EP3291951A1 - Method and device for joining at least two components - Google Patents

Method and device for joining at least two components

Info

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Withdrawn
Application number
EP16725759.1A
Other languages
German (de)
French (fr)
Inventor
Daniel Kohl
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
Original Assignee
Daimler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Publication of EP3291951A1 publication Critical patent/EP3291951A1/en
Withdrawn legal-status Critical Current

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

The invention relates to a method for joining at least two components (10, 12), a joining element (14) being inserted into the two components (10, 12) and, as this takes place, at least one parameter being determined which quantifies the joining process, said joining element (14) being inserted by means of a robot (16) and the at least one parameter which quantifies the joining process being determined by means of said robot (16). The invention also relates to a device for joining at least two components (10, 12).

Description

Verfahren und Vorrichtung zum Fügen von wenigstens zwei Bauteilen  Method and device for joining at least two components
Die Erfindung betrifft ein Verfahren sowie eine Vorrichtung zum Fügen von wenigstens zwei Bauteilen der in den Oberbegriffen der unabhängigen Patentansprüche The invention relates to a method and a device for joining at least two components in the preambles of the independent claims
angegebenen Art. specified type.
Die DE 10 2006 002 237 B4 zeigt ein Verfahren und eine Vorrichtung zum Fügen von wenigstens zwei Bauteilen. Ein Fügeelement wird in die beiden Bauteile eingebracht und währenddessen wird ein den Fügevorgang quantifizierender Parameter ermittelt. Konkret wird die beim Fügevorgang auf die Bauteile wirkende Reaktionskraft mittels eines Kraftsensors erfasst und zum Bewerten des Fügeprozesses und/oder zum Bewerten der Fügeverbindung verwendet. 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. Specifically, 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.
Die DE 10 2010 006 402 A1 zeigt ein Verfahren zum Überwachen eines DE 10 2010 006 402 A1 shows a method for monitoring a
Hochgeschwindigkeits-Fügeprozesses, bei welchem zumindest zwei Bauteile mittels eines Nagels gefügt werden. Die während des Fügeprozesses entstehenden High-speed joining process in which at least two components are joined by means of a nail. The resulting during the joining process
Schallemissionen werden mittels eines Sensors erfasst und ausgewertet. Noise emissions are recorded and evaluated by means of a sensor.
Die DE 10 2010 006 403 A1 zeigt ebenfalls ein Verfahren zum Überwachen eines Hochgeschwindigkeits-Fügeprozesses, bei welchem zumindest zwei Bauteile mittels eines Nagels miteinander verbunden werden. Die während des Eintreibens des Nagels ausgeübte Setzkraft wird dabei mittels eines Kraftsensors ermittelt. 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.
Es ist die Aufgabe der vorliegenden Erfindung, ein Verfahren und eine Vorrichtung der eingangs genannten Art derart weiterzubilden, dass eine vereinfachte und verbesserte Überwachung sowie Bewertung eines Fügeprozesses sowie der dadurch hergestellten Fügeverbindung ermöglicht wird. It is the object of the present invention to develop a method and a device of the aforementioned type such that a simplified and improved monitoring and evaluation of a joining process and the joining connection produced thereby is made possible.
BESTÄTIGUNGSKOPIE Diese Aufgabe wird durch ein Verfahren sowie durch eine Vorrichtung zum Fügen von wenigstens zwei Bauteilen mit den Merkmalen der unabhängigen Patentansprüche gelöst. Vorteilhafte Ausgestaltungen mit zweckmäßigen und nicht-trivialen CONFIRMATION COPY This object is achieved by a method and by a device for joining at least two components with the features of the independent claims. Advantageous embodiments with appropriate and non-trivial
Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben. Further developments of the invention are specified in the dependent claims.
Um eine verbesserte und vereinfachte Überwachung und Bewertung eines To improve and simplify monitoring and evaluation of a
Fügeprozesses sowie der dadurch hergestellten Fügeverbindung zu ermöglichen, ist es bei dem erfindungsgemäßen Verfahren vorgesehen, dass das Fügeelement mittels eines Roboters eingebracht und der zumindest eine den Fügevorgang quantifizierende It is provided in the method according to the invention that the joining element is introduced by means of a robot and the at least one quantifying the joining process
Parameter mittels des Roboters ermittelt wird. Die Ermittlung von zumindest einem oder auch mehreren den Fügevorgang quantifizierenden Parametern erfolgt also im 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
