EP1998910B1 - Vorrichtung und verfahren zur verbindung von blechplatten mittels nietung - Google Patents

Vorrichtung und verfahren zur verbindung von blechplatten mittels nietung Download PDF

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Publication number
EP1998910B1
EP1998910B1 EP07727341A EP07727341A EP1998910B1 EP 1998910 B1 EP1998910 B1 EP 1998910B1 EP 07727341 A EP07727341 A EP 07727341A EP 07727341 A EP07727341 A EP 07727341A EP 1998910 B1 EP1998910 B1 EP 1998910B1
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EP
European Patent Office
Prior art keywords
carriage
riveting
head
drilling
parallelogram
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.)
Active
Application number
EP07727341A
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English (en)
French (fr)
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EP1998910A1 (de
Inventor
Maxime Hardouin-Finez
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Sonaca SA
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Sonaca SA
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Publication date
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Publication of EP1998910A1 publication Critical patent/EP1998910A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • 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
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • 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
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49771—Quantitative measuring or gauging
    • 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
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • 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
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • Y10T29/4978—Assisting assembly or disassembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49947—Assembling or joining by applying separate fastener
    • Y10T29/49954—Fastener deformed after application
    • Y10T29/49956—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5116—Plural diverse manufacturing apparatus including means for metal shaping or assembling forging and bending, cutting or punching
    • Y10T29/5118—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
    • Y10T408/00—Cutting by use of rotating axially moving tool
    • Y10T408/03—Processes
    • 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
    • Y10T408/00—Cutting by use of rotating axially moving tool
    • Y10T408/16—Cutting by use of rotating axially moving tool with control means energized in response to activator stimulated by condition sensor
    • Y10T408/165—Cutting by use of rotating axially moving tool with control means energized in response to activator stimulated by condition sensor to control Tool rotation

Definitions

  • the present invention relates generally to the field of joining by riveting thin metal sheets or structures, this technique is widely used in aeronautical construction activities.
  • the invention indeed has a preferred but non-limiting application in the field of robotic assembly by riveting aircraft sheets having a drilling surface / riveting high curvature, such as the leading edge of a wing , or of lower curvature, like an aircraft fuselage panel.
  • these devices In the aerospace industry, these devices generally include a frame carrying a drilling system, a riveting system, and a press-plate system.
  • the press-plate system is usually driven first in order to make contact with the sheets to be assembled, then it is the turn of the drilling system to break through the holes. sheet to obtain a hole in which is then inserted a rivet, issued by the riveting system.
  • the sheet-metal press system can possibly be doubled by a second press-plate system in order to pressurize both sides of the sheet assembly.
  • the rivets are set up from one side of the sheets to be assembled, or from both sides of them.
  • the assembly formed by the chassis carrying the various systems mentioned above is usually placed at the end of a robotic arm of the device, which thus makes it possible to bring this assembly to the desired location relative to the sheets to be assembled.
  • Drilling and riveting systems of known devices are generally controlled so that the riveting head and the piercing head are alternately brought into the working axis of the device, in order to perform one or more operations specific to them and involving other sets in motion .
  • the object of the invention is therefore to provide a device and a method for the riveting assembly of sheet metal remedying the problems mentioned above, and relating to the embodiments of the prior art.
  • the subject of the invention is a device for the joining by riveting of sheets, as defined in the independent claim 1.
  • the device according to the invention provides a better precision in the drilling, since the driving kinematic chain associated with the drilling system can be simplified compared with that encountered in the prior art. Indeed, it is now no longer necessary to move the drilling system to ensure the alternative establishment in the working axis, riveting and drilling systems.
  • the proposed solution implies that the piercing head remains permanently in the working axis of the device, whether during the drilling operation or during the riveting operation, since it is the riveting system itself which is designed so that its riveting head is in turn disengaged from the working axis, and oriented according to it, being located forward with respect to the piercing head with which this head riveting is then also aligned.
  • the proposed arrangement provides a very high rigidity in the drilling axis, capable of ensuring the formation of a perfectly circular hole and a regular milling.
  • the simplification of the driving kinematic chain associated with the drilling system is not only intended to reduce the risk of occurrence of internal kinematic variations specific to the tooling and favoring the appearance games, but also leads advantageously to decrease the mass of the device and its overall size.
  • a deformable parallelogram similar to a pantograph, generally provides a simplified sequencing of the riveting operation that follows the drilling operation, thus provides better efficiency to the device.
  • the parallelogram is designed to deform in order to bring the riveting head into its working position in which the drill head axis and rivet head axis are combined, this deformation can advantageously be carried out automatically during a simple movement of the second carriage, preferably parallel to the drill head axis.
  • the parallelogram is deformed in a predetermined manner during a simple movement of the second carriage in a sliding direction, preferably identical to the direction of movement of the riveting head.
  • this preferred embodiment is remarkable in that the sequencing of the riveting operation is simplified to the extreme, since it consists only of moving the second carriage in motion in the direction of sliding.
  • the mechanical deformation system is a guiding system comprising a pin integral with one of the two parallel arms, the pin sliding in a switching groove when the second carriage moves in the direction sliding.
  • the groove similar to a ramp or a routing track, has a suitable shape ensuring the deformation of the desired parallelogram.
  • the routing groove preferably has successively a first portion to maintain the parallelogram in its first configuration placing the riveting head in its rest position, a second portion for deforming progressively the parallelogram until it adopts its second configuration placing the riveting head in its working position, and a third portion to maintain the parallelogram in its second configuration, to allow a riveting operation.
  • the three adjoining portions are preferably each rectilinear, respectively oriented along three distinct lines.
  • the first and third portions are parallel to each other and parallel to the working axis, while the second portion is inclined relative thereto in order to ensure the progressive approximation of the head of the riveting towards the working axis.
  • the routing groove which is preferably in a plane, may not include the first portion mentioned above, but only the other two portions respectively first of all the deformation of the parallelogram in order to bring the riveting head in its working position, and then maintaining the deformed parallelogram to put the head in translation to complete the riveting operation along the working axis.
  • the device comprises a frame carrying the routing groove and on which are mounted each of the riveting system and drilling system, the first and second carriages being each arranged so as to be able to slide rectilinearly with respect to the frame according to the same sliding direction, the drilling system comprising means for moving the first carriage in the sliding direction, and the riveting system also having means for moving the second carriage in the sliding direction.
  • first and second carriages slide respectively in two different directions, namely not parallel to each other.
