masseelementes integriert ist.A simple adjustment of the determined length of the acceleration section becomes possible if the position-variable mass element is assigned a linear guide system whose path measuring system is formed by a ruler which can be tapped by means of a known sensor, wherein in the simplest case the ruler is integrated directly into the guide rails of the position-variable mass element ,
Aufgrund dessen, dass die horizontale Komponente der Schwerkraft des lageveränderlichen Masseelementes je nach horizontaler Ausrichtung des Nietadapters entweder in oder entgegen der Nietrichtung wirkt, macht eine präzise Einstellung der Aufprallenergie Informationen über die momentane Ausrichtung des Nietadapters erforderlich. Im einfachsten Fall können derartige Informationen dadurch bereitgestellt werden, dass ein als Neigungssensor ausgebildeter Lagesensor am Nietadapter oder an dem den Nietadapter aufnehmenden Segment des Arbeitsroboters angeordnet ist.Due to the fact that the horizontal component of the gravity of the variable-area mass element acts either in or against the direction of flow, depending on the horizontal orientation of the rivet adapter, precise adjustment of the impact energy requires information about the instantaneous orientation of the rivet adapter. In the simplest case, such information can be provided by arranging a position sensor designed as a tilt sensor on the rivet adapter or on the segment of the working robot receiving the rivet adapter.
Aufgrund der komplexen Zusammenhänge zwischen den die Aufprallenergie beeinflussenden Parametern ist es zweckmäßig dem Nietadapter eine Steuer- und Recheneinheit zuzuordnen, in der abarbeitbare Berechnungsalgorithmen editierbar hinterlegt sind, die unter Berücksichtigung der verschiedenen Eingangsdaten die erforderliche Aufprallenergie und die Größe der einzelnen Parameter, wie die Masse des lageveränderlichen Masseelementes, dessen Beschleunigung und die Länge der Beschleunigungsstrecke ermitteln.Due to the complex relationships between the parameters influencing the impact energy, it is expedient to assign the rivet adapter a control unit in which executable calculation algorithms can be edited, which take into account the various input data the required impact energy and the size of the individual parameters, such as the mass of the position variable mass element, determine its acceleration and the length of the acceleration section.
In vorteilhafter Weiterbildung der Erfindung kann die Steuer- und Recheneinheit so ausgeführt sein, dass die in ihr generierten Ausgangssignale unmittelbar die Einstellung der verschiedenen Parameter in dem Nietadapter bewirkt.In an advantageous embodiment of the invention, the control and computing unit can be designed so that the output signals generated in it directly causes the setting of the various parameters in the rivet adapter.
Zur besseren Überwachung der ablaufenden Vorgänge kann der Steuer- und Recheneinheit zudem ein Anzeigemonitor in der Weise zugeordnet sein, dass dem Betreiber der Nietsetzarbeitsstation die verschiedenen von dem System berücksichtigten Eingangsdaten und die ermittelten Ausgangsdaten visuell anzeigt werden.For better monitoring of the running processes, the control and computing unit can also be assigned a display monitor in such a way that the operator of the rivet setting workstation is visually displayed the various input data taken into account by the system and the determined output data.
Zur Einpassung des erfindungsgemäßen Nietadapters in bestehende Produktionsabläufe ist es zudem von Vorteil, wenn der Nietadapter als Endeffektor eines Arbeitsroboters ausgeführt ist, sodass er problemlos in bestehende Produktionsabläufe integrierbar ist.For fitting the rivet adapter according to the invention in existing production processes, it is also advantageous if the rivet adapter is designed as an end effector of a working robot, so that it can be easily integrated into existing production processes.