Gegensatz zu den aus dem Stand der Technik bekannten Verfahren nicht über eine zusätzliche Sensorik, wie beispielsweise akustische Sensoren oder Kraftsensoren. Contrary to the known from the prior art method does not have additional sensors, such as acoustic sensors or force sensors.
Stattdessen ist es erfindungsgemäß vorgesehen, dass das Fügeelement mittels eines Roboters in die beiden zu verbindenden Bauteile eingebracht und währenddessen mittels des Roboters direkt zumindest ein den Fügevorgang quantifizierender Parameter ermitteln wird. Dadurch ist es auf einfache und zuverlässige Weise möglich, den Instead, it is provided according to the invention that 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. This makes it possible in a simple and reliable way, the
Fügeprozess als solchen zu überwachen und die fertige Fügeverbindung, welche aus den beiden Bauteilen und dem Fügeelement hergestellt worden ist, zu bewerten, da zumindest ein den Fügevorgang quantifizierender Parameter direkt mittels des Roboters ermittelt und auch ausgewertet werden kann. Aufwändige, gegebenenfalls fehleranfällige und teure zusätzliche Sensoren zur Ermittlung von einem oder mehreren den To monitor joining process as such and to assess the finished joint connection, which has been produced from the two components and the joining element, since at least one parameter quantifying the joining process can be determined directly by means of the robot and also evaluated. Elaborate, possibly error-prone and expensive additional sensors for the determination of one or more den
Fügevorgang qualifizierenden Parametern sind somit nicht mehr erforderlich. Eine Prozessüberwachung des Fügevorgangs ist somit in sehr einfacher, kostengünstiger und störungsarmer Art und Weise möglich. 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.
In vorteilhafter Ausgestaltung der Erfindung ist es vorgesehen, dass der Roboter in Abhängigkeit von dem zumindest einen den Fügevorgang quantifizierenden Parameter geregelt wird. Der zumindest eine den Fügevorgang quantifizierende Parameter wird also nicht nur mittels des Roboters ermittelt, der Roboter wird zusätzlich noch in Abhängigkeit von dem zumindest einen den Fügevorgang quantifizierenden Parameter geregelt. Der Roboter kann dabei während des gesamten Fügevorgangs den zumindest einen den Fügevorgang quantifizierenden Parameter ermitteln und auswerten, so dass der Roboter je nach ermittelten Werten für den zumindest einen Parameter entsprechend geregelt und angesteuert werden kann, so dass ein bestmögliches Fügeergebnis erzielt werden kann. Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass ein In an advantageous embodiment of the invention, it is provided that 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. During the entire joining operation, 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. A further advantageous embodiment of the invention provides that a
Stromverbrauch jeweiliger Antriebsachsen des Roboters gemessen und basierend darauf der zumindest eine den Fügevorgang qualifizierende Parameter ermittelt wird. Jeweilige Stromverbräuche der Antriebsachsen des Roboters während des Einbringens des Fügeelements können auf sehr einfache Weise beispielsweise aus einer Power consumption of respective 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
Robotersteuerung oder dergleichen abgegriffen und zur Bestimmung beziehungsweise zur Ermittlung des zumindest einen den Fügevorgang quantifizierenden Parameters herangezogen werden. Somit kann der zumindest eine den Fügevorgang quantifizierende Parameter auf besonders einfache und zuverlässige Weise ermittelt werden. Robot controller or the like tapped and used to determine or to determine the at least one of the joining process quantifying parameter. Thus, the at least one parameter quantifying the joining process can be determined in a particularly simple and reliable manner.
Gemäß einer weiteren vorteilhaften Ausführungsform der Erfindung ist es vorgesehen, dass die Kraft zum Eintreiben des Fügeelements, die Energie zum Eintreiben des Fügeelements, die Beschleunigung des Fügeelements und/oder der Weg des According to a further advantageous embodiment of the invention, it is provided that 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
Fügeelements mittels des Roboters während des Einbringens des Fügeelements in die beiden Bauteile ermittelt wird. Im Wesentlichen können dabei alle für den Fügevorgang relevanten Parameter ermittelt werden, so dass der Fügeprozess als solcher während des Einbringens des Fügeelements in die beiden Bauteile fortlaufend überwacht und auch die fertige Fügeverbindung, welche die beiden Bauteile und das eingebrachte 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