  • another possibility would be to use the same moving means for moving the first and second carriages, in the same or similar manner to that described above incorporating coupling means.
  • the means for setting the second carriage in motion in the sliding direction comprise a rodless jack, of a conventional design and known to those skilled in the art.
  • An alternative solution could for example have been to use a linear motor, as it is preferentially retained to achieve the means for moving the first carriage.
  • the linear motor employed is of the type of those commercially available.
  • the first carriage is mounted on two guide rails secured to the frame, with the aid of a plurality of stirrup-shaped pads cooperating with the two rails of guiding and being integral with the first carriage.
  • each of these two guide rails of the first carriage has a core arranged respectively in two inclined planes forming together a V in section taken orthogonally to the drill head axis.
  • the activation of the solenoid of a primary element of the linear motor makes it possible to create electromagnetic forces ensuring the displacement on the rails of the first carriage, and also an attraction thereof to a secondary element usually taking the form of a track of permanent magnets.
  • This attraction has the effect of creating a plating of the first carriage on the guide rails, which, because of their V arrangement, strongly help maintain a centering of the drilling head in the working axis. Indeed, in operation, these support forces permanently maintain the first carriage on the rails arranged in V, thereby avoiding the appearance of vibration generating sets that would be extremely detrimental to the drilling accuracy.
  • each of the two guide rails of the first carriage preferably has an I-shaped cross section.
  • the first carriage is equipped with a first read head adapted to cooperate with an optical ruler placed on the chassis. This makes it possible to carry out controlled micrometric displacements of the first carriage on the chassis of the device, and thus to envisage the realization of holes / millings of extremely precise dimensions.
  • the second carriage of the riveting system is preferably mounted on a rail of guide secured to the frame and also oriented in the direction of sliding, with the aid of at least one stirrup-shaped pad cooperating with the guide rail and being secured to the second carriage.
  • this rail is separate from the two guide rails on which is secured the first carriage of the drilling system.
  • the aforementioned rail is used both for the case where the riveting head is mounted on means for rotating, as for the case where it is carried by a deformable parallelogram.
  • the device further preferably comprises a steel press system arranged to be slidable in a rectilinear manner with respect to the frame, in the direction of sliding.
  • the sheet metal press system preferably comprises a third carriage mounted on the frame, as well as means for moving this third carriage in the sliding direction.
  • the means for moving the third carriage take the form of a linear motor, which may be such that it has in common with the linear motor of the first carriage the same fixed secondary element, know the permanent magnet track placed between the two guide rails of the first carriage.
  • a linear motor which may be such that it has in common with the linear motor of the first carriage the same fixed secondary element, know the permanent magnet track placed between the two guide rails of the first carriage.
  • the third carriage is mounted on the two guide rails guiding the first carriage, with the aid of a plurality of stirrup-shaped pads cooperating with these two guide rails and being secured. of the third carriage.
  • the third carriage is equipped with a second read head adapted to cooperate with an optical ruler placed on the chassis, which is of course preferably identical to that cooperating with the first read head equipping the carriage of the drilling system. .
  • this advantageously makes it possible to envisage carrying out micrometric displacements of the third carriage on the chassis.
  • the sheet-metal press system has a sheet-metal press head mounted on the third carriage and defining a sheet-metal press head axis coinciding with the drilling head axis.
  • the frame is mounted on a robotic arm of the device, for example by means of a five-axis head.
  • the device preferably also comprises a control system provided with means making it possible to deliver an advance speed setpoint of a drilling tool of the device, along the axis of the piercing head, as well as a setpoint of rotation speed of this tool, these instructions being based on information on the local stiffness of plates at a hole to be drilled for receiving a rivet.
  • the subject of the invention is also a method of joining by riveting of sheets implemented using a device such as that which has just been described.
  • the sheets concerned being of the metal type or made of any other material such as composite material.
  • This device 1 like the present invention, finding a preferred application in the field of aeronautical constructions, can be adapted to allow the automatic installation of any type of rivets, such as rivets to shoot, and / or rivets struck, and / or crushed rivets, without departing from the scope of the invention. Nevertheless, it is noted that the device 1 is preferably designed to work blindly, with rivets to shoot.
  • the part of the device 1 represented on the Figures 1 to 3 concerns only a terminal portion of this device, and is preferably a mountable / dismountable tool intended to be assembled at the end of a robotic arm (not shown) preferably forming part of this device.
  • a robotic arm not shown
  • the junction between the end of this robotic arm, and the tool part which will now be described may be constituted by a five-axis head known to those skilled in the art and allowing a very high orientation. precise of this tool in space.
  • X is referred to as the longitudinal direction of the device
  • Y is the direction transversely oriented relative to this device
  • Z is the vertical or height direction, these three directions being orthogonal to each other.
  • the aforementioned axis system moves in the same movement as that of the chassis 2, driven by the robotic arm.
  • the device 1 thus comprises generally, attached to the frame 2, three systems intended to provide different functions, namely a drilling system 4, a riveting system 6, and a press-plate system 8. For information purposes, it is indicated that these systems are also called actuators, or even effectors.
  • the latter has a first carriage 10 supporting the whole of the piercing spindle 12, which has at its front part a piercing head 14 equipped with a piercing tool 17 and defining a drill head axis 16, also called drilling tool axis, wherein is arranged the same tool.
  • the pin 12 is fixedly mounted on the carriage 10, so that the relative position between the axis of the drilling head 16 oriented in the direction X, and the same carriage 10, is intended to remain identical throughout. a riveting assembly cycle.
  • the piercing head 14 conventionally comprises the piercing tool 17, as well as the support of this tool, of the mandrel type or the like.
  • the first carriage 10 is mounted on the frame 2 so as to be able to slide rectilinearly with respect thereto, in a direction of sliding 18 parallel to the direction X. To do this, the carriage 10 is slidably mounted on two rails. 20 oriented guideways in the direction X, and therefore consequently also in the direction of sliding 18, these two rails 20 being spaced apart from each other in the direction Y.
  • the two rails 20, for example having an I-shaped cross section are arranged in such a way as to that the two souls of these I are respectively in two inclined planes P1, P2 together forming a V.
  • the upper flanges of these two rails 20 are therefore also respectively in two inclined planes P3, P4 jointly forming a V , the tip of the latter V being oriented in the Z direction, downwards.