Weitere vorteilhafte Ausführungen sind Gegenstand weiterer Unteransprüche und werden nachfolgend an Hand eines in mehreren Figuren dargestellten Ausführungsbeispiels beschrieben. Es zeigen:
- Fig.1
- eine räumliche Ansicht der erfindungsgemäßen Nietsetzarbeitsstation
- Fig.2
- den erfindungsgemäßen Nietadapter in einer Detailansicht
- Fig.3
- den Schwerkraftverlauf am Nietadapter in verschiedenen Arbeitspositionen
- Fig.4
- eine schematische Darstellung der Parameterermittlung am Nietadapter
- Fig.1
- a spatial view of Nietsetzarbeitsstation invention
- Fig.2
- the rivet adapter according to the invention in a detailed view
- Figure 3
- the gravity curve at the rivet adapter in different working positions
- Figure 4
- a schematic representation of the parameter determination on Nietadapter
In an sich bekannter und deshalb nicht näher beschriebenen Weise kann der an dem frontseitigen Segment 7 des ersten Arbeitsroboters 2 schwenkbar angeordnete Lagefixieradapter 3 so ausgeführt sein, dass seine frontseitige Adaptiereinheit 12 sowohl Werkzeuge 13 zum Einbringen von Bohrungen 14 in die zu verbindenden Bauteile 11 als auch die Nietelemente 4 zum Verbinden der Bauteile 11 aufnehmen kann. In der Regel arbeitet die Adaptiereinheit 12 mit entsprechenden Werkzeug- und Verbindungselementspeichern zusammen (nicht dargestellt), aus denen einerseits verschiedene Werkzeuge 13 entnommen und in diese zurückgeführt werden können und andererseits der Adaptiereinheit 12 verschiedenste Nietelemente 4 zugeführt werden können. Im dargestellten Ausführungsbeispiel wurde der Adaptiereinheit 12 des Lagefixieradapters 3 ein Nietelement 4 übergeben, welches diese durch Verschwenken der Segmente 7 des Arbeitsroboters 2 in eine der die zu verbindenden Bauteile 11 durchsetzenden Bohrungen 14 in der Weise einfügt, dass der Kopf 15 des Nietelementes 4 bündig an dem, dem Lagefixieradapter 3 zugeordneten Bauteil 11 anliegt. Es liegt im Rahmen der Erfindung, dass die Adaptiereinheit 12 auch mehrere Nietelemente 4 aufnehmen kann, sodass zugleich mehrere Nietelemente 4 in die entsprechenden Bohrungen 14 eingesetzt und in dieser Position fixiert werden können. Weiter ist es auch denkbar, dass die Segmente 7 des den Lagefixieradapter 3 aufnehmenden Arbeitsroboters 2 in der Arbeitsposition in ihrer Position fix sind und nur die Adaptiereinheit 12 beispielsweise horizontal verschiebbar ausgeführt ist, sodass zunächst das Werkzeug 13 die Bohrung 14 bearbeiten oder herstellen und sodann das Einsetzen des Nietelementes 4 erfolgen kann.In a manner known per se and therefore not described in greater detail, the
Sind ein oder mehrere Nietelemente 4 durch den Lagefixieradapter 12 in die zu verbindenden Bauteile 11 eingefügt worden, wird im nächsten Schritt durch den erfindungsgemäßen und noch näher zu beschreibenden Nietadapter 5 das Verformen der Nietelemente 4 und damit das Verbinden der Bauteile 11 vorgenommen. Dabei wird der Nietadapter 5 durch Verschwenken der Segmente 8 des den Nietadapter 5 tragenden Arbeitsroboters 6 um die jeweiligen Schwenkachsen 10 an das jeweilige Nietelement 4 herangeführt.If one or more
Gemäß
Innenseitig sind dem Zwischenrahmen 21 Führungsschienen 24 zugeordnet auf welchen ein weiterer Tragrahmen 25 horizontal verfahrbar angeordnet ist. Die horizontale Verfahrbarkeit des Tragrahmens 25 wird dabei von Verstellmitteln 27 ermöglicht, die als elektrisch betriebene Linearmotoren 26 ausgeführt sind und die an dem Zwischenrahmen 21 fixiert sind, wobei sich deren die Linearmotoren 26 führenden und abstützenden Statoren 28 unterhalb des Tragrahmens 25 entlang des Zwischenrahmens 21 erstrecken und an diesem fixiert sind. Durch Inbetriebnahme der elektrischen Stellmotoren 26 können