EP3988227B1 - Blind rivet setting device - Google Patents

Blind rivet setting device Download PDF

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Publication number
EP3988227B1
EP3988227B1 EP20203214.0A EP20203214A EP3988227B1 EP 3988227 B1 EP3988227 B1 EP 3988227B1 EP 20203214 A EP20203214 A EP 20203214A EP 3988227 B1 EP3988227 B1 EP 3988227B1
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EP
European Patent Office
Prior art keywords
electric motor
blind rivet
setting
power supply
buffer storage
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EP20203214.0A
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German (de)
French (fr)
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EP3988227A1 (en
Inventor
Uwe Herth
Stefan Petsch
Robert Kölm
Alexander Wenzel
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Gesipa Blindniettechnik GmbH
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Gesipa Blindniettechnik GmbH
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Priority to EP20203214.0A priority Critical patent/EP3988227B1/en
Publication of EP3988227A1 publication Critical patent/EP3988227A1/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
    • B21J15/10—Riveting machines
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor

Definitions

  • the invention relates to a blind rivet connector setting device according to claim 1.
  • EP 2 985 093 A1 which forms the basis for the preamble of claim 1, describes a blind rivet setting device for setting a blind rivet, wherein a control device has a tear-off detection device which generates a mandrel tear-off signal when a mandrel breaks off, and the control device stops driving the pulling mechanism in the pulling direction when the mandrel breaks-off signal occurs .
  • WO 2017/063852A1 describes a method for operating a motor of a power tool and an associated energy supply system and a power tool.
  • the power tool is supplied with electric power by a power supply unit to operate the motor.
  • the power supply unit is configured to provide power up to a certain threshold, above which threshold additional power is provided by a supercapacitor to drive the motor.
  • the supercapacitor is charged by the power supply unit.
  • U.S. 2002/0166221 A1 describes a fastener inserting device and associated method.
  • a motor is controlled in such a way that it Cylinder accelerates to a calculated angular velocity, maintaining the cylinder at the calculated value at least until fastener insertion.
  • the cylinder stores the kinetic energy due to its inertia. Using this inertia to drive fasteners eliminates the need for position or force feedback.
  • the motor can be operated as a generator, with the recovered energy being stored in a capacitor.
  • a multifunction tool is positioned by a robot, the multifunction tool comprising a drilling/sinking arrangement for producing a receiving bore for the blind rivet and a rivet setting arrangement for inserting the blind rivet into the bore.
  • the drilling/sinking arrangement and the rivet setting arrangement are arranged in a displaceable manner on a base body of the multifunction tool.
  • EP 1 127 634 A2 describes a punch riveting system.
  • the system includes a rivet setting assembly, a robot that moves the rivet setting assembly, and a controller.
  • the system also includes a rivet feeder for automatically feeding a self-piercing rivet to the rivet setting assembly.
  • the controller controls the system.
  • U.S. 2018/0183257 A1 describes a power supply for pulse use.
  • the power supply includes a supercapacitor and a power source, with a switch being provided between the supercapacitor and the power source and operable to provide power from the power source to charge the supercapacitor. There is also a second switch between the supercapacitor of the charger which controls whether power is provided from the supercapacitor to the pulser.
  • a blind rivet connector setting device can be designed, for example, as a blind rivet setting device or as a blind rivet nut setting device. If you arrange the setting tool on a handling device, for example on an arm of a robot, then you can automate some operations when setting the blind rivet connector.
  • the power supply to the motor itself is controlled by the controller.
  • the controller controls the motor in one direction to set the blind rivet connector, forming the closing head of the blind rivet connector, or in a different direction to clear the blind rivet connector and allow a new blind rivet connector to be received.