  • these two V each have two branches symmetrical to each other with respect to a vertical plane XZ passing through the axis 16, and together forming an angle of about 90 °.
  • the V arrangement of the upper flanges of the rails 20 allows easy and precise adjustment of the carriages arranged on these rails, and generally makes it possible to very satisfactorily block any parasitic movements of these carriages when they are in translation on the rails.
  • the carriage 10 is equipped with a plurality of yoke-shaped ball bearings 22, for example four in number, with two of them associated with one of the rails 20, and the remaining two associated with the other of these rails.
  • Each of these pads 22 therefore encloses the upper branch of the I of one of the two rails 20, as is best seen on the figure 3 .
  • the drilling system 4 incorporates moving means 24 which preferably take the form of a linear motor incorporating a movable primary element 26 embedded on the first carriage 10, and a fixed secondary element 28 mounted on the frame 2.
  • the frame 2 has in section on a YZ plane of a general shape of U, at the two ends of which are fixed the two rails 20. Between the two branches of this U, there is provided a magnetic track consisting of rare earth permanent magnets, alternating along the same track the North and South polarizations. This track, placed under the first carriage 10, then constitutes the fixed secondary element 28 of the linear motor 24.
  • the activation of the solenoid equipping the movable primary element 26 of the linear motor 24 makes it possible to create electromagnetic forces ensuring on the one hand the displacement in the X direction of the first carriage 10 on the rails 20, and on the other hand an attraction in the direction Z of the same carriage 10 to the fixed secondary element 28.
  • the latter is equipped with a read head 30 cooperating with an optical ruler 32 placed on the frame 2, in the direction X.
  • this rule 32 consists of a glass bar bearing graduations of very high precision.
  • the read head 30 converts into electronic signals the detection of engravings read on the ruler 32 during the passage of the carriage 10, to give its exact position on the guide rails 20.
  • the description of the drilling system 4 which has just been carried out shows a specificity, namely that the axis of drilling head 16 is provided to remain permanently in the working axis of the device, and is therefore not no case intended to be animated by a movement relative to the chassis 2 during operation of the device.
  • the riveting system 6 comprises meanwhile a second carriage 34 supporting the assembly of the riveting tool 36 or riveting machine, which comprises in its front portion a riveting head 38, which in turn defines a rivet head axis 40 More precisely, the riveting head 38, and more generally the riveting tool assembly 36, is integrally mounted at the front of a deportation arm 42 extending generally along the X direction, and whose the rear part is mechanically connected to the carriage 34.
  • the aforementioned mechanical connection is made using means of movement (hidden in the figures) designed to be able to put the arm 42 and the head 38 secured to it in rotation relative to the carriage 34 about an axis of rotation 44, for the purpose of moving the same riveting head 38 between a rest position in which the drill head axis 16 and the rivet head axis 40 are separate and parallel as shown in FIGS. figures 1 and 3 , and a working position in which these axes 16, 40 are merged, as will be explained later.
  • the moving means then preferably takes the form of a conventional rotary motor, the axis of rotation 44 of which is preferably parallel to the X and 18 directions, and of course distinct from the axes of the piercing head and the rivet headpiece 16, 40.
  • the start of the rotary motor causes the head 38 to move relative to the carriage 34, this movement describing a trajectory corresponding to a portion of a circle situated in a plane YZ.
  • the second carriage 34 is mounted on the frame 2 so as to slide rectilinearly with respect to the latter in the sliding direction 18. To do this, the second carriage 34 is slidably mounted on a guide rail 46, preferably separate from the two guide rails 20 of the carriage 10, but also oriented in the directions X and 18. As shown in FIG. figure 2 , the rail 46 of H-shaped cross-section is integrally mounted on an outer lateral surface of one of the legs of the U formed by the frame 2.
  • the carriage 34 is equipped with one or a plurality of yoke-shaped ball bearings 48, for example, provided at the number two, spaced in the X direction. pads 48 thus encloses the free lateral branch of the H which is opposed to the other lateral branch fixed integrally on the frame 2.
  • the carriage 34 of the riveting system 6 does not comprise any translational means of its own, but is provided to be able to couple with the carriage of the drilling system 4, and is therefore likely to be set in motion in the direction 18 under the effect of the start of the first linear motor 24 described above.
  • coupling means 50 allowing, when in an activated state, to couple in translation in the direction 18, one to the other of the carriages 10, 34, and, when are in a deactivated state, to allow relative sliding between these same carriages.
  • these means 50 comprise a guide rail 52 integral with the first carriage and arranged in the X and 18 directions, and at least one actuatable brake caliper 54, integral with the second carriage 34, and more particularly of an inclined upper part of the latter which tends to move closer to pin 12 to limit the overall size.
  • the brake callipers 54 permanently secured to the free upper part of the I-shaped cross section rail 52, are actuated accordingly. , for example electromagnetically.
  • the riveting system 6 is equipped with its own means of translation, they can then take any form known to those skilled in the art, such as for example incorporating a hydraulic cylinder.
  • the latter has a third carriage 60 supporting a sheet metal press head 62, also known as pressurizing gun, which defines a sheet metal press head axis 64 oriented in directions X and 18.
  • a sheet metal press head 62 also known as pressurizing gun
  • the head 62 intended to contact the sheets to be assembled during the drilling and riveting operations, is provided with a through orifice 66 arranged according to the the axis of the press head 64 and intended to be alternately traversed by the drilling tool 17, and the riveting head 38. More specifically, this head 62 or barrel is fixedly mounted on the carriage 60, so that the position relative between the head axis X-oriented sheet-metal press, and the same carriage 60, is intended to remain identical throughout a riveting assembly cycle.
  • one of the peculiarities of this preferred embodiment lies in the fact that the pins 64 and 16 are permanently merged during a riveting assembly cycle.
  • the third carriage 60 is mounted on the frame 2 so as to be able to slide rectilinearly with respect to the latter in the sliding direction 18. To this end, the carriage 60 is slidably mounted on the two guide rails 20 arranged in V previously described, forward with respect to the first carriage 10 of the drilling system, naturally understood that the front and the back are here determined according to the orientation of the drilling tool used by the system 4.
  • the carriage 60 is equipped with a plurality of ball bearings 68 in the form of a stirrup, for example two in number, each associated with one of the two rails.
  • a plurality of ball bearings 68 in the form of a stirrup, for example two in number, each associated with one of the two rails.
  • Each of these shoes 68 thus encloses the upper branch of the I of one of the two rails 20.