diese entlang der Statoren 28 verfahren werden, wobei sie über einen ihnen zugeordneten Schubfinger 29 den inneren Tragrahmen 25 des Nietadapters 5 in horizontaler Richtung 30 auf die Druckstempelbuchse 23 zu verfahren. Der relativ zum Zwischenrahmen 21 verfahrbare Tragrahmen 25 nimmt zumindest ein Zusatzgewicht 31 und in seinem frontseitigen Bereich einen Stößel 32 auf, wobei der Stößel 32 so an dem Tragrahmen 25 angeordnet ist, dass er bei dessen horizontaler Bewegung 29 in Richtung der Druckstempelbuchse 23 diese durchsetzen und auf das ihm zugeordnete Ende des Nietelements 4 auftreffen kann. Dabei führt die im Moment des Auftreffens des Stößels 32 auf dem Nietelement 4 dem Stößel 32 innewohnende Energie, im Folgenden als Aufprallenergie 33 bezeichnet, zu einer Deformation des Nietelementes 4 in der Weise, dass das dem Stößel 32 zugeordnete Ende gestaucht und damit eine feste Verbindung der von dem Nietelement 4 durchsetzten Bauteile 11 erreicht wird. Erfindungsgemäß bilden im dargestellten Ausführungsbeispiel der in dem Zwischenrahmen 21 verfahrbare Tragrahmen 25, das Zusatzgewicht 31 und der Stößel 32 das lageveränderliche Masseelement 34.On the inside, the
Im frontseitigen, den zu verbindenden Bauteilen 11 zugeordneten Bereich nimmt der Zusatzrahmen 21 zudem eine Klemmeinheit 35 auf, die über zumindest ein Anschlagelement 36 verfügt, welches einerseits die von den Linearmotoren 26 bewirkte Horizontalbewegung 30 des Masseelementes 34 begrenzt und deren Anschlagelement 36 im einfachsten Fall pneumatisch das Masseelement 34 nach erfolgtem Aufprall des Stößels 32 auf dem Nietelement 4 festhält, sodass eine Rückfederung des Masseelementes 34 und eine nochmalige Kontaktierung des Nietelementes 4 vermieden wird. Die pneumatische Fixierung des Masseelementes 34 kann dabei im einfachsten Fall so ausgeführt sein, dass das Zusatzgewicht 31 durch Erzeugung eines Unterdrucks im Bereich des Anschlagelements 36 von diesem angesaugt wird. Es liegt im Rahmen der Erfindung, dass die Klemmeinheit 35 das Masseelement 34 auch an einer anderen Stelle, beispielsweise im Bereich des Tragrahmens 25, fixieren kann. Die Abbremswirkung des lageveränderlichen Masseelementes 34 kann auch dadurch noch erhöht werden, dass dem Schubfinger 29 in nicht dargestellter Weise Dämpfungselemente zugeordnet sind, die zumindest einen Teil der dem rückfedernden Masseelement 34 innewohnende Energie absorbieren.In the front, the components to be joined 11 associated area of the
Die Rückführung des lageveränderlichen Masseelementes 34 in seine Ausgangsposition zur Durchführung eines weiteren Nietvorganges erfolgt durch Rückführung der Linearmotoren 26 in deren Ausgangsposition, wobei die Linearmotoren 26 mittels eines einem Linearhubelement 37 zugeordneten Rückführelement 38 das lageveränderliche Masseelement 34 erfassen und in den der Druckstempelbuchse 23 abgewandten Bereich des Zwischenrahmens 21 gemäß Pfeilrichtung 40 zurückführen, wobei die Lagefixierung in dieser Ausgangsposition im einfachsten Fall durch ein sogenanntes federndes Druckstück 39 bewirkt wird. Damit nun in erfindungsgemäßer Weise die Aufprallenergie 33 des lageveränderlichen Masseelementes 34 einstellbar wird, ist zumindest einer der mit dem Zwischenrahmen 21 verbundenen Führungsschienen 24 eine sogenannte Linearführeinrichtung 41 mit integrierter Wegmessung zugeordnet. Derartige Linearführeinrichtungen 41 sind in der Regel so aufgebaut, dass der sie tragenden Führungsschiene 24 eine Wegmesseinrichtung 42 in Form eines beispielsweise eingravierten Lineals 43 zugeordnet ist und die Linearführeinrichtung 41 über geeignete Sensoren 44 dieses Lineal 43 abgreift, sodass das lageveränderliche Masseelement 34 mittels dieses Lineals 43 exakt positionierbar ist.The return of the variable-position
