EP3145657B1 - Method for joining at least two components - Google Patents

Method for joining at least two components Download PDF

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Publication number
EP3145657B1
EP3145657B1 EP15733620.7A EP15733620A EP3145657B1 EP 3145657 B1 EP3145657 B1 EP 3145657B1 EP 15733620 A EP15733620 A EP 15733620A EP 3145657 B1 EP3145657 B1 EP 3145657B1
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EP
European Patent Office
Prior art keywords
components
nail
joining
speed
pressed
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EP15733620.7A
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German (de)
French (fr)
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EP3145657A1 (en
Inventor
Daniel Kohl
Holger Schubert
Matthias Wagner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
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Daimler AG
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Publication of EP3145657A1 publication Critical patent/EP3145657A1/en
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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
    • B21J15/02—Riveting procedures
    • B21J15/025—Setting self-piercing rivets
    • 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
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B21J15/285—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups for controlling the rivet upset cycle

Definitions

  • the invention relates to a method for connecting at least two components according to the preamble of patent claim 1.
  • Such a method for connecting at least two components and a device for performing such a method are, for example DE 10 2007 033 126 B4 as known.
  • the at least two components are connected to one another by means of at least one joining element in the form of a nail, the joining element being introduced into the components at a joint.
  • the nail is driven into the components at a high speed, the speed being between five and three hundred meters per second.
  • the DE 10 2006 002 237 A1 discloses a method for connecting a first component to at least one second component by means of at least one nail, which is introduced into the components at a joint.
  • the nail is driven into the components at a speed, the speed being between ten meters per second and one hundred meters per second.
  • a method for producing a nail connection between at least two non-pre-punched components in a joining area by means of a nail inserted into the components essentially without rotation by a setting tool is known. It is provided that in a first method step the nail is first only partially driven into the components into an intermediate position by means of a sudden movement at high speed in the joining area. The nail is then pressed fully into a final position in the components in a second process step. In the second process step, the nail is pressed into the end position at a speed, the Speed in the second process step is lower than the speed in the first process step.
  • the nail can be designed as a bolt or setting bolt, the known methods also being referred to as bolt setting or as a bolt setting method. These methods are also known as Rivtac or Impact. The conventional methods are very expensive and noise-intensive.
  • the WO 2014/013232 A1 discloses a method of making a connection in a stack of at least two sheets of material.
  • the CN 101 934 337 A1 discloses a riveting system.
  • DE 10 2010 006 404 A1 a method for producing a nail connection as known.
  • the DE 10 2009 009 112 A1 which forms the basis for the preamble of claim 1, describes a structural component for a motor vehicle, for example a B-pillar, a sill or a bumper cross member, which has a base body made of sheet metal.
  • the base body is partially provided with at least one reinforcing element which is glued to the base body.
  • the base body and the reinforcement element are fixed by means of setting bolts without pre-punching.
  • the object of the present invention is therefore to create a method and a device of the type mentioned at the outset by means of which the components can be connected to one another in a particularly cost-effective and low-noise manner.
  • the joining element by means of an industrial robot at a speed of less than five meters per second is pressed into the components.
  • the industrial robot has a plurality of robot arms and a robot head which are connected to one another in an articulated manner and are therefore movable relative to one another. Furthermore, a device is held on the robot head, which is moved around in space by means of the industrial robot, in order to thereby connect the components to one another.
  • the invention is based on the knowledge that, in the conventional methods designed as high-speed joining methods, the joining element is driven into the components at a very high speed, which is also referred to as setting speed, with complex and thus particularly cost-intensive systems, for example in the form of this of bolt setting systems are required.
  • a very high speed which is also referred to as setting speed
  • cost-intensive nail guns and / or cartridges operated by powder power are usually required.
  • the high speed usually results in volumes of over 130 decibels. This high volume is generated by vibrations that result from high setting speeds with which the joining element usually strikes the components. Because of this high volume, cost-intensive and inflexible soundproof booths are usually used. Since the speed, that is, the setting speed of the joining element is particularly low in the method according to the invention, the use of cost-intensive systems and soundproofing cabins is not necessary.
  • the rigidity requirements for the components are particularly low.
  • the components can thus be connected to one another particularly firmly by means of the method according to the invention.
  • the complexity of a sensor system for monitoring the method can be kept low in comparison to conventional methods.
  • the joining element is, for example, a nail or a screw or a rivet which is pressed into the components so that the nail or the screw or the rivet penetrates the components.
  • the nail can be a bolt, which is also referred to as a set bolt. So is the method is designed, for example, as a bolt-setting method in which the nail (bolt) is pressed into the components at a very low speed of less than five meters per second. As a result, excessive vibrations and noises resulting from the vibrations can be avoided.
  • a system by means of which the nail is pressed into the components can be designed in a particularly simple and thus inexpensive manner.
  • Fig. 1 shows a schematic perspective side view of a device in the form of an industrial robot 10 for performing a method, in the frame of which a first component is connected to at least one second component, in particular a motor vehicle.
  • the components are, for example Body components.
  • the industrial robot 10 has a base 12, via which the industrial robot 10 is fastened to a floor.
  • the industrial robot 10 has a plurality of robot arms 14, 16, 18 and 20, which are also referred to as axes or robot axes.
  • the industrial robot 10 comprises a robot head 22 which is movably held on the robot arm 20.
  • the robot arms 14, 16, 18, 20 and the robot head 22 are connected to one another in an articulated manner, so that they can be moved relative to one another.