  • the sheet-ironing system 8 incorporates moving means 70 which preferably take the form of a linear motor incorporating a primary element mobile 72 on the third carriage 60, and a fixed secondary element 28 mounted on the frame 2, and which is preferably the same as that used for the first linear motor, in order to limit as much as possible the number of kinematic components necessary for the operation of the device 1.
  • the activation of the solenoid equipping the movable primary element 72 of the linear motor 70 makes it possible to create electromagnetic forces ensuring on the one hand the displacement in the X direction of the third carriage 60 on the rails 20, and of on the other hand, an attraction along the Z direction of this same carriage 60 towards the fixed secondary element 28 of the permanent magnet track type.
  • this device 1 is also equipped with a control system 83 shown schematically on the Figures 4 to 6 .
  • this system 83 comprises first control means 84 which are associated with the sheet metal press system 8, as well as second control means 86 which are associated with the piercing system 4, these means 84, 86 being able to be naturally grouped at the same time. within the same equipment.
  • these comprise a first digital control unit 88 connected to a servo-control card 90 of the linear motor 70 of the sheet-iron press system 8.
  • the unit 88 is thus capable of delivering position, speed and speed commands. Advance and power to the card 90, which then performs a control in position, speed and power, delivering a suitable current to the motor 70 to which the card 90 is connected.
  • the servo card 90 receives from the read head 74 information on the actual position of the carriage 60, this information being returned to the unit 88. Moreover, this servo card 90 is also capable of restoring the unit 88 measures the speed of advance of the carriage 60 and the effective power, this effective power allowing the unit 88 to determine the engine power absorbed by the system 8 during the docking and clamming operations.
  • these comprise a second digital control unit 92 connected to a servo-control card 94 of the linear motor 24 of the drilling system 4.
  • the unit 92 is thus capable of delivering position, speed and feed instructions.
  • power card 94 which then performs a control in position, feed rate and power, delivering a current appropriate to the motor 24 to which the card 94 is connected.
  • the servo card 94 receives from the read head 30 information on the actual position of the carriage 10, this information being returned to the unit 92.
  • this servo card 94 is also able to restore the unit 92 measures concerning the speed of advance of the carriage 10 and possibly the effective power.
  • the digital control unit 92 is also connected to a servocontrol card 96 of the rotary motor of the pin 12.
  • the unit 92 is thus capable of delivering rotational speed and power instructions to the card 96. , which then realizes a servocontrol in rotational speed and in power, by delivering a current appropriate to the rotary motor to which this card 96 is connected. In return, it may be provided that this servo card 96 returns to the unit 92 measures concerning the speed of rotation of the tool 17 and the effective power.
  • the unit 92 comprises means 82 for delivering, respectively to the cards 94 and 96, setpoints of the tool advance speed and setpoint of rotation speed of this tool which are function information on the local stiffness of the sheets at the hole to be drilled for receiving a rivet, this information being called Info stiffness.
  • these means 82 take for example the form of a correction matrix of the two aforementioned setpoints, this matrix thus taking into account not only information Info_raideur previously determined, but also possibly the nature of the material and the type of the drilling tool whose data are pre-recorded in a specific program.
  • this correction matrix is designed so that the instructions of speed of advance and rotation that it delivers to the cards 94, 96 make it possible to carry out a drilling with a quality and a precision as high as possible.
  • this method generally comprising a step of determining information on the local stiffness of the sheets at the hole to be drilled, followed by a drilling step to achieve the hole and the milling associated with it, then finally a step of setting up a rivet in said drilled hole, these three steps being repeated as many times as there are rivets to lay on the sheets to be assembled.
  • the frame is first positioned relative to the plates 80 to be assembled according to the point thereof where the rivet must be placed, the three systems 4, 6, 8 are each in their rest position.
  • the frame 2 is first brought by the robotic arm close to the sheets 80 to be assembled, so that the front end of the sheet metal press head 62 is at a standard distance D_stand of the sheets 80 according to the sliding direction 18 and that of the axis 64, this distance may be of the order of 15 mm.
  • the carriage 60 is in a position such that its central point C is at a reference point R of the optical ruler 32.
  • the docking operation is initiated by controlling a linear displacement of the carriage 60 with the unit 88, in order to obtain a contact between the head 62 and the plates 80.
  • the control unit 88 periodically determines the value of the absorbed motor power P1 absorbed by the system 8, this absorbed value P1 being then converted by a converter integrated to the unit 88 in order to obtain a value of the resistance strength of the plates. at the F1 docking.
  • this force F1 updated every 5 ms, also corresponds in value to a driving force of the press-plate system 8 against the plates 80.
  • the control of this docking operation is provided so that the movement of the system 8, and more specifically that of its carriage 60, is completed when the determined force F1 has reached a target value F1_target, which can for example be fixed to a low value of the order of 1 N.
  • a target value F1_target which can for example be fixed to a low value of the order of 1 N.
  • the carriage 60 thus traveled a distance D1_final between the point R and a point C1 of the rule 32 at which the point C of the carriage 60 is located, the value of this measured distance D1_final using rule 32 being restored to the unit 88.
  • the value of the resistance force of the plates at the end of the docking called F1_final, which is of course natural, is known and recorded via the unit 88. substantially identical to the force F1_cible.
  • the clamming is carried out by controlling a linear displacement of the carriage 60 with the unit 88, in order to obtain a reinforced adhesion between the head 62 and the sheets 80 contact.
  • the control unit 88 periodically determines, on the one hand, the value of the absorbed motor power P2 absorbed by the system 8, this absorbed value P2 being then converted by the converter in order to obtain a value of the resistance force of the laminations F 2, and secondly the clamping distance D_clamage corresponding to the actual distance traveled by the point C of the carriage between the point of the optical ruler 32 at which it is located at the moment t considered, and the point C1 of this rule.
  • the force F2 updated every 5 ms as well as the value D_clamage, also corresponds in value to a driving force of the press-plate system 8 against the plates 80.
  • the control of this clamping operation is provided so that the movement of the carriage 60 is completed when the determined force F2 has reached a target value F2_cible, or when the clamping distance D_clamage has reached a target value D_clamage_cible, the clamping operation thus being completed as soon as any one of these two target values has been reached.
  • the target value F2_cible can for example be set at a value of the order of 150 N, and the target value D_clamage target can even example be set to a value of the order of 500 microns.