Gemäß geltender physikalischer Gesetzmäßigkeiten wird die Aufprallenergie 33 des Stößels 32 auf dem Nietelement 4 maßgeblich von der Masse des lageveränderlichen Masseelementes 34, dessen Beschleunigung und der verfügbaren Beschleunigungsstrecke 45 bestimmt. Eine erste Möglichkeit der Änderung der Aufprallenergie 33 wäre, Zusatzgewichte 31 unterschiedlicher Masse einzusetzen, wobei höhere Massen der Zusatzgewichte 31 zu höheren Aufprallenergien 33 führen würden. Der Austausch der Zusatzgewichte 31 führt jedoch zu erheblichem Montageaufwand. Zudem ist die auf diese Weise erreichbare Aufprallenergieänderung sehr eingeschränkt, da in der Regel der verfügbare Bauraum eine hohe Flexibilität beim Einsatz von unterschiedlichen Zusatzgewichten 31 nicht zulässt. Erheblich effektvoller ist die Änderung der Aufprallenergie 33 durch Änderung der Beschleunigung des lageveränderlichen Masseelementes 34 und der Länge der zur Beschleunigung des Masseelementes 34 zur Verfügung stehenden Beschleunigungsstrecke 45. Die Änderung der Aufprallenergie 33 durch Änderung der Beschleunigung des lageveränderlichen Masseelementes 34 lässt sich auf einfache Weise dadurch erreichen, dass die Strombeaufschlagung der Linearmotoren 26 geändert wird, wobei höhere Beschleunigen des Masseelementes 34 zur Zunahme der Aufprallenergie 33 führen. Analog hierzu kann die verfügbare Beschleunigungsstrecke 45 variiert werden, wobei eine Zunahme der Beschleunigungsstrecke 45 ebenfalls höhere Aufprallenergien 33 nach sich zieht. Zur Vermeidung hoher Verzögerungskräfte an den Linearmotoren 26 am Ende der Beschleunigung des lageveränderlichen Masseelementes 34 in Richtung des Nietelementes 4, ist innerhalb des Nietadapters 5 zudem eine Verzögerungsstrecke 46 vorgesehen innerhalb derer die Linearmotoren 26 allmählich abgebremst werden, während sich das lageveränderliche Masseelement 34 weiter in Richtung des Nietelementes 4 bewegt und erst nach seinem Kontakt mit dem Nietelement 4 wie zuvor beschrieben mittels der Klemmeinheit 35 abgebremst wird.In accordance with applicable physical laws, the
Damit nun das lageveränderliche Masseelement 34 eine Aufprallenergie 33 generiert, die stets gewährleistet, dass ein einziger Kontakt des Stößels 32 mit dem Nietelement 4 eine ausreichend intensive Deformation des Nietelementes 4 zur Verbindung der Bauteile 11 hervorruft, muss die Änderung der Aufprallenergie 33 insbesondere Materialeigenschaften der zu verbindenden Bauteile 11, Nietelementeigenschaften sowie die Lage des Nietadapters 5 im Raum berücksichtigen. Bezüglich der Verformbarkeit der zu verbindenden Bauteile 11 spielen insbesondere die Materialdicke und materialspezifische Verformungskennwerte wie etwa der Elastizitätsmodul eine Rolle. Analog hierzu hängt die erforderliche Aufprallenergie ganz wesentlich von der Beschaffenheit des Nietelementes 4 selbst ab, wobei hier insbesondere geometrische Abmessungen und Materialkennwerte des Nietelementes 4 eine Rolle spielen. Zudem beeinflusst die Lage des Nietadapters 5 im Raum die generierbare Aufprallenergie 33, da gemäß
Damit nun eine Optimierung der Aufprallenergie 33 in der Weise möglich wird, das die Aufprallenergie 33 gerade so hoch voreinstellbar ist, dass eine Verbindung der Bauteile 11 mittels des zu deformierenden Nietelementes 4 durch einen einzigen Kontakt des Stößels 32 des Nietadapters 5 mit dem Nietelement 4 möglich wird, sodass die mechanischen Belastungen des Nietadapters 5 und des ihn tragenden Arbeitsroboters 6 sowie Geräuschemissionen vertretbar gering bleiben, steht der Nietadapter 5 gemäß