  • Fig. 1 On the robot head 22 one in Fig. 1 Not shown device arranged so that this device can be moved around in space by means of the industrial robot 10.
  • This makes it possible, for example, to connect the components to one another by means of the industrial robot 10 by means of at least one joining element in the form of a nail, the nail being introduced, that is to say pressed in, by means of the industrial robot 10 at a joint at a joint.
  • the components are arranged, for example, relative to one another such that the components overlap one another at least in a respective overlap region.
  • the joint is arranged in the overlap areas so that the nail penetrates the overlap areas.
  • the nail is pressed into the components by means of the industrial robot 10 at a speed of less than five meters per second.
  • this low speed which is also referred to as the setting speed, prevents excessive vibrations of the components and the resulting excessive noise.
  • the nail is, for example, a bolt, which is also referred to as a set bolt.
  • the method is thus designed as a bolt setting or bolt setting method in which the bolt is driven into the components at a very low speed, that is to say particularly slowly.
  • the industrial robot 10 represents an electric drive by means of which the nail, which is also called tack, is pressed directly and slowly into the components.
  • a holder can be used in a further method not belonging to the invention for pressing the nail into the components.
  • a holder is a device for holding and separating the nail.
  • the holder has a predeterminable mass, the holder and with it the nail being accelerated to a predeterminable speed of less than five meters per second. This makes it possible to drive the nail into the components that form a composite component. This allows the nail to be pressed into the components with a particularly high level of energy.
  • Such a holder which is used in the further method not belonging to the invention, can for example be arranged on the industrial robot 10, in particular on the robot head 22, so that the holder and the nail can be moved around in space by means of the industrial robot 10.
  • a movement of the nail which is decoupled from the industrial robot 10 and can be effected by the holding device can be realized.
  • the holder has a guide carriage, by means of which the nail can be moved relative to the industrial robot 10 and thus at least substantially independently of it. In this way it can be realized, for example, that a force acting on the nail when it is driven in is not transmitted to the industrial robot 10.
  • a pneumatic or hydraulic press not belonging to the invention can be used to drive the nail.
  • a pneumatic or hydraulic press not belonging to the invention can be used to drive the nail.
  • the use of an automated hammer, a pulse drive or a servo drive for pushing in the nail is conceivable.
  • the joining element can be driven into the components, for example, in a multi-stage joining process.
  • driving the joining element in the components are made by means of at least two different joining devices.
  • the joining element in a first process step, can first be pressed only partially into the components into an intermediate position by means of an automated hammer and then in a second process step can be fully pressed into an end position by means of an industrial robot.
  • Fig. 2 shows a device according to a variant not belonging to the invention, by means of which the nail can be driven into the components.
  • Fig. 2 is shown to illustrate the driving in of the nail one of the components, which in Fig. 2 is designated with 24.
  • the device shown is designed as a drop tower 26.
  • the drop tower 26 comprises two guide elements, which in the present case are designed as guide rods 28.
  • the drop tower 26 further comprises a guide carriage in the form of a guide plate 30 which has through openings 32.
  • the guide rods 28 penetrate the corresponding through openings 32 so that the guide plate 30 can be moved translationally along the guide rods 28 relative to the guide rods 28.
  • the joint at which the nail is pressed into the component 24 is shown in Fig. 2 designated with 34.
  • the nail is in Fig. 2 shown particularly schematically and designated 36.
  • the guide plate 30 is moved away from the component 24 along the guide rods 28.
  • the guide plate 30 has a predeterminable mass.
  • the nail 36 also has a predeterminable mass.
  • the predeterminable mass of the nail 36 and the predeterminable mass of the guide plate 30 form a total mass.
  • the guide plate 30 and with it the nail 36 held on the guide plate 30 are moved away from the component 24 in such a way that a predeterminable distance between the nail 36 and the component 24 is set. This distance is set such that the nail 36 has a speed of less than five meters per second when it hits the component 24 and penetrates it.
  • the guide plate 30 is released in the variant not belonging to the invention, so that the guide plate 30 and the nail 36 are accelerated to the adjustable speed of less than five meters per second only due to gravity.
  • the guide plate 30 with the nail 36 is dropped by gravity, thereby providing the energy for the joining process.
  • the Guide plate 30 has a mass of three kilograms, the particular height or the distance between the component 24 and the nail 36 being set to one meter, for example.
  • Fig. 3 shows a further device 38 for pushing in the nail 36 at a speed of less than five meters per second.
  • a counter-holder 40 can also be seen, on which the component 24 rests.
  • the counter-holder 40 is used so that the component 24 or the components cannot avoid the nail 36 in its driving direction, but rather the nail 36 can penetrate the components.
  • the nail 36 is pressed into the components in the driving direction at a speed of less than five meters per second, the driving direction in Fig. 3 is illustrated by a direction arrow 42.
  • the device 38 can be designed as a pneumatic device, hydraulic device or electromechanical device.
  • the nail 36 is first arranged and held on the device 38. Subsequently, the nail 36 is pressed into the components in the driving direction by means of the device 38, whereby the components in FIG Fig. 3 the component identified by 24 is recognizable. Since excessive vibrations and noises are avoided due to the low setting speed, the use of cost-intensive and inflexible soundproof walls and soundproof booths can also be dispensed with. As a result, a particularly short cycle time can also be achieved, which is usually extended by opening the doors of the soundproof booths and / or rotating turntables or moving component feeders. This can now be avoided so that, for example, a particularly large number of components can be connected to one another in a particularly short time as part of mass production.
  • the joining element 36 using an industrial robot 10 to a Is pressed into the components 24 at a speed of less than five meters per second
  • the method and the device 10, 26, 38 can also be used only for reworking a head protrusion or a joining element 36 which is not fully pressed into the components 24.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Verbinden von wenigstens zwei Bauteilen gemäß dem Oberbegriff von Patentanspruch 1.The invention relates to a method for connecting at least two components according to the preamble of patent claim 1.

