EP3291951A1 - Procédé et dispositif d'assemblage d'au moins deux éléments - Google Patents

Procédé et dispositif d'assemblage d'au moins deux éléments

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Withdrawn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)
English (en)
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/fr
Withdrawn legal-status Critical Current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

L'invention concerne un procédé d'assemblage d'au moins deux éléments (10, 12), selon lequel un élément d'assemblage (14) est introduit dans les deux éléments (10, 12) et simultanément au moins un paramètre quantifiant l'opération d'assemblage est déterminé, l'élément d'assemblage (14) étant introduit à l'aide d'un robot (16) et ledit au moins un paramètre quantifiant l'opération d'assemblage étant déterminé à l'aide du robot (16). L'invention concerne également un dispositif d'assemblage d'au moins deux éléments (10, 12).
EP16725759.1A 2015-05-05 2016-05-03 Procédé et dispositif d'assemblage d'au moins deux éléments Withdrawn EP3291951A1 (fr)

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 (fr) 2015-05-05 2016-05-03 Procédé et dispositif d'assemblage d'au moins deux éléments

Publications (1)

Publication Number Publication Date
EP3291951A1 true EP3291951A1 (fr) 2018-03-14

Family

ID=54481474

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16725759.1A Withdrawn EP3291951A1 (fr) 2015-05-05 2016-05-03 Procédé et dispositif d'assemblage d'au moins deux éléments

Country Status (5)

Country Link
US (1) US10730100B2 (fr)
EP (1) EP3291951A1 (fr)
CN (1) CN107530880A (fr)
DE (1) DE102015005759A1 (fr)
WO (1) WO2016177466A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
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 (fr) * 2020-07-21 2022-11-16 Böllhoff Verbindungstechnik GmbH Procédé de pose de boulon d'un boulon en forme de clou, ainsi qu'appareil de pose doté d'une unité de commande électronique permettant la mise en uvre du procédé de pose d'un boulon
DE102021115210A1 (de) * 2021-06-11 2022-12-15 Atlas Copco Ias Gmbh Verfahren und Vorrichtung zur Überwachung und/oder Regelung eines Fließloch- und Gewindeformprozesses
DE102021115209B4 (de) * 2021-06-11 2024-08-01 Atlas Copco Ias Gmbh Verfahren und Vorrichtung zur Überwachung und/oder Regelung eines Fließloch- und Gewindeformprozesses

Family Cites Families (15)

* Cited by examiner, † Cited by third party
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
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
DE102010006403A1 (de) 2010-02-01 2011-08-04 Audi Ag, 85057 Verfahren zum Überwachen eines Hochgeschwindigkeits-Fügeprozesses
DE102010052396A1 (de) * 2010-11-24 2012-05-24 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern einer Peripheriekomponente eines Robotersystems
CN103765181A (zh) * 2011-09-01 2014-04-30 株式会社安川电机 力传感器和机器人
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

Also Published As

Publication number Publication date
DE102015005759A1 (de) 2015-12-03
WO2016177466A1 (fr) 2016-11-10
CN107530880A (zh) 2018-01-02
US20190210093A1 (en) 2019-07-11
US10730100B2 (en) 2020-08-04

Similar Documents

Publication Publication Date Title
EP3291951A1 (fr) Procédé et dispositif d'assemblage d'au moins deux éléments
DE102009050200B3 (de) Prozessüberwachung zum Hochgeschwindigkeitsfügen
DE102008025074A1 (de) Durchsetzfügeverfahren
EP3022007A1 (fr) Procédé de fabrication d'un noeud par soudage avec la même largeur pour deux soudures
WO2007079950A1 (fr) Procédé pour contrôler une fonction de freinage d'un moteur de robot
DE102005019258A1 (de) Verfahren zur Schraubstellenanalyse und zum streckgrenzengesteuerten Anziehen von Schraubverbindungen unter Einsatz intermittierend arbeitender Schraubwerkzeuge
DE102015213436A1 (de) Verfahren zum Verbinden wenigstens zweier Bauteile mittels einer Stanznietvorrichtung und Fertigungseinrichtung
DE102012025047A1 (de) Überwachungsverfahren für einen Fügeprozess
EP3181260B1 (fr) Identification d'un patinage
DE102005013786B4 (de) Maschinenfähigkeitsuntersuchung in Winkelschritten
DE102018222313A1 (de) Bremssystem für ein autonomes Fahrzeug
EP1875188B1 (fr) Systeme d'etalonnage automatique integre pour controler le bon fonctionnement de visseuses
DE102015213433A1 (de) Verfahren zum Verbinden wenigstens zweier Bauteile mittels einer Stanznietvorrichtung und Fertigungseinrichtung
EP3332886B1 (fr) Procédé et dispositif de surveillance du rivetage avec rivet auto-poinçonneur
DE102018207443A1 (de) Prüfvorrichtung für ein Nietsetzgerät und Verfahren zum Bestimmen wenigstens eines Parameters von Nietsetzgeräten
EP3141317B1 (fr) Riveteuse manuelle et procédé pour sa configuration
DE102012022801B4 (de) Verfahren zur Lenkungsüberwachung und Lenksystem
DE102014018301A1 (de) Fügevorrichtung und Verfahren zum Verbinden wenigstens zweier Bauteile mittels eines Fügeelements
DE102014019211A1 (de) Verfahren und Vorrichtung zum Herstellen einer Fügeverbindung
EP2049957B1 (fr) Procédé destiné à surveiller un procédé de fabrication
DE19930252A1 (de) Verfahren und Einrichtung zum Überwachen der Vollständigkeit eines Zuges
WO2016205846A1 (fr) Procédé de détermination d'une caractéristique d'utilisation d'un outil de moulage par compression d'une presse d'assemblage
DE102016005850A1 (de) Verfahren und Vorrichtung zum Fügen wenigstens zweier Bauteile, insbesondere für ein Kraftfahrzeug
DE102009046832A1 (de) Verfahren zum Betreiben eines Elektrofahrzeugs
DE102007043271B4 (de) Werkzeug zum Anreifen von Enden von Vierkantrohren und Schweißverfahren

Legal Events

Date Code Title Description
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

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