Es liegt im Rahmen des Könnens eines Fachmanns das beschriebene Ausführungsbeispiel in nicht dargestellter Weise abzuwandeln oder in anderen Maschinensystemen einzusetzen, um die beschriebenen Effekte zu erzielen, ohne dabei den Rahmen der Erfindung, sowie sie in den Ansprüchen definiert ist, zu verlassen.It is within the skill of one of skill in the art to modify the described embodiment in a manner not shown or used in other machine systems to achieve the effects described without departing from the scope of the invention as defined in the claims.
- 11
- NietsetzarbeitsstationNietsetzarbeitsstation
- 22
- Arbeitsroboterworking robot
- 33
- LagefixieradapterLagefixieradapter
- 44
- Nietelementrivet
- 55
- NietadapterNietadapter
- 66
- Arbeitsroboterworking robot
- 77
- ArbeitsrobotersegmenteWorking robot segments
- 88th
- ArbeitsrobotersegmenteWorking robot segments
- 99
- Schwenkachseswivel axis
- 1010
- Schwenkachseswivel axis
- 1111
- Bauteilecomponents
- 1212
- AdaptiereinheitAdaptiereinheit
- 1313
- WerkzeugTool
- 1414
- Bohrungdrilling
- 1515
- Nietkopfrivet head
- 1616
- Tragrahmensupporting frame
- 1717
- AdaptierflanschAdaptierflansch
- 1818
- Pneumatikzylinderpneumatic cylinder
- 1919
- Verstellmitteladjustment
- 2020
- StellflanschStellflansch
- 2121
- Zwischenrahmenintermediate frame
- 2222
- Richtungdirection
- 2323
- DruckstempelbuchsePlunger socket
- 2424
- Führungsschieneguide rail
- 2525
- Tragrahmensupporting frame
- 2626
- Linearmotorlinear motor
- 2727
- Stellmittelactuating means
- 2828
- Statorstator
- 2929
- Schubfingerthrust finger
- 3030
- Richtungdirection
- 3131
- Zusatzgewichtadditional weight
- 3232
- Stößeltappet
- 3333
- Aufprallenergieimpact energy
- 3434
- Masseelementmass element
- 3535
- Klemmeinheitterminal unit
- 3636
- Anschlagelementstop element
- 3737
- LinearführungssystemLinear guide system
- 3838
- RückführelementReturn element
- 3939
- federndes Klemmstückresilient clamping piece
- 4040
- Pfeilrichtungarrow
- 4141
- LinearführeinrichtungLinear guide device
- 4242
- Wegmesssystemdisplacement measuring system
- 4343
- Linealruler
- 4444
- Sensorsensor
- 4545
- Beschleunigungsstreckeacceleration path
- 4646
- Verzögerungsstreckedelay path
- 4747
- Neigungssensortilt sensor
- 4848
- Lagesensorposition sensor
- 4949
- Steuer- und RecheneinheitControl and computing unit
- 5050
- Eingabefeldinput box
- 5151
- Speichermodulmemory module
- 5252
- Anzeigemonitordisplay monitor
- 5353
- Eingabedateninput data
- 5454
- Berechnungsalgorithmencalculation algorithms
- 5555
- Ausgangsdatenoutput data
- 5656
- EinstellparameterSetting parameters
- 5757
- Datenleitungdata line
- XX
- Neigungssignaltilt signal
- Y1..Yn Y 1 ..Y n
- Ausgangssignaleoutput signals
Claims (21)
- Apparatus for fixing rivet elements in components, wherein the rivet element is fixed in position in the component in the riveting position at one end by a position fixing adaptor and wherein the rivet element is deformable at the other end by a rivet adaptor and the rivet adaptor has at least one mass element which is variable in position and the impact energy which can be stored in the mass element causes the deformation of the rivet element, wherein the impact energy (33) of the mass element (34) which is variable in position can be changed and the changeability of the impact energy (3) is determined at least by the acceleration of the mass element (34) which is variable in position and/or by the length of the acceleration distance (45) of the mass element (34) which is variable in position and/or by the mass of the mass element (34) which is variable in position, characterised in that the mass element (34) which is variable in position is guided during the acceleration operation by the stator (28) of the at least one linear motor (26).