Ein solches Verfahren zum Verbinden von wenigstens zwei Bauteilen sowie eine Vorrichtung zum Durchführen eines solchen Verfahrens sind beispielsweise der DE 10 2007 033 126 B4 als bekannt zu entnehmen. Bei dem Verfahren werden die wenigstens zwei Bauteile mittels zumindest eines Fügeelements in Form eines Nagels miteinander verbunden, wobei das Fügeelement an einer Fügestelle in die Bauteile eingebracht wird. Hierbei wird der Nagel mit einer hohen Geschwindigkeit in die Bauteile eingetrieben, wobei die Geschwindigkeit zwischen fünf und dreihundert Metern pro Sekunde liegt.Such a method for connecting at least two components and a device for performing such a method are, for example DE 10 2007 033 126 B4 as known. In the method, the at least two components are connected to one another by means of at least one joining element in the form of a nail, the joining element being introduced into the components at a joint. The nail is driven into the components at a high speed, the speed being between five and three hundred meters per second.

Auch die DE 10 2006 002 237 A1 offenbart ein Verfahren zum Verbinden eines ersten Bauteils mit wenigstens einem zweiten Bauteil mittels zumindest eines Nagels, welcher an einer Fügestelle in die Bauteile eingebracht wird. Hierbei wird der Nagel mit einer Geschwindigkeit in die Bauteile eingetrieben, wobei die Geschwindigkeit zwischen zehn Metern pro Sekunde und einhundert Metern pro Sekunde liegt.Also the DE 10 2006 002 237 A1 discloses a method for connecting a first component to at least one second component by means of at least one nail, which is introduced into the components at a joint. Here, the nail is driven into the components at a speed, the speed being between ten meters per second and one hundred meters per second.

Schließlich ist aus der DE 10 2010 006 404 A1 ein Verfahren zur Herstellung einer Nagelverbindung zwischen wenigstens zwei nicht vorgelochten Bauteilen in einem Fügebereich mittels eines von einem Setzgerät im Wesentlichen drehungsfrei in die Bauteile eingebrachten Nagels bekannt. Dabei ist vorgesehen, dass der Nagel in einem ersten Verfahrensschritt zunächst mittels einer schlagartigen Bewegung mit hoher Geschwindigkeit im Fügebereich nur teilweise in die Bauteile bis in eine Zwischenstellung eingetrieben wird. Anschließend wird der Nagel in einem zweiten Verfahrensschritt in die Bauteile vollständig in eine Endstellung eingedrückt. Im zweiten Verfahrensschritt wird der Nagel mit einer Geschwindigkeit in die Endstellung eingedrückt, wobei die Geschwindigkeit im zweiten Verfahrensschritt geringer als die Geschwindigkeit im ersten Verfahrensschritt ist.After all, is out of DE 10 2010 006 404 A1 a method for producing a nail connection between at least two non-pre-punched components in a joining area by means of a nail inserted into the components essentially without rotation by a setting tool is known. It is provided that in a first method step the nail is first only partially driven into the components into an intermediate position by means of a sudden movement at high speed in the joining area. The nail is then pressed fully into a final position in the components in a second process step. In the second process step, the nail is pressed into the end position at a speed, the Speed in the second process step is lower than the speed in the first process step.

Der Nagel kann als Bolzen oder Setzbolzen ausgebildet sein, wobei die bekannten Verfahren auch als Bolzensetzen oder als Bolzensetzverfahren bezeichnet werden. Diese Verfahren sind auch unter der Bezeichnung Rivtac oder Impact bekannt. Die herkömmlichen Verfahren sind sehr kosten- und geräuschintensiv.The nail can be designed as a bolt or setting bolt, the known methods also being referred to as bolt setting or as a bolt setting method. These methods are also known as Rivtac or Impact. The conventional methods are very expensive and noise-intensive.

Die WO 2014/013232 A1 offenbart ein Verfahren zum Herstellen einer Verbindung in einem Stapel aus wenigstens zwei Materialplatten.The WO 2014/013232 A1 discloses a method of making a connection in a stack of at least two sheets of material.

Die CN 101 934 337 A1 offenbart ein Nietsystem.The CN 101 934 337 A1 discloses a riveting system.

Der FR 2 809 780 A1 ist ein Aluminiumniet als bekannt zu entnehmen.The FR 2 809 780 A1 an aluminum rivet can be seen as known.

Darüber hinaus ist aus der CN 103 600 016 A ein Nietverfahren zum Nieten von ultrahochfesten Stahlplatten oder Aluminiumlegierungsstahlplatten bekannt.In addition, from the CN 103 600 016 A. a riveting method for riveting ultra high strength steel plates or aluminum alloy steel plates is known.

Außerdem ist der DE 10 2010 006 404 A1 ein Verfahren zur Herstellung einer Nagelverbindung als bekannt zu entnehmen.In addition, the DE 10 2010 006 404 A1 a method for producing a nail connection as known.

Die DE 10 2009 009 112 A1 , welche die Basis für den Oberbegriff des Anspruchs 1 bildet, beschreibt ein Strukturbauteil für ein Kraftfahrzeug, beispielsweise eine B-Säule, ein Schweller oder ein Stoßfängerquerträger, welches einen Grundkörper aus Metallblech aufweist. Der Grundkörper ist partiell mit zumindest einem Verstärkungselement versehen, welches mit dem Grundkörper verklebt ist. Der Grundkörper und das Verstärkungselement sind mittels Setzbolzen ohne Vorlochen fixiert.The DE 10 2009 009 112 A1 , which forms the basis for the preamble of claim 1, describes a structural component for a motor vehicle, for example a B-pillar, a sill or a bumper cross member, which has a base body made of sheet metal. The base body is partially provided with at least one reinforcing element which is glued to the base body. The base body and the reinforcement element are fixed by means of setting bolts without pre-punching.