  • the carriage 60 thus traveled a distance D2_final between the point R and a point C2 of the rule 32 at which the point C of the carriage 60 is located, the value of this distance D2_final measured at With the aid of rule 32 being returned to unit 88. This then makes it possible to obtain the final clamming distance D_clamage_final actually traveled by system 8, by subtracting D1_final from D2_final.
  • the unit 88 can then determine and store the distance T_tös_final corresponding to the distance in the direction 18 between the point R of the rule 32 and the front end of the head of press-plates 62 at the end of the clamming operation.
  • the subsequent milling stroke can also be corrected according to information Info_raideur determined as described below, and also possibly depending on the various characteristics of the rivets employed.
  • information Info_raideur determined as described below, and also possibly depending on the various characteristics of the rivets employed.
  • the lower the local stiffness of the sheets the more the latter are deformed by the thrust of the sheet-metal press head, and therefore the center of this sheet-metal press head is far from these same. deformed sheets. So, the more the local stiffness of the sheets is low, the greater the milling stroke compared to the press-plate system, to obtain a determined depth of milling, will be important.
  • This information on the local stiffness of the sheets is then delivered to the second control means 86 associated with the drilling system 4, and more particularly to the correction matrix 82 equipping the unit 92.
  • this Info_raideur information is provided to predispose the instructions of speed of advance and speed of rotation of the tool 17 used when ordering the drilling step which will now be described .
  • this drilling step is initiated with the system 8 in its position as shown in FIG. figure 7d , and the systems 4 and 6 in their positions as shown on the figure 7a , as is globally represented on the figure 7e .
  • This drilling operation consists in moving the carriage 10 of the drilling system 4 so that it passes through the sheet-iron press system 8, and also passes through the two plates 80 to be assembled.
  • the advancement required in the sliding direction 18 is performed using the first motor 24.
  • this operation is preferably not only to practice a through hole in the two sheets 80 superimposed, but also to make a countersink to accommodate the rivet head that will be laid later.
  • the setting in motion of the carriage 10 of the drilling system in the direction 18 did not cause any movement of the carriage 34 of the riveting system 6, since this operation was carried out with the brake callipers 54 in a deactivated state, that is to say without securing between the brake calipers 54 and the rail 52. Therefore, it is noted that during the movement of the first carriage 10, the second carriage 34 remains stationary relative to the chassis 2.
  • the drilling is carried out by controlling the linear displacement of the carriage 10 with the feed speed setpoint of the tool as previously determined and coming from the die 82, and simultaneously controlling the rotation of the pin 12 with the reference speed of rotation of the tool also coming from this matrix 82, these instructions being respectively delivered to the servocontrol cards 94 and 96.
  • the value of a resistance force of the sheets F3 resulting from the support of the press-ironing system 8 on the sheets 80 is periodically determined.
  • This determination of F3 is preferably carried out in the same way as that adopted for the determination of F1 and F2. As such, it is indicated that the engine associated with the trolley 60 of the ironing system continues to be fed during drilling, and that it is slaved in position so that the carriage 60 retains its C2 position on the chassis 2.
  • F3 is updated every 5 ms and corresponds in value to a driving force of the sheet metal press head 62 in the sheets 80 during drilling.
  • the minimum value F3_min can for example be set at 5 N.
  • the method is continued by a step of placing the rivet in the hole obtained, this step beginning with a displacement of the riveting head 38 in the axis of the piercing head 14, in front of it.
  • the means for rotating this head 38 and the arm 42 are actuated until the position desired, as shown on the figure 7h .
  • the means 50 of the two carriages 10 and 34 are controlled so as to go into the activated state allowing them to be coupled in translation in the direction 18.
  • FIG. 8 to 11 a part of a device 1 for the rivet joining of sheets can be seen according to a preferred embodiment of the present invention. It has for some parts of a design identical or similar to that of the device 1 described above, and in this respect, it is noted that in the figures, the elements bearing the same reference numerals correspond to identical or similar elements .
  • the noticeable difference between the two devices 1 lies in the design of the riveting system 6, and more particularly in the design of the means for moving the riveting head 38 relative to the second carriage, still designed to be able to move the same riveting head between the rest position in which the drill head axis and the rivet head axis 16, 40 are distinct, and a working position in which the axis of drilling head and axis of riveting head 16, 40 are merged.
  • the frame 2, the drilling system 4 and the sheet-iron press system 8 are identical or similar to those previously presented.
  • the riveting system 6 comprises the second carriage 34 supporting the assembly of the riveting tool 36 or riveting machine, which comprises in its front part the riveting head 38, which in turn defines the rivet head axis 40 parallel at directions X and 18.
  • the riveting head 38, and more generally the riveting tool assembly 36, is mounted mechanically at its rear portion on the carriage 34 via a deformable parallelogram 102, which will be described below.
  • the second carriage 34 is mounted on the frame 2 so as to slide rectilinearly relative thereto in the sliding direction 18. To do this, the second carriage 34 is slidably mounted on the guide rail 46 preferably separate from the two guide rails 20 of the carriage 10, but also oriented in the directions X and 18. As shown in FIG. figure 9 , the rail 46 of H-shaped cross section is mounted solidarily on an outer lateral surface of one of the branches of the U formed by the frame 2.
  • the carriage 34 is equipped with one or a plurality of yoke-shaped ball bearings 48, for example, provided at the number two, spaced in the X direction. pads 48 thus encloses the free lateral branch of the H which is opposed to the other lateral branch fixed integrally on the frame 2.
  • the riveting system 6 also comprises means for moving the second carriage 34 in the sliding direction 18, these means therefore preferably being different from the moving means 24 of the first carriage 10, although this could in to be otherwise, without departing from the scope of the invention.
  • the means for moving the second carriage 34 preferably takes the form of a rodless jack 104 of the type commercially available, arranged in the direction 18.
  • the latter has a hollow body 106 fixed relative to to the frame 2, and a movable cylinder slider 108 adapted to be moved in the direction 18 relative to the hollow body 106 in which it is partially housed.
  • one of the remarkable features of this preferred embodiment lies in the presence of the deformable parallelogram 102 establishing the mechanical connection between the rear portion of the riveting tool 36, and the carriage 34.
  • This parallelogram 102 thus makes integral part of the means for moving the head riveting 38 relative to the second carriage, since it is easily capable of providing the movement of the same riveting head 38 between the rest position and the working position.