  • the electric motor in the setting tool is connected to the pulling device via a gear mechanism.
  • a relatively small electric motor is preferably used, which is then operated at a high speed. This makes it difficult to accurately control the operation of the setting tool.
  • the invention is based on the object of enabling precise control in the case of a setting tool arranged on a robot arm.
  • An intermediate storage arrangement which has at least one supercapacitor, the control device switching the electric motor between motor operation and generator operation and, in generator operation, electrical energy generated by the electric motor being conducted into the intermediate storage device.
  • the electric motor can operate at a relatively high speed, the speed being several thousand or even several tens of thousands of revolutions per minute. If you want to achieve a quick stop of the electric motor at such high speeds and thus a correspondingly quick end of a movement of the traction device, you can brake the electric motor as a generator. If the braking process takes place very quickly, for example within a maximum of 10 revolutions or preferably within one revolution, then this regenerative braking produces very high currents that cannot be fed back into the power supply unit. The power pack would be damaged if these currents were fed back. For this reason, the electrical energy generated by the motor during generator operation is conducted to the temporary storage device and stored there in the supercapacitor.
  • a supercapacitor also known as a "supercap” or “ultracapacitor” has a relatively high power density. It can be charged very quickly and also discharged very quickly.
  • the electrical energy fed into the supercapacitor by the electric motor in generator mode can be reused in a subsequent setting process, resulting in a favorable energy balance.
  • the supercapacitor is able to withstand relatively large currents in the Order of several 10 A record and also deliver, these currents are higher or at least can be than the maximum currents that can be delivered by the power supply.
  • the electric motor can operate a subsequent setting process with a comparatively high amperage without the power pack having to be designed accordingly.
  • the blind rivet fastener setting device does not work continuously, so that the electric motor does not continuously consume electricity.
  • the power pack can charge the supercapacitor(s), which can then provide a correspondingly high level of electrical power during periods of high power consumption by the electric motor.
  • a supercapacitor preferably has a capacitance of at least 50 F, preferably at least 100 F.
  • Multiple supercapacitors can be coupled to achieve even higher storage capacitances. For example, at least ten supercapacitors are coupled together in the supply arrangement. The exact number of supercapacitors depends on their capacity and the needs of the setting tool.
  • the intermediate storage arrangement is arranged between the power pack and the electric motor.
  • the intermediate storage arrangement is therefore connected both to the power pack and to the electric motor. This means that the temporary storage arrangement can absorb electrical energy from the power pack on the one hand and from the electric motor on the other hand. This keeps the cost of routing the lines between the individual elements low.
  • a blocking device which prevents electrical energy from flowing back from the electric motor to the power pack.
  • the blocking device can be formed by the control device or can be controlled by the control device. You can also simply by a semiconductor device, For example, diodes, be formed, which prevents a backflow of electrical energy from the electric motor to the power supply.
  • the control device preferably connects the electric motor to the intermediate storage device and controls a supply of electrical energy to the intermediate storage device at least during operating pauses of the electric motor.
  • the electric motor of a setting device of a blind rivet connector setting device does not work continuously, but in sections. The electric motor is subject to different loads in individual sections. When setting a blind rivet connector, the electric motor consumes much more power than when the pulling device moves back. When the setting tool picks up a new blind rivet fastener, there are times when the electric motor does not move at all. This uneven energy consumption can be compensated for via the supercapacitor.