Aufgabe der vorliegenden Erfindung ist es daher, ein Verfahren und eine Vorrichtung der eingangs genannten Art zu schaffen, mittels welchen die Bauteile auf besonders kostengünstige und geräuscharme Weise miteinander verbunden werden können.The object of the present invention is therefore to create a method and a device of the type mentioned at the outset by means of which the components can be connected to one another in a particularly cost-effective and low-noise manner.

Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Patentanspruchs 1 gelöst. Vorteilhafte Ausgestaltungen mit zweckmäßigen und nicht-trivialen Weiterbildungen der Erfindung sind in den übrigen Ansprüchen angegeben.This object is achieved by a method having the features of patent claim 1. Advantageous refinements with expedient and non-trivial developments of the invention are specified in the remaining claims.

Um ein Verfahren der im Oberbegriff des Patentanspruchs 1 angegebenen Art zu schaffen, mittels welchem die Bauteile auf besonders kostengünstige und geräuscharme Weise miteinander verbunden werden können, ist es erfindungsgemäß vorgesehen, dass das Fügeelement mittels eines Industrieroboters mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird. Der Industrieroboter weist dabei eine Mehrzahl von Roboterarmen und einen Roboterkopf auf, die gelenkig miteinander verbunden und dadurch relativ zueinander bewegbar sind. Ferner ist an dem Roboterkopf eine Vorrichtung gehalten, welche mittels des Industrieroboters im Raum umherbewegt wird, um dadurch die Bauteile miteinander zu verbinden. Der Erfindung liegt die Erkenntnis zugrunde, dass bei den herkömmlichen, als Hochgeschwindigkeits-Fügeverfahren ausgebildeten Verfahren das Fügeelement mit einer sehr hohen Geschwindigkeit, welche auch als Setzgeschwindigkeit bezeichnet wird, in die Bauteile eingetrieben wird, wobei hierzu komplexe und somit besonders kostenintensive Anlagen beispielsweise in Form von Bolzensetzanlagen erforderlich sind. Um das beispielsweise als Nagel ausgebildete Fügeelement mit der hohen Geschwindigkeit in die Bauteile einzutreiben, sind üblicherweise kostenintensive Bolzenschussgeräte und/oder pulverkraftbetriebene Kartuschen erforderlich. Ferner kommt es aufgrund der hohen Geschwindigkeit üblicherweise zu Lautstärken von über 130 Dezibel. Diese hohe Lautstärke wird durch Schwingungen erzeugt, die aus hohen Setzgeschwindigkeiten resultieren, mit denen das Fügeelement üblicherweise auf die Bauteile auftrifft. Aufgrund dieser hohen Lautstärken kommen üblicherweise kostenintensive und unflexible Schallschutzkabinen zum Einsatz.
Da bei dem erfindungsgemäßen Verfahren die Geschwindigkeit, das heißt die Setzgeschwindigkeit des Fügeelements besonders gering ist, ist der Einsatz von kostenintensiven Anlagen und Schallschutzkabinen nicht erforderlich.In order to create a method of the type specified in the preamble of patent claim 1, by means of which the components can be connected to one another in a particularly inexpensive and low-noise manner, it is provided according to the invention that the joining element by means of an industrial robot at a speed of less than five meters per second is pressed into the components. The industrial robot has a plurality of robot arms and a robot head which are connected to one another in an articulated manner and are therefore movable relative to one another. Furthermore, a device is held on the robot head, which is moved around in space by means of the industrial robot, in order to thereby connect the components to one another. The invention is based on the knowledge that, in the conventional methods designed as high-speed joining methods, the joining element is driven into the components at a very high speed, which is also referred to as setting speed, with complex and thus particularly cost-intensive systems, for example in the form of this of bolt setting systems are required. In order to drive the joining element, which is designed, for example, as a nail, into the components at high speed, cost-intensive nail guns and / or cartridges operated by powder power are usually required. In addition, the high speed usually results in volumes of over 130 decibels. This high volume is generated by vibrations that result from high setting speeds with which the joining element usually strikes the components. Because of this high volume, cost-intensive and inflexible soundproof booths are usually used.
Since the speed, that is, the setting speed of the joining element is particularly low in the method according to the invention, the use of cost-intensive systems and soundproofing cabins is not necessary.

Darüber hinaus wurde herausgefunden, dass trotz des Einsatzes der nur sehr geringen Geschwindigkeit, mit der das Fügeelement in die Bauteile eingedrückt wird, die Steifigkeitsanforderungen an die Bauteile besonders gering sind. Somit können die Bauteile mittels des erfindungsgemäßen Verfahrens besonders fest miteinander verbunden werden. Darüber hinaus kann der Aufwand einer Sensorik zum Überwachen des Verfahrens im Vergleich zu herkömmlichen Verfahren geringgehalten werden.In addition, it was found that despite the very low speed at which the joining element is pressed into the components, the rigidity requirements for the components are particularly low. The components can thus be connected to one another particularly firmly by means of the method according to the invention. In addition, the complexity of a sensor system for monitoring the method can be kept low in comparison to conventional methods.

Bei dem Fügeelement handelt es sich beispielsweise um einen Nagel oder um eine Schraube oder um einen Niet, welche(r) in die Bauteile eingedrückt wird, so dass der Nagel oder die Schraube oder der Niet die Bauteile durchdringt. Bei dem Nagel kann es sich um einen Bolzen handeln, welcher auch als Setzbolzen bezeichnet wird. Somit ist das Verfahren beispielsweise als ein Bolzensetzverfahren ausgebildet, bei welchem der Nagel (Bolzen) mit einer nur sehr geringen Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird. Dadurch können übermäßige Schwingungen und aus den Schwingungen resultierende Geräusche vermieden werden. Darüber hinaus kann eine Anlage, mittels welcher der Nagel in die Bauteile eingedrückt wird, besonders einfach und somit kostengünstig ausgestaltet werden.The joining element is, for example, a nail or a screw or a rivet which is pressed into the components so that the nail or the screw or the rivet penetrates the components. The nail can be a bolt, which is also referred to as a set bolt. So is the method is designed, for example, as a bolt-setting method in which the nail (bolt) is pressed into the components at a very low speed of less than five meters per second. As a result, excessive vibrations and noises resulting from the vibrations can be avoided. In addition, a system by means of which the nail is pressed into the components can be designed in a particularly simple and thus inexpensive manner.

Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnungen; diese zeigen in:

Fig. 1
eine schematische und perspektivische Seitenansicht auf einen Industrieroboter zum Durchführen eines Verfahrens zum Verbinden von wenigstens zwei Bauteilen, bei welchem ein Fügeelement in Form eines Nagels mittels des Roboters mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird;
Fig. 2
eine schematische und perspektivische Seitenansicht auf eine Vorrichtung in Form eines Fallturms zum Durchführen eines nicht zur Erfindung gehöhrenden Verfahrens; und
Fig. 3
ausschnittsweise eine weitere schematische und perspektivische Seitenansicht auf eine weitere Vorrichtung zum Durchführen eines nicht zur Erfindung gehörenden Verfahrens, bei welchem das Fügeelement in Form des Nagels mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird.
Further advantages, features and details of the invention emerge from the following description of preferred exemplary embodiments and with reference to the drawings; these show in:
Fig. 1
is a schematic and perspective side view of an industrial robot for performing a method for connecting at least two components, in which a joining element in the form of a nail is pressed into the components by means of the robot at a speed of less than five meters per second;
Fig. 2
a schematic and perspective side view of a device in the form of a drop tower for performing a method not belonging to the invention; and
Fig. 3
Detail of a further schematic and perspective side view of a further device for carrying out a method not belonging to the invention, in which the joining element in the form of the nail is pressed into the components at a speed of less than five meters per second.

In den Fig. sind gleiche oder funktionsgleiche Elemente mit gleichen Bezugszeichen versehen. Die in Fig. 2 und Fig. 3 gezeigten Varianten stellen keinen Bestandteil der Erfindung sondern lediglich Hintergrundinformationen dar, welche zum Verständnis der Erfindung hilfreich sind.In the figures, identical or functionally identical elements are provided with the same reference symbols. In the Fig. 2 and Fig. 3 The variants shown do not form part of the invention but merely background information which is helpful for understanding the invention.

Fig. 1 zeigt in einer schematischen perspektivischen Seitenansicht eine Vorrichtung in Form eines Industrieroboters 10 zum Durchführen eines Verfahrens, in dessen Rahmen ein erstes Bauteil mit wenigstens einem zweiten Bauteil, insbesondere eines Kraftwagens, verbunden wird. Bei den Bauteilen handelt es sich beispielsweise um Karosseriebauteile. Der Industrieroboter 10 weist eine Basis 12 auf, über welche der Industrieroboter 10 an einem Boden befestigt wird. Darüber hinaus weist der Industrieroboter 10 eine Mehrzahl von Roboterarmen 14, 16, 18 und 20 auf, welche auch als Achsen oder Roboterachsen bezeichnet werden. Fig. 1 shows a schematic perspective side view of a device in the form of an industrial robot 10 for performing a method, in the frame of which a first component is connected to at least one second component, in particular a motor vehicle. The components are, for example Body components. The industrial robot 10 has a base 12, via which the industrial robot 10 is fastened to a floor. In addition, the industrial robot 10 has a plurality of robot arms 14, 16, 18 and 20, which are also referred to as axes or robot axes.

Darüber hinaus umfasst der Industrieroboter 10 einen am Roboterarm 20 bewegbar gehaltenen Roboterkopf 22. Die Roboterarme 14, 16, 18, 20 und der Roboterkopf 22 sind gelenkig miteinander verbunden, so dass diese relativ zueinander bewegbar sind.In addition, the industrial robot 10 comprises a robot head 22 which is movably held on the robot arm 20. The robot arms 14, 16, 18, 20 and the robot head 22 are connected to one another in an articulated manner, so that they can be moved relative to one another.

Am Roboterkopf 22 wird eine in Fig. 1 nicht dargestellte Vorrichtung angeordnet, so dass diese Vorrichtung mittels des Industrieroboters 10 im Raum umher bewegt werden kann. Dadurch ist es beispielsweise möglich, mittels des Industrieroboters 10 die Bauteile mittels wenigstens eines Fügeelements in Form eines Nagels miteinander zu verbinden, wobei der Nagel im Rahmen des Verfahrens mittels des Industrieroboters 10 an einer Fügestelle in die Bauteile eingebracht, das heißt eingedrückt wird.On the robot head 22 one in Fig. 1 Not shown device arranged so that this device can be moved around in space by means of the industrial robot 10. This makes it possible, for example, to connect the components to one another by means of the industrial robot 10 by means of at least one joining element in the form of a nail, the nail being introduced, that is to say pressed in, by means of the industrial robot 10 at a joint at a joint.

Vor dem Einbringen des Nagels werden die Bauteile beispielsweise derart relativ zueinander angeordnet, dass sich die Bauteile zumindest in einem jeweiligen Überlappungsbereich gegenseitig überlappen. Dabei ist die Fügestelle in den Überlappungsbereichen angeordnet, so dass der Nagel die Überlappungsbereiche durchdringt.Before the nail is inserted, the components are arranged, for example, relative to one another such that the components overlap one another at least in a respective overlap region. The joint is arranged in the overlap areas so that the nail penetrates the overlap areas.

