EP3291951A1 - Verfahren und vorrichtung zum fügen von wenigstens zwei bauteilen - Google Patents
Verfahren und vorrichtung zum fügen von wenigstens zwei bauteilenInfo
- Publication number
- EP3291951A1 EP3291951A1 EP16725759.1A EP16725759A EP3291951A1 EP 3291951 A1 EP3291951 A1 EP 3291951A1 EP 16725759 A EP16725759 A EP 16725759A EP 3291951 A1 EP3291951 A1 EP 3291951A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- joining
- components
- robot
- joining process
- determined
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
- B21D39/03—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal otherwise than by folding
-
- 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
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/007—Riveting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/24—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for determining value of torque or twisting moment for tightening a nut or other member which is similarly stressed
Definitions
- the invention relates to a method and a device for joining at least two components in the preambles of the independent claims
- DE 10 2006 002 237 B4 shows a method and a device for joining at least two components.
- a joining element is introduced into the two components and meanwhile a parameter quantifying the joining process is determined.
- the reaction force acting on the components during the joining process is detected by means of a force sensor and used to evaluate the joining process and / or to evaluate the joint connection.
- DE 10 2010 006 402 A1 shows a method for monitoring a
- Noise emissions are recorded and evaluated by means of a sensor.
- DE 10 2010 006 403 A1 likewise shows a method for monitoring a high-speed joining process, in which at least two components are connected to one another by means of a nail.
- the setting force exerted during the driving in of the nail is determined by means of a force sensor.
- the joining element is introduced by means of a robot and the at least one quantifying the joining process
- Parameter is determined by means of the robot. The determination of at least one or more of the joining process quantifying parameters thus takes place in
- Contrary to the known from the prior art method does not have additional sensors, such as acoustic sensors or force sensors.
- the joining element is introduced into the two components to be connected by means of a robot and meanwhile at least one parameter quantifying the joining process is determined directly by means of the robot.
- Joining process qualifying parameters are therefore no longer required.
- a process monitoring of the joining process is thus possible in a very simple, cost-effective and trouble-free manner.
- the robot is regulated as a function of the at least one parameter quantifying the joining process.
- the at least one parameter quantifying the joining process is thus determined not only by means of the robot, the robot is additionally regulated in dependence on the at least one parameter quantifying the joining process.
- the robot can determine and evaluate the at least one parameter quantifying the joining operation, so that the robot can be controlled and controlled according to the determined values for the at least one parameter, so that the best possible joining result can be achieved.
- Respective power consumption of the drive axes of the robot measured and based on the at least one the joining process qualifying parameter is determined.
- Respective power consumption of the drive axes of the robot during the introduction of the joining element can in a very simple manner, for example, from a
- Robot controller or the like tapped and used to determine or to determine the at least one of the joining process quantifying parameter.
- the at least one parameter quantifying the joining process can be determined in a particularly simple and reliable manner.
- the force for driving the joining element the energy for driving the joining element, the acceleration of the joining element and / or the path of the joining
- Joining element is determined by means of the robot during the introduction of the joining element in the two components. Essentially, all relevant parameters for the joining process can be determined, so that the joining process as such during the introduction of the joining element in the two components continuously monitored and also the finished joint, which the two components and the introduced
- Joining joining element can be evaluated on the basis of the determined, the joining process quantifying parameters.
- the joining process as such can thus be carried out in a particularly process-reliable and repeatable manner, so that in particular the quality of the joint connection can be improved.
- the device according to the invention for joining at least two components is designed to introduce a joining element into the two components and to determine at least one parameter quantifying the joining process during the joining operation.
- the device according to the invention is characterized in that the device has a robot which is designed to introduce the joining element and to determine the at least one parameter quantifying the joining process.
- FIG. 1 shows a perspective view in which a joining process of two components is shown, into which a joining element for joining the two components is introduced;
- Fig. 2 is a side view of a robot, by means of which the joining element can be introduced into the two components.
- the joining element 14 may be, for example, a nail, a setting bolt or the like.
- the joining element 14 is introduced into the two components 10, 12 or driven into or pressed into this.
- the joining element 14 is pressed into the two components 10, 12 at a speed of less than five meters per second.
- the joining element 14 can also be introduced into the two components 10, 12 at a significantly higher speed, in particular at a speed of between five and three hundred meters per second.
- quantifying parameters preferably a plurality of the joining process quantifying parameters to provide.
- a robot 16 is shown in a side view.
- the joining element 14 is introduced by means of the robot 16 and at least one parameter quantifying the joining process, preferably a plurality of parameters quantifying the joining process, during which the robot 16 determines it directly.
- the robot 16 is regulated as a function of the at least one parameter quantifying the joining process.
- the robot 16 introduces the joining element 14 into the two components 10, 12 and preferably determines a plurality of parameters quantifying the joining process.
- a power consumption of respective drive axles 18 of the robot 16 are measured and evaluated, so that based on the respective
- Joining process quantifying parameters can be determined. Thus, no additional sensor system is necessary in order to determine parameters which quantify the joining process during the driving or introduction of the joining element 14 into the two components 10, 12.
- the force for driving in the joining element 14, the energy for driving in the joining element 14, the acceleration of the joining element 14 and the path of the joining element 14 by means of the robot 16 are preferably determined by, for example, monitoring and evaluating respective current consumptions of the drive axles 18 during the joining operation.