  • the supercapacitor can be charged from the power pack with a current that is significantly lower than the maximum current drawn by the electric motor when setting a blind rivet connector. Accordingly, the power pack can be made relatively small, i.e. with a maximum current that is smaller than the maximum current required by the electric motor.
  • the setting tool is arranged on a movable element of the handling device and the power pack is arranged on another element of the handling device.
  • the setting tool can be placed on the outer limb of a movable arm of the handler, such as a robotic arm, and the power pack can be placed on the base or a more inner limb of the arm. This keeps the load that the robot arm has to move on the outside small.
  • the element that carries the setting tool does not have to move the power pack with it.
  • the power pack usually has a relatively large volume and a relatively large mass. Due to the spatial separation of setting tool and power supply, the load on the arm is therefore Handling device kept small. This has a positive effect on the positioning accuracy.
  • the supercapacitor may be located on the same element as the setting tool or on a different element.
  • the supercapacitor is preferably at a maximum distance of 1.5 m from the setting tool. In this way, line losses during the transmission of electrical energy between the supercapacitor and the electric motor are kept small.
  • the temporary storage device and the power supply unit are preferably designed as a structural unit. This keeps line paths between the power pack and the intermediate storage device small.
  • the temporary storage device is designed separately from the power pack. This increases design flexibility.
  • a first electrical connection between the power pack and the intermediate storage device preferably has a smaller line cross-section than a second electrical connection between the intermediate storage device and the electric motor.
  • the second electrical connection is designed for currents of up to 100 A, for example, while the first electrical connection only has to be designed for currents of up to 50 A. As a result, costs for the blind rivet connector setting device are kept low.
  • the only figure shows a highly schematic blind rivet connector setting device 1, which is designed in the present case for setting blind rivet nuts.
  • the blind rivet connector setting device has a setting device 2 which has a pulling device 3 which is driven by an electric motor 4 .
  • the electric motor 4 is controlled by a control device 5 .
  • the setting tool 2 is arranged on an arm 6 or a movable element or link of the arm of a handling device 7, for example a robot.
  • the setting tool 2 can therefore be moved into different positions.
  • the arm may have multiple elements or limbs.
  • the setting tool 2 is preferably arranged on an outer element of the arm 6 .
  • the electric motor is connected to an electrical supply arrangement 8 .
  • the electrical supply arrangement has a power pack 9 .
  • the electrical supply device 8 has an intermediate storage arrangement 10 .
  • the temporary storage arrangement 10 can be designed as a structural unit with the power supply unit 9 . However, it is also possible to separate the intermediate storage arrangement 10 from the power pack.
  • the intermediate storage arrangement has at least one supercapacitor 11 .
  • the intermediate storage arrangement 10 preferably has at least ten supercapacitors 11 which are connected to one another in order to achieve a higher capacitance than a single supercapacitor 11 .
  • the number of supercapacitors depends on their capacity and on the power requirement of the setting tool 2.
  • a blocking device 12 is provided, which prevents electrical energy from the electric motor 4 returning to the power pack 9.
  • the blocking device 12 is preferably designed as a semiconductor component, in particular as a diode or a diode arrangement.
  • the intermediate storage arrangement 10 is arranged between the power pack 9 and the electric motor 5 .
  • the power pack 9 is connected to the intermediate storage device 10 via a first electrical connection 13 .
  • the intermediate storage device 10 is connected to the electric motor via a second electrical connection 14 , the connection being made via the control device 5 in the present case.
  • the connection can also be direct and controlled by the control device 5 .
  • the first electrical connection 13 has a smaller line cross-section than the second electrical connection 14.