Um nun die Bauteile auf besonders kostengünstige und geräuscharme Weise miteinander zu verbinden, ist es vorgesehen, dass der Nagel mittels des Industrieroboters 10 mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird. Hierdurch können der Aufbau des Industrieroboters 10 sowie dessen Ansteuerung besonders einfach gehalten werden. Darüber hinaus können durch diese geringe Geschwindigkeit, welche auch als Setzgeschwindigkeit bezeichnet wird, übermäßige Schwingungen der Bauteile und daraus resultierende übermäßige Geräusche vermieden werden.In order to connect the components to one another in a particularly economical and low-noise manner, it is provided that the nail is pressed into the components by means of the industrial robot 10 at a speed of less than five meters per second. As a result, the structure of the industrial robot 10 and its control can be kept particularly simple. In addition, this low speed, which is also referred to as the setting speed, prevents excessive vibrations of the components and the resulting excessive noise.

Bei dem Nagel handelt es sich beispielsweise um einen Bolzen, welcher auch als Setzbolzen bezeichnet wird. Das Verfahren ist somit als Bolzensetzen oder Bolzensetzverfahren ausgebildet, bei welchem der Bolzen jedoch mit einer nur sehr geringen Geschwindigkeit, das heißt besonders langsam in die Bauteile eingetrieben wird. Der Industrieroboter 10 stellt dabei einen elektrischen Antrieb dar, mittels welchem der Nagel, welcher auch als Tack bezeichnet wird, direkt und langsam in die Bauteile eingedrückt wird.The nail is, for example, a bolt, which is also referred to as a set bolt. The method is thus designed as a bolt setting or bolt setting method in which the bolt is driven into the components at a very low speed, that is to say particularly slowly. The industrial robot 10 represents an electric drive by means of which the nail, which is also called tack, is pressed directly and slowly into the components.

Alternativ zum Industrieroboter 10 ist es denkbar, bei einem nicht zur Erfindung gehörenden Verfahren eine andere elektromechanische Vorrichtung zu verwenden, mittels welcher der Nagel in die Bauteile eingedrückt wird. Ferner ist es möglich, den Nagel (Fügeelement) mittels einer pneumatischen Vorrichtung oder einer hydraulischen Vorrichtung in die Bauteile einzudrücken oder den Nagel (Fügeelement) mittels einer beschleunigten Masse in die Bauteile einzudrücken.As an alternative to the industrial robot 10, it is conceivable to use another electromechanical device in a method not belonging to the invention, by means of which the nail is pressed into the components. Furthermore, it is possible to press the nail (joining element) into the components using a pneumatic device or a hydraulic device, or to press the nail (joining element) into the components using an accelerated mass.

Darüber hinaus kann bei einem weiteren nicht zur Erfindung gehörenden Verfahren zum Eindrücken des Nagels in die Bauteile eine Halterung verwendet werden. Bei einer solchen Halterung handelt es sich um eine Vorrichtung zum Halten und zum Vereinzeln des Nagels. Die Halterung weist eine vorgebbare Masse auf, wobei die Halterung und mit dieser der Nagel auf eine vorgebbare Geschwindigkeit von weniger als fünf Metern pro Sekunde beschleunigt wird. Dadurch ist es möglich, den Nagel in die Bauteile, welche einen Bauteilverbund darstellen, einzutreiben. Hierdurch kann der Nagel mit einer besonders hohen Energie in die Bauteile eingedrückt werden.In addition, a holder can be used in a further method not belonging to the invention for pressing the nail into the components. Such a holder is a device for holding and separating the nail. The holder has a predeterminable mass, the holder and with it the nail being accelerated to a predeterminable speed of less than five meters per second. This makes it possible to drive the nail into the components that form a composite component. This allows the nail to be pressed into the components with a particularly high level of energy.

Eine solche, bei dem nicht zur Erfindung gehörenden weiteren Verfahren verwendete Halterung kann beispielsweise am Industrieroboter 10, insbesondere am Roboterkopf 22, angeordnet sein, so dass die Halterung und der Nagel mittels des Industrieroboters 10 im Raum umher bewegbar sind. Dabei kann eine vom Industrieroboter 10 entkoppelte und durch die Haltevorrichtung bewirkbare Bewegung des Nagels realisiert werden. Beispielsweise weist die Halterung einen Führungsschlitten auf, mittels welchem der Nagel relativ zum Industrieroboter 10 und somit zumindest im Wesentlichen unabhängig von diesem bewegt werden kann. Dadurch kann beispielsweise realisiert werden, dass eine auf den Nagel beim Eintreiben dieses wirkende Kraft nicht auf den Industrieroboter 10 übertragen wird.Such a holder, which is used in the further method not belonging to the invention, can for example be arranged on the industrial robot 10, in particular on the robot head 22, so that the holder and the nail can be moved around in space by means of the industrial robot 10. In this case, a movement of the nail which is decoupled from the industrial robot 10 and can be effected by the holding device can be realized. For example, the holder has a guide carriage, by means of which the nail can be moved relative to the industrial robot 10 and thus at least substantially independently of it. In this way it can be realized, for example, that a force acting on the nail when it is driven in is not transmitted to the industrial robot 10.

Zum Eintreiben des Nagels kann beispielsweise eine nicht zur Erfindung gehörende pneumatische oder hydraulische Presse verwendet werden. Darüber hinaus ist die Verwendung eines automatisierten Hammers, eines Impulsantriebs oder eines Servoantriebs zum Eindrücken des Nagels denkbar.For example, a pneumatic or hydraulic press not belonging to the invention can be used to drive the nail. In addition, the use of an automated hammer, a pulse drive or a servo drive for pushing in the nail is conceivable.