  • the parallelogram 102 comprises two parallel arms 110, each articulated at its rear end on the second carriage 34 along an axis 112, and articulated at its front end to the rear portion of the riveting tool 36 along an axis 114 , and more specifically articulated on a support block of the riveting head 38.
  • the axes 112, 114 are arranged parallel to the direction Z, so that the parallelogram 102 is deformed in an XY plane parallel to the direction of
  • the other two sides of the parallelogram 102 are physically constituted by the second carriage 34 and the riveting tool.
  • a mechanical deformation system of the parallelogram is provided.
  • This system is generally designed so as to generate automatically, when the second carriage 34 is set in motion in a direction 18 by means of the jack 104, a deformation of the parallelogram 102 of a first configuration shown on the figures 8 and 9 placing the riveting head 38 in its rest position spaced from the working axis, to a second configuration which will be described later, placing the head 38 in its working position.
  • the mechanical deformation system 116 takes the form of a guiding system comprising a pin or roller 118 integral with one of the two parallel arms 110, preferably the arm located the outermost as shown, the pin 118 sliding in a switch groove 120 during a setting in motion of the second carriage 34 in the direction 18.
  • the groove 120 fixed to the frame 2 is preferably located in a plane parallel to that in which the parallelogram is provided to deform.
  • the throat 120 which will be detailed later has a suitable shape ensuring the desired deformation of the parallelogram, namely that allowing the controlled approximation of the riveting head 38 to the working axis of the device, and also ensuring a maintenance of the rivet head axis 40 always parallel to the direction 18 during the movement of this head 38.
  • the carriage 34 may be composed of several elements that can be quickly dismounted relative to one another. Indeed, the part of the carriage 122 fixedly supporting the caliper-shaped shoe 48 and cooperating with the guide rail 46 is intended to remain permanently on this rail, while another carriage part 124 carrying the parallelogram 102 is intended to be mounted by quick attachment to the aforementioned part 122.
  • the piece 124 is a key interface piece of a fast assembly and disassembly function of the parallelogram .102. Overall, it comprises two axes or shafts 126, 128 located one above the other, and parallel to the direction X. These two axes 126, 128 are respectively intended to rest in a V-shaped groove 130 and a U-shaped groove 132 made on the part 122 directly fixed on the shoe 48.
  • the carriage 34 is also equipped with a workpiece 134 establishing the mechanical connection between the workpiece 124 and the slider 108, this workpiece 134 actually having two distinct functions.
  • the first function is to ensure the securing of the workpiece 124 on the part 122, namely to cooperate each of the two axes 126, 128 with their respective grooves 130, 132. This is done in a simple manner by turning the lower pin 128 carrying the connecting piece 134, which axis has an eccentric form provided for this purpose.
  • the axis 128 is introduced first into the depth of the U-shaped groove 132, then the axis 126 is tilted vertically from the V-groove 130, and finally, the part 134 is pushed by pivoting against a piece 138 which will be presented below. The locking is then simultaneously ensured by the eccentric support of the joining piece 134 against the groove 132.
  • the second function resides in the mechanical coupling with the slider of the cylinder 108.
  • the H-shaped part 134 comes to couple quickly at the two lower branches of the H between the forks of a part of the cylinder. 138 home U screwed on the slider 108.
  • the U-shaped part 138 carries spring ball screws 140 to retain the two lower branches of the H in the closed / locking position, ensuring this is a stop for the piece H-shaped 134 participating in the mechanical coupling of the carriage 34. on the rodless cylinder 104.
  • this groove 120 comprises three distinct portions connected to each other. There is a first portion 148 extending along an axis 149 parallel to the direction 18, this first portion 148 for generally moving the riveting head 38 by keeping it away from the working axis of the device. In this regard, it is noted that as the pin 118 remains in the first portion 148, the riveting head 38 moves in the direction 18 without the position of its axis 40 is changed.
  • the parallelogram 102 does not deform during this portion of the movement of the riveting tool 36.
  • the groove 120 includes a second portion 150 whose function is to lead to a progressive deformation of the parallelogram 102 until it adopts a configuration to place the riveting head in its working position, namely to align the rivet head axis 40 with the drill head axis 16.
  • this second portion 150 extends along an axis 151 located in the horizontal plane of the groove 120, and inclined relative to the direction 18 and the axis 149 of the first portion. Then, the groove 120 ends with a third portion 152 similar in shape to the first portion 148, since it is oriented along an axis 153 parallel to the direction 18. This third portion keeps the parallelogram 102 deformed and allow the movement of the riveting head 38 along the working axis, with the rivet axis 40 parallel to the drill head axis 16.
  • the profile of the groove 120 is similar to that of a driver who changes lanes, insofar as it passes from a straight path to a progressive shift and then rejoins a lane. new straight path, offset from the first.
  • the junctions 154 and 156 between the three portions 148, 150, 152 are provided substantially rounded shape.
  • the position of the pin 118 near the rear end of the outer arm 110 plays the role of amplifying the offset traced by the second portion 150 of the throat .
  • the center distance of the joints 112, 114 measuring 240 mm, the distance from the pin 118 to the axis 112 being approximately 30 mm we obtain an amplification of the offset in the ratio 240/30, ie eight times the offset engraved in the throat.
  • a 24 mm offset engraved in the throat one gets 192 mm of offset between the disengaged axis and the working axis.
  • this method generally comprises the same steps as those indicated for the preceding embodiment, namely a step of determining information on the local stiffness of the sheets at the hole to be drilled, followed by a drilling step to achieve the hole and the milling associated with it, then finally a step of setting up a rivet in the drilled hole. Since the first two steps are identical to those mentioned previously, they will not be described further. On the other hand, since the riveting step is substantially different, in particular in the manner in which the riveting tool 38 is brought into the working axis, this will now be detailed.
  • the rivet carriage 34 is translated in the direction 18, implying movement of the peg. 118 in the first portion 148 of the throat.
  • the riveting head 38 is moved forward in the direction 144 of the direction 18, with its axis 40 undergoing no movement due to the maintenance of the parallelogram 102 in the first configuration.
  • this first part of the displacement of the riveting head 38 makes it possible to maintain it in its rest position, while bringing it towards the front of the device.
  • the pin 118 enters the second portion 150 of the groove, leading to a progressive deformation of the parallelogram 102 to its second configuration in which it places the riveting head 38 in the groove.
  • axis of work to enable it to provide the desired riveting operation. Therefore, as mentioned above, the alignment of the riveting head in the working axis is by the deformation of the parallelogram 102, this kinematic solution to ensure a safe and fast engagement in the system press-plate provided for this purpose.