Fügeelement umfasst, anhand der ermittelten, den Fügevorgang quantifizierenden Parameter bewertet werden kann. Der Fügevorgang als solcher kann somit besonders prozesssicher und auch wiederholgenau durchgeführt werden, so dass insbesondere die Qualität der Fügeverbindung verbessert werden kann. 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.
Die erfindungsgemäße Vorrichtung zum Fügen von wenigstens zwei Bauteilen ist dazu ausgebildet, ein Fügeelement in die beiden Bauteile einzubringen und wenigstens einen den Fügevorgang quantifizierenden Parameter während des Fügevorgangs zu ermitteln. Die erfindungsgemäße Vorrichtung zeichnet sich dabei dadurch aus, dass die Vorrichtung einen Roboter aufweist, welcher dazu ausgebildet ist, das Fügeelement einzubringen und den zumindest einen den Fügevorgang quantifizierenden Parameter zu ermitteln. 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.
Vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind als vorteilhafte Ausgestaltungen der erfindungsgemäßen Vorrichtung anzusehen, wobei die Vorrichtung insbesondere Mittel zur Durchführung der Verfahrensschritte aufweist. Advantageous embodiments of the method according to the invention are to be regarded as advantageous embodiments of the device according to the invention, wherein the device has in particular means for carrying out the method steps.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines bevorzugten Ausführungsbeispiels sowie anhand der Zeichnung. Die vorstehend in der Beschreibung genannten Merkmale und Merkmalskombinationen sowie die nachfolgend in der Figurenbeschreibung genannten und/oder in den Figuren alleine gezeigten Merkmale und Merkmalskombinationen sind nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features mentioned above in the description and Feature combinations as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures are not only in the respectively indicated combination but also in others
Kombinationen oder in Alleinstellung verwendbar, ohne den Rahmen der Erfindung zu verlassen. Combinations or alone, without departing from the scope of the invention.
Die Zeichnung zeigt in: The drawing shows in:
Fig. 1 eine Perspektivansicht, in welcher ein Fügevorgang von zwei Bauteilen dargestellt ist, in die ein Fügeelement zum Fügen der beiden Bauteile eingebracht wird; und in 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; and in
Fig. 2 eine Seitenansicht eines Roboters, mittels welchem das Fügeelement in die beiden Bauteile eingebracht werden kann. Fig. 2 is a side view of a robot, by means of which the joining element can be introduced into the two components.
In einer Perspektivansicht sind zwei Bauteile 10, 12 gezeigt, bevor diese mittels eines Fügeelements 14 miteinander gefügt werden. Bei dem Fügeelement 14 kann es sich beispielsweise um einen Nagel, einen Setzbolzen oder dergleichen handeln. Zum Fügen beziehungsweise zum Verbinden der beiden Bauteile 10, 12 wird das Fügeelement 14 in die beiden Bauteile 10, 12 eingebracht beziehungsweise in diese hineingetrieben bzw. in diese hineingedrückt. Vorzugsweise wird das Fügeelement 14 mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die beiden Bauteile 10, 12 eingedrückt. Das Fügeelement 14 kann aber auch mit einer wesentlich höheren Geschwindigkeit, insbesondere mit einer Geschwindigkeit zwischen fünf und dreihundert Metern pro Sekunde in die beiden Bauteile 10, 12 eingebracht werden. Um eine gleichbleibend gute Qualität bei der Herstellung einer Fügeverbindung aus den beiden Bauteilen 10, 12 und dem Fügeelement 14 sicherstellen zu können, ist es wichtig, den Fügeprozess als solchen sowie die fertige Fügeverbindung bewerten zu können. Während des In a perspective view, two components 10, 12 are shown before they are joined together by means of a joining element 14. The joining element 14 may be, for example, a nail, a setting bolt or the like. For joining or for joining the two components 10, 12, the joining element 14 is introduced into the two components 10, 12 or driven into or pressed into this. Preferably, the joining element 14 is pressed into the two components 10, 12 at a speed of less than five meters per second. However, 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. In order to ensure a consistently good quality in the production of a joint connection of the two components 10, 12 and the joining element 14, it is important to be able to evaluate the joining process as such and the finished joint connection. During the
Fügevorgangs, also während des Einbringens des Fügeelements 14 in die beiden Bauteile 10, 12, wäre es also vorteilhaft, zumindest einen den Fügevorgang Joining process, ie during the introduction of the joining element 14 in the two components 10, 12, it would therefore be advantageous at least one joining operation
quantifizierenden Parameter, vorzugsweise mehrere den Fügevorgang quantifizierende Parameter, bereitstellen zu können. quantifying parameters, preferably a plurality of the joining process quantifying parameters to provide.