Das Eintreiben des Fügeelements in die Bauteile kann beispielsweise in einem mehrstufigen Fügevorgang erfolgen. Zudem kann das Eintreiben des Fügeelements in die Bauteile mittels wenigstens zwei verschiedener Fügevorrichtungen erfolgen. Beispielsweise kann das Fügeelement in einem ersten Verfahrensschritt zunächst mittels eines automatisierten Hammers nur teilweise in die Bauteile bis in eine Zwischenstellung eingedrückt werden und anschließend in einem zweiten Verfahrensschritt mittels eines Industrieroboters vollständig in eine Endstellung eingedrückt werden.The joining element can be driven into the components, for example, in a multi-stage joining process. In addition, driving the joining element in the components are made by means of at least two different joining devices. For example, in a first process step, the joining element can first be pressed only partially into the components into an intermediate position by means of an automated hammer and then in a second process step can be fully pressed into an end position by means of an industrial robot.

Fig. 2 zeigt eine Vorrichtung gemäß einer nicht zur Erfindung gehörenden Variante, mittels welcher der Nagel in die Bauteile eingetrieben werden kann. In Fig. 2 ist zur Veranschaulichung des Eintreibens des Nagels eines der Bauteile dargestellt, welches in Fig. 2 mit 24 bezeichnet ist. Die in Fig. 2 gezeigte Vorrichtung ist als Fallturm 26 ausgebildet. Der Fallturm 26 umfasst zwei Führungselemente, welche vorliegend als Führungsstangen 28 ausgebildet sind. Ferner umfasst der Fallturm 26 einen Führungsschlitten in Form einer Führungsplatte 30, welche Durchgangsöffnungen 32 aufweist. Dabei durchdringen die Führungsstangen 28 die korrespondierenden Durchgangsöffnungen 32, so dass die Führungsplatte 30 relativ zu den Führungsstangen 28 translatorisch entlang der Führungsstangen 28 bewegbar ist. Fig. 2 shows a device according to a variant not belonging to the invention, by means of which the nail can be driven into the components. In Fig. 2 is shown to illustrate the driving in of the nail one of the components, which in Fig. 2 is designated with 24. In the Fig. 2 The device shown is designed as a drop tower 26. The drop tower 26 comprises two guide elements, which in the present case are designed as guide rods 28. The drop tower 26 further comprises a guide carriage in the form of a guide plate 30 which has through openings 32. The guide rods 28 penetrate the corresponding through openings 32 so that the guide plate 30 can be moved translationally along the guide rods 28 relative to the guide rods 28.

Die Fügestelle, an welcher der Nagel in das Bauteil 24 eingedrückt wird, ist in Fig. 2 mit 34 bezeichnet. Darüber hinaus ist der Nagel in Fig. 2 besonders schematisch dargestellt und mit 36 bezeichnet.
Um bei der nicht zur Erfindung gehörenden Variante den Nagel 36 an der Fügestelle 34 in das Bauteil 24 einzudrücken, wird die Führungsplatte 30 entlang der Führungsstangen 28 vom Bauteil 24 weg bewegt. Die Führungsplatte 30 weist eine vorgebbare Masse auf. Auch der Nagel 36 weist eine vorgebbare Masse auf. Die vorgebbare Masse des Nagels 36 und die vorgebbare Masse der Führungsplatte 30 bilden eine Gesamtmasse. Die Führungsplatte 30 und mit dieser der an der Führungsplatte 30 gehaltene Nagel 36 werden derart vom Bauteil 24 weg bewegt, dass ein vorgebbarer Abstand zwischen dem Nagel 36 und dem Bauteil 24 eingestellt. Dieser Abstand wird dabei derart eingestellt, dass der Nagel 36 eine Geschwindigkeit von weniger als fünf Metern pro Sekunde aufweist, wenn er auf das Bauteil 24 auftrifft und dieses durchdringt.The joint at which the nail is pressed into the component 24 is shown in Fig. 2 designated with 34. In addition, the nail is in Fig. 2 shown particularly schematically and designated 36.
In order to press the nail 36 into the component 24 at the joint 34 in the variant not belonging to the invention, the guide plate 30 is moved away from the component 24 along the guide rods 28. The guide plate 30 has a predeterminable mass. The nail 36 also has a predeterminable mass. The predeterminable mass of the nail 36 and the predeterminable mass of the guide plate 30 form a total mass. The guide plate 30 and with it the nail 36 held on the guide plate 30 are moved away from the component 24 in such a way that a predeterminable distance between the nail 36 and the component 24 is set. This distance is set such that the nail 36 has a speed of less than five meters per second when it hits the component 24 and penetrates it.

Nachdem der Abstand eingestellt wurde, wird die Führungsplatte 30 bei der nicht zur Erfindung gehörenden Variante losgelassen, so dass die Führungsplatte 30 und der Nagel 36 lediglich schwerkraftbedingt auf die einstellbare Geschwindigkeit von weniger als fünf Metern pro Sekunde beschleunigt werden. Mit anderen Worten wird bei dem Fallturm 26 über die Schwerkraft die Führungsplatte 30 mit dem Nagel 36 fallen gelassen, wodurch die Energie für den Fügevorgang bereitgestellt wird. Beispielsweise weist die Führungsplatte 30 eine Masse von drei Kilogramm auf, wobei die bestimmte Höhe beziehungsweise der Abstand zwischen dem Bauteil 24 und dem Nagel 36 beispielsweise auf einen Meter eingestellt wird.After the distance has been set, the guide plate 30 is released in the variant not belonging to the invention, so that the guide plate 30 and the nail 36 are accelerated to the adjustable speed of less than five meters per second only due to gravity. In other words, in the drop tower 26, the guide plate 30 with the nail 36 is dropped by gravity, thereby providing the energy for the joining process. For example, the Guide plate 30 has a mass of three kilograms, the particular height or the distance between the component 24 and the nail 36 being set to one meter, for example.