- Apparatus for fixing rivet elements in components according to claim 1 characterised in that the impact energy (33) of the mass element (34) which is variable in position is adjustable in dependence on specific properties of the components (11) to be connected and/or specific properties of the rivet elements (4) and/or the position of the rivet adaptor (5) in space.
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that the rivet adaptor (5) has at least one intermediate frame (21) which by way of linear guides (24) carries the mass element (34) which is variable in position.
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that the mass element (34) which is variable in position is guided at both sides in linear guides (24) and at the front side carries a ram (32) for transmission of the impact energy (33) to the rivet element.
- Apparatus for fixing rivet elements in components according to claim 4 characterised in that the mass of the mass element (34) which is variable in position is determined by the moved masses of the linear guide arrangement (41) and includes at least the ram (32), at least one defined additional weight (31) and a carrier frame (25) carrying at least the ram (32) and the additional weight (31).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that an abutment element (36) formed by a clamping unit (35) limits the acceleration distance (45) of the mass element (34) which is variable in position and initiates a defined retardation of the mass element (34) which is variable in position after contact thereof with the rivet element (4).
- Apparatus for fixing rivet elements in components according to claim 6 characterised in that the retardation is implemented by pneumatically clamping the additional weight (31) of the mass element (34) which is variable in position.
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that there are provided setting means (27) for the movement of the mass element (34) which is variable in position, which permits movement of the mass element (34) which is variable in position along the guide rails (24) in opposite directions (30, 40).
- Apparatus for fixing rivet elements in components according to claim 8 characterised in that the setting means (27) are in the form of electrically operated linear motors (26) with a separate travel measuring system (42).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that a travel measuring system (42) is associated with the mass element (34) which is variable in position and wherein the travel measuring system (42) is integrated into a linear guide system (39).
- Apparatus for fixing rivet elements in components according to claim 10 characterised in that the linear guide system (39) includes at least one guide rail (24) and the travel measuring system (42) includes a scale (43) incorporated into the guide rail (24).
- Apparatus for fixing rivet elements in components according to claim 11 characterised in that the linear guide system (39) includes in per se known manner a sensor (44) for sensing the scale (43).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that at least one per se known position sensor (48) is associated with the rivet adaptor (5).
- Apparatus for fixing rivet elements in components according to claim 13 characterised in that the position sensor (48) is in the form of an inclination sensor (47).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that associated with the rivet adaptor (5) is a control and calculating unit (49) to which the signals (X1, X2) generated by the at least one position sensor (47, 48) and the travel measuring system (42) are passed as input signals (X) and in which the mass of the mass element (34) which is variable in position and specific data of the rivet elements (4) and/or the components (11) are editably stored.