In Fig. 2 ist ein Roboter 16 in einer Seitenansicht gezeigt. Um einen oder mehrere den Fügevorgang quantifizierende Parameter während des Fügeprozesses zu ermitteln, ist es vorgesehen, dass das Fügeelement 14 mittels des Roboters 16 eingebracht und zumindest ein den Fügevorgang quantifizierender Parameter, vorzugsweise mehrere den Fügevorgang quantifizierende Parameter, währenddessen direkt mittels des Roboters 16 ermittelt wird. Der Roboter 16 wird dabei in Abhängigkeit von dem zumindest einen den Fügevorgang quantifizierenden Parameter geregelt. 2, a robot 16 is shown in a side view. In order to determine one or more parameters that quantify the joining process during the joining process, it is provided that 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. In this case, the robot 16 is regulated as a function of the at least one parameter quantifying the joining process.
Zur Überwachung und Bewertung des Fügeprozesses sowie der fertigen Fügeverbindung ist es also vorgesehen, dass der Roboter 16 das Fügeelement 14 in die beiden Bauteile 10, 12 einbringt und vorzugsweise mehrere den Fügevorgang quantifizierende Parameter ermittelt. Zur Ermittlung der den Fügevorgang quantifizierenden Parameter kann beispielsweise ein Stromverbrauch jeweiliger Antriebsachsen 18 des Roboters 16 gemessen und ausgewertet werden, so dass basierend darauf jeweilige den For monitoring and evaluation of the joining process as well as the finished joining connection, it is thus provided that 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. To determine the joining process quantifying parameters, for example, a power consumption of respective drive axles 18 of the robot 16 are measured and evaluated, so that based on the respective
Fügevorgang quantifizierende Parameter ermittelt werden können. Es ist also keine zusätzliche Sensorik notwendig, um den Fügevorgang quantifizierende Parameter während des Eintreibens beziehungsweise Einbringens des Fügeelements 14 in die beiden Bauteile 10, 12 zu ermitteln. 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.
Vorzugsweise wird die Kraft zum Eintreiben des Fügeelements 14, die Energie zum Eintreiben des Fügeelements 14, die Beschleunigung des Fügeelements 14 und der Weg des Fügeelements 14 mittels des Roboters 16 ermittelt, indem beispielsweise jeweilige Stromverbräuche der Antriebsachsen 18 während des Fügevorgangs überwacht und ausgewertet werden. 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.
Während des Eintreibens des Fügeelements 14 in die beiden Bauteile 10, 12 ist es also fortlaufend möglich, die für den Fügevorgang wesentlichen Prozessparameter mittels des Roboters 16 zu überwachen. Beispielsweise können entsprechende Sollbeziehungsweise Idealwerte für die jeweiligen Prozessparameter vorgegeben und fortlaufend mit den ermittelten Prozessparametern abgeglichen werden. Sollten sich Abweichungen zwischen den tatsächlich gemessenen beziehungsweise ermittelten Prozessparametern und den Idealwerten ergeben, kann der Roboter 16 entsprechend geregelt werden, so dass sich die wunschgemäßen Prozessparameter einstellen. During the driving of the joining element 14 into the two components 10, 12, it is thus continuously possible to monitor the process parameters that are essential for the joining process by means of the robot 16. For example, appropriate Sollbeziehungsweise ideal values for the respective process parameters can be specified and continuously compared with the determined process parameters. If deviations occur between the actually measured or determined process parameters and the ideal values, the robot 16 can be regulated accordingly so that the desired process parameters are set.
Der Fügeprozess kann also auf einfache Weise überwacht und der Roboter so geregelt werden, dass möglichst ein optimaler Fügevorgang mit einer entsprechend optimalen Fügeverbindung hergestellt werden kann. Darüber hinaus ist es möglich, anhand der mittels des Roboters 16 erfassten Prozessparameter die aus den beiden Bauteilen 10, 12 und in dem Fügeelement 14 hergestellte Fügeverbindung zu bewerten. Es kann also nicht nur der Fügeprozess als solcher überwacht und entsprechend geregelt werden, es ist darüber hinaus auch noch möglich, beispielsweise durch Abspeichern der während des Fügevorgangs ermittelten Prozessparameter die Qualität der fertig gestellten 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. In addition, it is possible to evaluate the joining parameters produced from the two components 10, 12 and in the joining element 14 on the basis of the process parameters detected by the robot 16. So not only the joining process can be monitored as such and regulated accordingly, it is beyond that also still possible, for example by storing the process parameters determined during the joining process, the quality of the finished
Fügeverbindung zu bewerten. To evaluate joint connection.