Fig. 3 zeigt eine weitere nicht zur Erfindung gehörende Vorrichtung 38 zum Eindrücken des Nagels 36 mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde. In Fig. 2 und 3 ist auch eine Gegenhalter 40 erkennbar, auf welchem das Bauteil 24 aufliegt. Der Gegenhalter 40 wird verwendet, damit das Bauteil 24 beziehungsweise die Bauteile nicht dem Nagel 36 in dessen Eintreibrichtung ausweichen können, sondern der Nagel 36 die Bauteile durchdringen kann. Mittels der Vorrichtung 38 wird der Nagel 36 in der Eintreibrichtung mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt, wobei die Eintreibrichtung in Fig. 3 durch einen Richtungspfeil 42 veranschaulicht ist. Die Vorrichtung 38 kann als pneumatische Vorrichtung, hydraulische Vorrichtung oder elektromechanische Vorrichtung ausgebildet sein. Fig. 3 shows a further device 38 for pushing in the nail 36 at a speed of less than five meters per second. In Fig. 2 and 3rd a counter-holder 40 can also be seen, on which the component 24 rests. The counter-holder 40 is used so that the component 24 or the components cannot avoid the nail 36 in its driving direction, but rather the nail 36 can penetrate the components. By means of the device 38, the nail 36 is pressed into the components in the driving direction at a speed of less than five meters per second, the driving direction in Fig. 3 is illustrated by a direction arrow 42. The device 38 can be designed as a pneumatic device, hydraulic device or electromechanical device.

Im Rahmen des nicht zur Erfindung gehörenden Verfahrens wird der Nagel 36 zunächst an der Vorrichtung 38 angeordnet und gehalten. Anschließend wird der Nagel 36 mittels der Vorrichtung 38 in der Eintreibrichtung in die Bauteile eingedrückt, wobei von den Bauteilen in Fig. 3 das mit 24 bezeichnete Bauteil erkennbar ist. Da aufgrund der geringen Setzgeschwindigkeit übermäßige Schwingungen und Geräusche vermieden werden, kann auch auf den Einsatz von kostenintensiven und unflexiblen Schallschutzwänden und Schallschutzkabinen verzichtet werden. In der Folge lässt sich auch eine besonders geringe Taktzeit realisieren, welche üblicherweise dadurch verlängert wird, dass Türen der Schallschutzkabinen geöffnet und/oder Drehtische gedreht oder Bauteilzuführungen bewegt werden müssen. Dies kann nun vermieden werden, so dass beispielsweise im Rahmen einer Massenproduktion in besonders kurzer Zeit eine besonders hohe Anzahl an Bauteilen miteinander verbunden werden können.In the context of the method not belonging to the invention, the nail 36 is first arranged and held on the device 38. Subsequently, the nail 36 is pressed into the components in the driving direction by means of the device 38, whereby the components in FIG Fig. 3 the component identified by 24 is recognizable. Since excessive vibrations and noises are avoided due to the low setting speed, the use of cost-intensive and inflexible soundproof walls and soundproof booths can also be dispensed with. As a result, a particularly short cycle time can also be achieved, which is usually extended by opening the doors of the soundproof booths and / or rotating turntables or moving component feeders. This can now be avoided so that, for example, a particularly large number of components can be connected to one another in a particularly short time as part of mass production.

Neben dem in den Varianten gezeigten Fügevorgang, bei dem ein erstes Bauteils 24 mit wenigstens einem zweiten Bauteil mittels zumindest eines Fügeelements 36, welches an einer Fügestelle 34 in die Bauteile 24 eingebracht wird, verbunden wird, wobei das Fügeelement 36 mittels eines Industrieroboters 10 mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile 24 eingedrückt wird, können das Verfahren und die Vorrichtung 10, 26, 38 auch lediglich zum Nacharbeiten eines Kopfüberstands bzw. eines nicht vollständig in die Bauteile 24 eingedrückten Fügeelements 36 verwendet werden.In addition to the joining process shown in the variants, in which a first component 24 is connected to at least one second component by means of at least one joining element 36, which is introduced into the components 24 at a joint 34, the joining element 36 using an industrial robot 10 to a Is pressed into the components 24 at a speed of less than five meters per second, the method and the device 10, 26, 38 can also be used only for reworking a head protrusion or a joining element 36 which is not fully pressed into the components 24.

Claims (4)

  1. Method for joining a first component (24) to at least one second component by means of at least one joining element (36) installed into the components (24) at a joining point (34),
    characterised in that
    the joining element (36) is pressed into the components (24) at a speed of less than five metres per second by means of an industrial robot (10) having a plurality of robot arms (14, 16, 18, 20) and a robot head (22), which are pin-connected to one another and thus movable relative to one another, wherein a device which is moved in space by means of the industrial robot (10) is held at the robot head (22) for thereby joining the components (24) to one another.
  2. Method according to claim 1,
    characterised in that
    the joining element (36) is pressed into the components (24) at a speed at a speed of 0.01 metres per second to 2 metres per second by means of the industrial robot (10).
  3. Method according to claim 1 or 2,
    characterised in that
    the joining element (36) is pressed into the components (24) in a multistage joining process.
  4. Method according to any of the preceding claims,
    characterised in that
    the joining element (36) is pressed into the components (24) in a multistage joining process by means of at least two different joining devices.
EP15733620.7A 2014-05-22 2015-05-21 Method for joining at least two components Active EP3145657B1 (en)

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DE102014007553.2A DE102014007553B4 (en) 2014-05-22 2014-05-22 Method for connecting at least two components and device for carrying out such a method
PCT/EP2015/001033 WO2015176819A1 (en) 2014-05-22 2015-05-21 Method for joining at least two components and device for carrying out the method

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CN (1) CN106457359B (en)
DE (1) DE102014007553B4 (en)
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ES2809449T3 (en) 2021-03-04
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WO2015176819A1 (en) 2015-11-26
CN106457359A (en) 2017-02-22
CN106457359B (en) 2021-12-14
US10940524B2 (en) 2021-03-09
DE102014007553A1 (en) 2015-11-26
EP3145657A1 (en) 2017-03-29

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