- Apparatus for fixing rivet elements in components according to claim 13 characterised in that one or more calculation algorithms (54) for ascertaining the required impact energy (34) are stored in the control and calculating unit (49) and wherein the calculation algorithm or algorithms (54) take account as input data (53) of the mass of the mass element (34) which is variable in position and/or the specific data of the rivet elements (4) and/or the specific data of the components (11) and/or the input signals (X) of the position sensor (47, 48) and the travel measuring system (42).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that the length of the acceleration distance (45) and/or the required accelerations of the mass element (34) which is variable in position and/or the required mass of the mass element (34) which is variable in position are determined from the ascertained impact energy (33) in the control and calculating unit (49) as output data (55).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that the output data (55) are passed as output signals (Y1...Yi) to the rivet adaptor (5) and therein cause the change in the length of the acceleration distance (45) by displacement of the mass element (34) which is variable in position and/or the acceleration of the mass element (34) which is variable in position by changing the acceleration of the linear motors (26) which accelerate the mass element (34) which is variable in position.
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that a display monitor (52) is associated with the control and calculating unit (49) and the display monitor (52) can display the input data (X), the generated output data (Y) and the adjusting parameters (56).
- Apparatus for fixing rivet elements in components according to one of the preceding claims characterised in that the rivet adaptor (5) is in the form of an end effector (8) of a single-axis or multi-axis working robot (6).
- Apparatus for fixing rivet elements in components according to claim 20 characterised in that the at least one position sensor (48) is associated with the end effector (8).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102004005859 | 2004-02-05 | ||
DE102004005859A DE102004005859A1 (en) | 2004-02-05 | 2004-02-05 | Device for fixing rivet elements in components |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1561526A1 EP1561526A1 (en) | 2005-08-10 |
EP1561526B1 true EP1561526B1 (en) | 2008-06-04 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP05001307A Not-in-force EP1561526B1 (en) | 2004-02-05 | 2005-01-22 | Device for setting rivets in components |
Country Status (5)
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---|---|
US (1) | US7805829B2 (en) |
EP (1) | EP1561526B1 (en) |
AT (1) | ATE397502T1 (en) |
DE (2) | DE102004005859A1 (en) |
ES (1) | ES2308316T3 (en) |
Families Citing this family (17)
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US20060117547A1 (en) * | 2004-12-08 | 2006-06-08 | The Boeing Company | Integral clamping-and-bucking apparatus for utilizing a constant force and installing rivet fasteners in a sheet metal joint |
FR2897009B1 (en) * | 2006-02-07 | 2008-05-09 | Alema Automation Soc Par Actio | METHOD FOR POSITIONING A TOOL ASSEMBLY AT THE END OF AN ARTICULATED ARM AND DEVICE FOR IMPLEMENTING IT |
ITTO20060581A1 (en) * | 2006-08-04 | 2008-02-05 | Bruno Bisiach | DEVICE AND METHOD OF WORKING A PIECE TO BE WORKED, AS FOR EXAMPLE A STRUCTURE SHELLED OF A AIRCRAFT |
FR2914208B1 (en) * | 2007-03-30 | 2009-05-08 | Eads Europ Aeronautic Defence | RING INSERTION AND CRIMPING DEVICE FOR CLOSED RING FITTING ON A ROD. |
US8468671B2 (en) * | 2007-11-02 | 2013-06-25 | Electroimpact, Inc. | System for loading collars onto bolts in large-scale manufacturing operations |
JP2010274396A (en) * | 2009-06-01 | 2010-12-09 | Kawasaki Heavy Ind Ltd | Displacement correcting method and program in automatic operation system |
US9314856B2 (en) * | 2013-07-02 | 2016-04-19 | The Boeing Company | Pressure foot offset nose piece |
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DE19800847A1 (en) * | 1997-12-04 | 1999-06-17 | Gerd Dr Ing Kellner | Device for placing a fastening element in a setting surface and using the device |
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-
2004
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2005
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ATE397502T1 (en) | 2008-06-15 |
DE502005004322D1 (en) | 2008-07-17 |
US20050172481A1 (en) | 2005-08-11 |
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