  • the first electrical connection 13 can be provided for a current of 50 A, for example, while the second electrical connection 14 is designed for a current of 100 A.
  • the control device 5 controls the electric motor 4.
  • the control device 5 can control the electric motor 4, for example, so that it rotates in one direction in order to set a blind rivet connector and form a closing head on the blind rivet connector.
  • the control device 5 can also control the electric motor 4 so that it rotates in the opposite direction, for example to move the pulling device 3 back into a starting position in which it can receive a blind rivet connector or to unscrew the pulling device of a blind rivet nut.
  • These two types of control correspond to operation of the electric motor 4 with a high power consumption, with the setting process having a higher power consumption than the spindle-boring process.
  • the electrical power provided by the power supply unit 9 could still be sufficient during spindle removal.
  • the control device 5 controls the electric motor 4 in such a way that it requires little or no electrical power.
  • the supercapacitor 11 can be charged between the individual setting processes. In certain circumstances the supercapacitor 11 can also be charged when the electric motor 4 unscrews the nut.
  • the electric motor 4 can be operated at a relatively high speed, for example 20,000 rpm.
  • the control device 5 is also responsible for ending the drive of the motor, for example at the end of a setting process when the necessary setting force has been applied or the necessary setting stroke has been completed.
  • a high degree of positioning accuracy is also desired when the pulling device 3 moves in the opposite direction. This requires that the electric motor 4 must be stopped within a few revolutions, in the extreme case within one revolution. This can be brought about by the control device 5 switching over the electric motor 4 from motor operation to generator operation. In generator operation, the kinetic energy of the electric motor is converted into electrical energy. This electrical energy is now stored in the temporary storage arrangement 10, more precisely in the supercapacitor(s) 11.
  • the blocking device 12 prevents this electrical energy from being able to flow back into the power supply unit 9 in any case.
  • the electric motor 4 can certainly generate currents of the order of several 10 A, which, however, only flow for a relatively short period of time and can also be absorbed by the supercapacitor 11 without any problems during this period.
  • the second electrical connection 14 has a maximum length of 1.5 m. Accordingly, the supercapacitor 11 is at a maximum distance of 1.5 m from the setting tool 2 .
  • the electric motor 4 When setting a blind rivet connector, for example a blind rivet nut, the electric motor 4 requires a relatively large amount of current, for example up to 100 A. At least part of this current is now used by the intermediate storage device 10 provided. For this purpose, it can be provided that the power pack 9 continuously supplies the temporary storage device 10 with electrical energy, ie continuously charges the supercapacitor 11 . In contrast, the operation of the electric motor 4 is discontinuous. Between the setting of individual blind rivet fasteners there are always pauses in which the electric motor 4 does not require any electrical energy.
  • the power pack 9 can be dimensioned smaller than would otherwise be necessary for the operation of the setting tool 2 .
  • the supply device 8 is arranged on the handling device 7, ie it is stationary. It can also be at a certain distance from the handling device 7 . In the present exemplary embodiment, however, it is not arranged on the arm 6 of the handling device 7, so that the arm 6 does not have to move the mass of the intermediate storage device 10 with it.
  • the arm 6 of the handling device 7 usually has several elements that can be moved relative to one another.
  • the setting tool 2 is arranged on an outer element.
  • the power supply unit 9 is due to its relative high mass is not arranged on the same element of the arm 6 as the setting tool 2.
  • control device 5 is shown in such a way that it is arranged between the electrical supply arrangement 8 and the electric motor 4 .
  • the control device 5 can also be arranged outside of this connection and can activate the electric motor 4 and control the flow of electrical energy between the electric motor 4 and the supercapacitor 11 in a different way.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Portable Nailing Machines And Staplers (AREA)