Claims

Patentansprüche claims
Verfahren zum Fügen von wenigstens zwei Bauteilen (10, 12), bei welchem ein Fügeelement (14) in die beiden Bauteile (10, 12) eingebracht und währenddessen zumindest ein den Fügevorgang quantifizierender Parameter ermittelt wird, dadurch gekennzeichnet, dass Method for joining at least two components (10, 12), in which a joining element (14) is introduced into the two components (10, 12) and during which at least one parameter quantifying the joining process is determined, characterized in that
das Fügelement (14) mittels eines Roboters (16) eingebracht und der zumindest eine den Fügevorgang quantifizierende Parameter mittels des Roboters (16) ermittelt wird. the joint element (14) is introduced by means of a robot (16) and the at least one parameter quantifying the joining process is determined by means of the robot (16).
Verfahren nach Anspruch 1 , Method according to claim 1,
dadurch gekennzeichnet, dass characterized in that
der Roboter ( 6) in Abhängigkeit von dem zumindest einen den Fügevorgang quantifizierenden Parameter geregelt wird the robot (6) is regulated as a function of the at least one parameter quantifying the joining process
Verfahren nach Anspruch 1 oder 2, Method according to claim 1 or 2,
dadurch gekennzeichnet, dass characterized in that
ein Stromverbrauch jeweiliger Antriebsachsen (18) des Roboters (16) gemessen und basierend darauf der zumindest eine den Fügevorgang quantifizierende Parameter ermittelt wird. a power consumption of respective drive axles (18) of the robot (16) is measured and based thereon the at least one parameter quantifying the joining operation is determined.
Verfahren nach einem der vorhergehenden Ansprüche, Method according to one of the preceding claims,
dadurch gekennzeichnet, dass characterized in that
die Kraft zum Eintreiben des Fügelements (14), die Energie zum Eintreiben des Fügelements (14), die Beschleunigung des Fügeelements (14) und/oder der Weg des Fügeelements (14) mittels des Roboters (16) ermittelt wird. the force for driving the pad element (14), the energy for driving the pad element (14), the acceleration of the joining element (14) and / or the path of the joining element (14) is determined by means of the robot (16).
5. Vorrichtung zum Fügen von wenigstens zwei Bauteilen (10, 12), welche dazu 5. Device for joining at least two components (10, 12), which in addition
ausgebildet ist, ein Fügeelement (14) in die beiden Bauteile (10, 12) einzubringen und wenigstens einen den Fügevorgang quantifizierenden Parameter während des Fügevorgangs zu ermitteln,  is designed to introduce a joining element (14) into the two components (10, 12) and to determine at least one parameter quantifying the joining operation during the joining process,
dadurch gekennzeichnet, dass  characterized in that
die Vorrichtung einen Roboter (16) aufweist, welcher dazu ausgebildet ist, das Fügelement (14) einzubringen und den zumindest einen den Fügevorgang quantifizierenden Parameter zu ermitteln.  the device comprises a robot (16), which is designed to introduce the pad element (14) and to determine the at least one parameter quantifying the joining process.
EP16725759.1A 2015-05-05 2016-05-03 Method and device for joining at least two components Withdrawn EP3291951A1 (en)

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WO2016177466A1 (en) 2016-11-10

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