  • the figure 12a shows the riveting system during the movement of the pin 118 within the second portion 150.
  • the slider 108 of the cylinder 104 can be moved in the opposite direction 146, rearwardly, in order to put the device back into the configuration shown in FIG. figure 8 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Insertion Pins And Rivets (AREA)
  • Battery Mounting, Suspending (AREA)
  • Connection Of Plates (AREA)

Claims (21)

  1. Vorrichtung (1) zum Verbinden von Blechteilen (80) durch Nieten, wobei die Vorrichtung ein Nietsystem (6) sowie ein Bohrsystem (4) aufweist, wobei das Bohrsystem (4) einen ersten Schlitten (10) sowie einen Bohrkopf (14), der auf dem ersten Schlitten (10) angebracht ist und eine Bohrkopfachse (16) festlegt, aufweist und das Nietsystem (6) einen zweiten Schlitten (34) sowie einen Nietkopf (38), der auf dem zweiten Schlitten (34) angebracht ist und eine Nietkopfachse (40) festlegt, aufweist,
    wobei die Vorrichtung ferner Mittel zum In-Bewegung-Setzen des Nietkopfs (38) in Bezug auf den zweiten Schlitten (34) aufweist, die derart gestaltet sind, dass eben dieser Nietkopf (38) zwischen einer Ruheposition, in der die Bohrkopfachse und die Nietkopfachse (16, 40) verschieden sind, und einer Arbeitsposition, in der die Bohrkopfachse und die Nietskopfachse (16, 40) zusammenfallen, verschoben werden kann, wobei die Mittel zum In-Bewegung-Setzen des Nietkopfs (38) in Bezug auf den zweiten Schlitten (34) ein verformbares Parallelogramm (102) umfassen,
    dadurch gekennzeichnet, dass die Mittel zum In-Bewegung-Setzen des Nietkopfs in Bezug auf den zweiten Schlitten (34) umfassen:
    - zwei parallele Arme (110), die das verformbare Parallelogramm (102) bilden, die jeweils an einem von ihren beiden Enden mit dem zweiten Schlitten (34) beweglich verbunden sind und an dem anderen ihrer Enden mit der Nietkopfs (38) beweglich verbunden sind;
    - ein mechanisches Verformungssystem (116) für das Parallelogramm (102), das derart gestaltet ist, dass bei einem In-Bewegung-Setzen des zweiten Schlittens (34) in einer Gleitrichtung (18) eine Verformung des Parallelogramms (102) von einer ersten Konfiguration, in der sich der Nietkopf (38) in seiner Ruheposition befindet, in eine zweite Konfiguration, in der sich der Nietkopf (38) in seiner Arbeitsposition befindet, und umgekehrt bewirkt wird,
    und dass das mechanische Verformungssystem (116) ein Führungssystem ist, das einen Zapfen (118) umfaßt, der fest mit einem der zwei parallelen Arme (110) verbunden ist, wobei der Zapfen (118) bei einem In-Bewegung-Setzen des zweiten Schlittens (34) in der Gleitrichtung (18) in einer Führungsrille (120) gleitet.
  2. Vorrichtung (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Führungsrille (120) aufeinanderfolgend einen zweiten Bereich (150) aufweist, der eine fortschreitende Verformung des Parallelogramms (102) bis dieses seine zweite Konfiguration einnimmt, wobei sich der Nietkopf (38) in seiner Arbeitsposition befindet, ermöglicht, und einen dritten Bereich (152) aufweist, der ein Halten des Parallelogramms (102) in seiner zweiter Konfiguration derart ermöglicht, dass eine Translation des Nietkopfs (38) unter Beibehalten seiner Arbeitsposition erfolgen kann, um den Nietvorgang durchzuführen.
  3. Vorrichtung (1) nach Anspruch 1, dadurch gekennzeichnet, dass die Führungsrille (120) aufeinanderfolgend einen ersten Bereich (148) aufweist, der ein Halten des Parallelogramms (102) in dessen erster Konfiguration, wobei sich der Nietkopf (38) in seiner Ruheposition befindet, ermöglicht, einen zweiten Bereich (150) aufweist, der eine fortschreitende Verformung des Parallelogramms (102) bis dieses seine zweite Konfiguration einnimmt, wobei sich der Nietkopf (38) in seiner Arbeitsposition befindet, ermöglicht, und einen dritten Bereich (152) aufweist, der ein Halten des Parallelogramms (102) in dessen zweiter Konfiguration derart ermöglicht, dass eine Translation des Nietkopfs (38) unter Beibehalten seiner Arbeitsposition erfolgen kann, um den Nietvorgang durchzuführen.
  4. Vorrichtung (1) nach einem der Ansprüche 2 und 3, dadurch gekennzeichnet, dass sie einen Rahmen (2) umfaßt, der die Führungsrille (120) trägt und an dem jeweils das Nietsystem (6) und das Rohrsystem (4) angebracht sind, wobei der erste und der zweite Schlitten (10, 34) jeweils derart angeordnet sind, dass sie geradlinig in Bezug auf den Rahmen (2) in der gleichen Gleitrichtung (18) gleiten können, wobei das Bohrsystem (4) Mittel zum In-Bewegung-Setzen (24) des ersten Schlittens (10) in der Gleitrichtung (18) aufweist und das Nietsystem (6) ebenfalls Mittel zum In-Bewegung-Setzen (104) des zweiten Schlittens (34) in der Gleitrichtung (18) aufweist.
  5. Vorrichtung (1) nach Anspruch 4, dadurch gekennzeichnet, dass die Mittel zum In-Bewegung-Setzen des zweiten Schlittens (34) in der Gleitrichtung (18) einen kolbenstangenlosen Zylinder (104) umfassen.
  6. Vorrichtung (1) nach einem der Ansprüche 4 oder 5, dadurch gekennzeichnet, dass die Mittel zum In-Bewegung-Setzen (24) des ersten Schlittens (10) die Form eines Linearmotors aufweisen.
  7. Vorrichtung (1) nach einem der Ansprüche 4 bis 6, dadurch gekennzeichnet, dass der erste Schlitten (10) auf zwei mit dem Rahmen (2) fest verbundenen Führungsschienen (20) mittels mehrerer Schuhe (22) in Klammerform, die mit den zwei Führungsschienen (20) zusammenwirken und mit dem ersten Schlitten (10) fest verbunden sind, angebracht ist.