- the joining process can thus be monitored in a simple manner and the robot can be controlled so that, if possible, an optimum joining process can be produced with a correspondingly optimal joining connection.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015005759.6A DE102015005759A1 (de) | 2015-05-05 | 2015-05-05 | Verfahren und Vorrichtung zum Fügen von wenigstens zwei Bauteilen |
PCT/EP2016/000726 WO2016177466A1 (de) | 2015-05-05 | 2016-05-03 | Verfahren und vorrichtung zum fügen von wenigstens zwei bauteilen |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3291951A1 true EP3291951A1 (de) | 2018-03-14 |
Family
ID=54481474
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16725759.1A Withdrawn EP3291951A1 (de) | 2015-05-05 | 2016-05-03 | Verfahren und vorrichtung zum fügen von wenigstens zwei bauteilen |
Country Status (5)
Country | Link |
---|---|
US (1) | US10730100B2 (de) |
EP (1) | EP3291951A1 (de) |
CN (1) | CN107530880A (de) |
DE (1) | DE102015005759A1 (de) |
WO (1) | WO2016177466A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016107368A1 (de) * | 2016-04-21 | 2017-10-26 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Befestigungsvorrichtung |
DE102016005850B4 (de) * | 2016-05-12 | 2022-07-21 | Mercedes-Benz Group AG | Verfahren und Vorrichtung zum Fügen wenigstens zweier Bauteile, insbesondere für ein Kraftfahrzeug |
EP3943264B1 (de) | 2020-07-21 | 2022-11-16 | Böllhoff Verbindungstechnik GmbH | Bolzensetzverfahren eines nagelförmigen bolzens sowie ein setzgerät mit einer elektronischen steuereinheit zur umsetzung des bolzensetzverfahrens |
DE102021115209B4 (de) * | 2021-06-11 | 2024-08-01 | Atlas Copco Ias Gmbh | Verfahren und Vorrichtung zur Überwachung und/oder Regelung eines Fließloch- und Gewindeformprozesses |
DE102021115210A1 (de) * | 2021-06-11 | 2022-12-15 | Atlas Copco Ias Gmbh | Verfahren und Vorrichtung zur Überwachung und/oder Regelung eines Fließloch- und Gewindeformprozesses |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4745681A (en) | 1987-04-22 | 1988-05-24 | International Business Machines Corporation | Controlled pin insertion using airflow sensing and active feedback |
US6067696A (en) * | 1998-04-08 | 2000-05-30 | Dimitrios G. Cecil | Quality control system for a clinching station |
US7313852B2 (en) * | 2003-12-23 | 2008-01-01 | Magna Structural Systems, Inc. | Method of forming a rivet using a riveting apparatus |
DE102006002237B4 (de) | 2006-01-17 | 2012-09-20 | Böllhoff Verbindungstechnik GmbH | Verfahren und Vorrichtung zum Überwachen eines Fügeprozesses zum Verbinden mindestens zweier Bauteile mittels eines Setzbolzens |
DE102006002238C5 (de) * | 2006-01-17 | 2019-02-28 | Böllhoff Verbindungstechnik GmbH | Verfahren zum Herstellen einer Nagelverbindung sowie Nagel hierfür |
DE102009050200B3 (de) | 2009-10-21 | 2011-03-31 | Böllhoff Verbindungstechnik GmbH | Prozessüberwachung zum Hochgeschwindigkeitsfügen |
DE102009058607A1 (de) * | 2009-12-17 | 2011-06-22 | KUKA Laboratories GmbH, 86165 | Verfahren und Vorrichtung zum Steuern eines Manipulators |
DE102010006403A1 (de) | 2010-02-01 | 2011-08-04 | Audi Ag, 85057 | Verfahren zum Überwachen eines Hochgeschwindigkeits-Fügeprozesses |
DE102010006402A1 (de) | 2010-02-01 | 2011-08-04 | Audi Ag, 85057 | Verfahren zum Überwachen eines Hochgeschwindigkeits-Fügeprozesses zum Verbinden mindestens zweier Bauteile mittels eines Nagels |
DE102010052396A1 (de) | 2010-11-24 | 2012-05-24 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Steuern einer Peripheriekomponente eines Robotersystems |
WO2013031007A1 (ja) * | 2011-09-01 | 2013-03-07 | 株式会社安川電機 | 力センサ及びロボット |
KR101438970B1 (ko) | 2012-12-27 | 2014-09-15 | 현대자동차주식회사 | 로봇의 보행제어방법 |
JP5741617B2 (ja) | 2013-03-19 | 2015-07-01 | 株式会社安川電機 | ロボット装置 |
JP6107281B2 (ja) | 2013-03-22 | 2017-04-05 | セイコーエプソン株式会社 | ロボット及びロボットの制御方法 |
DE102014007554A1 (de) | 2014-05-22 | 2014-12-31 | Daimler Ag | Verfahren und Vorrichtung zum Überwachen eines Fügeprozesses |
-
2015
- 2015-05-05 DE DE102015005759.6A patent/DE102015005759A1/de not_active Withdrawn
-
2016
- 2016-05-03 EP EP16725759.1A patent/EP3291951A1/de not_active Withdrawn
- 2016-05-03 US US15/571,798 patent/US10730100B2/en not_active Expired - Fee Related
- 2016-05-03 WO PCT/EP2016/000726 patent/WO2016177466A1/de unknown
- 2016-05-03 CN CN201680025728.7A patent/CN107530880A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
CN107530880A (zh) | 2018-01-02 |
US20190210093A1 (en) | 2019-07-11 |
DE102015005759A1 (de) | 2015-12-03 |
WO2016177466A1 (de) | 2016-11-10 |
US10730100B2 (en) | 2020-08-04 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20171016 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: DAIMLER AG |
|
17Q | First examination report despatched |
Effective date: 20200407 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN |
|
18W | Application withdrawn |
Effective date: 20200713 |