  8. Vorrichtung (1) nach Anspruch 7, dadurch gekennzeichnet, dass jede der zwei Führungsschienen (20) des ersten Schlittens (10) einen Steg aufweist, wobei die zwei Stege jeweils in zwei schrägen Ebenen (P1, P2) angeordnet sind, die in einem zur Bohrkopfachse (16) senkrechten Schnitt zusammen ein V bilden.
  9. Vorrichtung (1) nach Anspruch 7 oder Anspruch 8, dadurch gekennzeichnet, dass jede der zwei Führungsschienen (20) des ersten Schlittens (10) einen Querschnitt in der Form eines I aufweist.
  10. Vorrichtung (1) nach einem der Ansprüche 4 bis 9, dadurch gekennzeichnet, dass der erste Schlitten (10) mit einem ersten Lesekopf (30) ausgestattet ist, der mit einem optischen Lineal (32), das auf dem Rahmen (2) angebracht ist, zusammenwirken kann.
  11. Vorrichtung (1) nach einem der Ansprüche 4 bis 10, dadurch gekennzeichnet, dass der zweite Schlitten (34) auf einer Führungsschiene (46), die mit dem Rahmen (2) fest verbunden ist und in der Gleitrichtung (18) ausgerichtet ist, mittels mindestens eines Schuhs (48) in Klammerform, der mit der Führungsschiene (46) zusammenwirkt und mit dem zweiten Schlitten (34) fest verbunden ist, angebracht ist.
  12. Vorrichtung nach einem der Ansprüche 4 bis 11, dadurch gekennzeichnet, dass sie ferner ein Blechteile-Presssystem (8) aufweist, das derart angeordnet ist, dass es geradlinig in Bezug auf den Rahmen (2) in der Gleitrichtung (18) gleiten kann.
  13. Vorrichtung (1) nach Anspruch 12, dadurch gekennzeichnet, dass das Blechteile-Presssystem (8) einen auf dem Rahmen (2) angebrachten dritten Schlitten (60) sowie Mittel zum In-Bewegung-Setzen (70) dieses dritten Schlittens (60) in der Gleitrichtung (18) umfaßt.
  14. Vorrichtung (1) nach Anspruch 13, dadurch gekennzeichnet, dass die Mittel zum In-Bewegung-Setzen (70) des dritten Schlittens (60) die Form eines Linearmotors aufweisen.
  15. Vorrichtung (1) nach Anspruch 14 in Kombination mit Anspruch 8, dadurch gekennzeichnet, dass die Linearmotoren (24, 70) des ersten und des zweiten Schlittens (10, 60) ein gleiches zweites festes Element (28) gemeinsam haben.
  16. Vorrichtung (1) nach einem der Ansprüche 13 bis 15 in Kombination mit einem der Ansprüche 9 bis 11, dadurch gekennzeichnet, dass der dritte Schlitten (60) auf den zwei Führungsschienen (20), die den ersten Schlitten (10) führen, mittels mehrerer Schuhe (68) in Klammerform, die mit den zwei Führungsschienen (20) zusammenwirken und mit dem dritten Schlitten (60) fest verbunden sind, angebracht ist.
  17. Vorrichtung (1) nach einem der Ansprüche 13 bis 16, dadurch gekennzeichnet, dass der dritte Schlitten (60) mit einem zweiten Lesekopf (74) ausgestattet ist, der mit einem auf dem Rahmen (2) angebrachten optischen Lineal (32) zusammenwirken kann.
  18. Vorrichtung (1) nach einem der Ansprüche 13 bis 17, dadurch gekennzeichnet, dass das Blechteile-Presssystem (8) einen Blechteile-Pressenkopf (62) aufweist, der auf dem dritten Schlitten (60) angebracht ist und eine Blechteile-Pressenkopfachse (64) festlegt, die mit der Bohrkopfachse (16) zusammenfällt.
  19. Vorrichtung (1) nach einem der Ansprüche 4 bis 18, dadurch gekennzeichnet, dass der Rahmen (2) an einem Roboterarm der Vorrichtung angebracht ist.
  20. Vorrichtung (1) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass sie ein Steuersystem (83) aufweist, das Mittel (82) umfaßt, die es ermöglichen, eine Anweisung für die Vorschubgeschwindigkeit eines Bohrwerkzeugs (17) der Vorrichtung längs der Bohrkopfachse (16) sowie eine Anweisung für die Drehgeschwindigkeit dieses Werkzeugs zu liefern, wobei diese Anweisungen eine Funktion einer
    Information über die lokale Steifigkeit der Blechteile (Steifigkeitsinfo) auf der Höhe eines zu bohrenden Lochs, das einen Niet aufnehmen soll, sind.
  21. Verfahren zum Verbinden von Blechteilen durch Nieten, dadurch gekennzeichnet, dass es mittels einer Vorrichtung (1) nach einem der vorhergehenden Ansprüche durchgeführt wird.
EP07727341A 2006-03-27 2007-03-26 Vorrichtung und verfahren zur verbindung von blechplatten mittels nietung Active EP1998910B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BE2006/0189A BE1016957A6 (fr) 2006-03-27 2006-03-27 Dispositif et procede pour l'assemblage par rivetage de toles.
PCT/EP2007/052868 WO2007110406A1 (fr) 2006-03-27 2007-03-26 Dispositif et procede pour l'assemblage par rivetage de toles

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EP1998910A1 EP1998910A1 (de) 2008-12-10
EP1998910B1 true EP1998910B1 (de) 2010-09-01

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US (2) US8533932B2 (de)
EP (1) EP1998910B1 (de)
AT (1) ATE479511T1 (de)
BE (1) BE1016957A6 (de)
CA (1) CA2647550C (de)
DE (1) DE602007008856D1 (de)
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CA2647550C (en) 2014-12-16
DE602007008856D1 (de) 2010-10-14
ES2351670T3 (es) 2011-02-09
US20110119897A1 (en) 2011-05-26
EP1998910A1 (de) 2008-12-10
CA2647550A1 (en) 2007-10-04
BE1016957A6 (fr) 2007-10-02
US8079130B2 (en) 2011-12-20
US20090144962A1 (en) 2009-06-11
US8533932B2 (en) 2013-09-17
WO2007110406A1 (fr) 2007-10-04
ATE479511T1 (de) 2010-09-15

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