Description

Die Erfindung betrifft eine Blindnietverbinder-Setzeinrichtung gemäß Anspruch 1.The invention relates to a blind rivet connector setting device according to claim 1.

EP 2 985 093 A1 , welche die Basis für den Oberbegriff des Anspruchs 1 bildet, beschreibt ein Blindnietsetzgerät zum Setzen eines Blindniets wobei eine Steuereinrichtung eine Abrisserkennungseinrichtung aufweist, die bei einem Abriss eines Zugdorns ein Dornabrisssignal erzeugt, und die Steuereinrichtung bei Auftreten des Dornabrisssignals den Antrieb des Zugmechanismus in Zugrichtung beendet. EP 2 985 093 A1 , which forms the basis for the preamble of claim 1, describes a blind rivet setting device for setting a blind rivet, wherein a control device has a tear-off detection device which generates a mandrel tear-off signal when a mandrel breaks off, and the control device stops driving the pulling mechanism in the pulling direction when the mandrel breaks-off signal occurs .

WO 2017/063852A1 beschreibt ein Verfahren zum Betreiben eines Motors eines Elektrowerkzeuges, sowie ein dazugehöriges Energiebereitstellungssystem und ein Elektrowerkzeug. Das Elektrowerkzeug wird durch eine Energieversorgungseinheit mit elektrischer Energie versorgt, um den Motor zu betreiben. Die Energieversorgungseinheit ist dazu ausgestaltet, Energie bis zu einer gewissen Schwelle bereitzustellen, wobei oberhalb dieser Schwelle eine zusätzliche Leistung von einem Superkondensator bereitgestellt wird, um den Motor anzutreiben. Der Superkondensator wird durch die Energieversorgungseinheit geladen. US 2002/0166221 A1 beschreibt eine Befestigungsmitteleinsatzvorrichtung und ein dazu gehöriges Verfahren. Dabei wird ein Motor so gesteuert, dass er einen Zylinder auf eine berechnete Winkelgeschwindigkeit beschleunigt, wobei der Zylinder mindestens bis zum Einsetzen des Befestigungselementes auf dem berechneten Wert gehalten wird. Der Zylinder speichert die kinetische Energie aufgrund seiner Trägheit. Durch die Nutzung dieser Trägheit zum Einsetzen von Befestigungselementen entfällt die Notwendigkeit einer Positions- oder Kraftrückführung. Weiterhin kann der Motor generatorisch betrieben werden, wobei die rückgewonnene Energie in einem Kondensator gespeichert werden kann. WO 2017/063852A1 describes a method for operating a motor of a power tool and an associated energy supply system and a power tool. The power tool is supplied with electric power by a power supply unit to operate the motor. The power supply unit is configured to provide power up to a certain threshold, above which threshold additional power is provided by a supercapacitor to drive the motor. The supercapacitor is charged by the power supply unit. U.S. 2002/0166221 A1 describes a fastener inserting device and associated method. A motor is controlled in such a way that it Cylinder accelerates to a calculated angular velocity, maintaining the cylinder at the calculated value at least until fastener insertion. The cylinder stores the kinetic energy due to its inertia. Using this inertia to drive fasteners eliminates the need for position or force feedback. Furthermore, the motor can be operated as a generator, with the recovered energy being stored in a capacitor.

DE 10 2004 006 407 A1 beschreibt eine Vorrichtung zum automatisierten Setzen eines Blindniets. Dazu wird ein Multifunktionswerkzeug durch einen Roboter positioniert, wobei das Multifunktionswerkzeug eine Bohr-/Senkanordnung zum Herstellen einer Aufnahmebohrung für den Blindniet sowie eine Nietsetzanordnung zum Einsetzen des Blindniets in die Bohrung umfasst. Dabei ist die Bohr-/Senkanordnung und die Nietsetzanordnung verschiebbar auf einem Grundkörper des Multifunktionswerkzeugs angeordnet. DE 10 2004 006 407 A1 describes a device for the automated setting of a blind rivet. For this purpose, a multifunction tool is positioned by a robot, the multifunction tool comprising a drilling/sinking arrangement for producing a receiving bore for the blind rivet and a rivet setting arrangement for inserting the blind rivet into the bore. In this case, the drilling/sinking arrangement and the rivet setting arrangement are arranged in a displaceable manner on a base body of the multifunction tool.

EP 1 127 634 A2 beschreibt ein Stanznietsystem. Das System umfasst eine Nietsetzanordnung, einen Roboter, der die Nietsetzanordnung bewegt und eine Steuerung. Außerdem umfasst das System eine Nietzuführeinrichtung zum automatischen Zuführen eines Stanznietes zu der Nietsetzanordnung. Die Steuerung steuert das System. EP 1 127 634 A2 describes a punch riveting system. The system includes a rivet setting assembly, a robot that moves the rivet setting assembly, and a controller. The system also includes a rivet feeder for automatically feeding a self-piercing rivet to the rivet setting assembly. The controller controls the system.

US 2018/0183257 A1 beschreibt eine Energieversorgung für eine Impulsverwendung. Dabei umfasst die Energieversorgung einen Superkondensator und eine Stromquelle, wobei zwischen dem Superkondensator und der Stromquelle ein Schalter vorgesehen ist, der so betreibbar ist, dass Strom von der Stromquelle bereitgestellt wird, um den Superkondensator zu laden. Weiterhin ist ein zweiter Schalter zwischen dem Superkondensator der Ladevorrichtung vorgesehen, der steuert, ob Strom vom Superkondensator zur Impulsvorrichtung bereitgestellt wird. U.S. 2018/0183257 A1 describes a power supply for pulse use. The power supply includes a supercapacitor and a power source, with a switch being provided between the supercapacitor and the power source and operable to provide power from the power source to charge the supercapacitor. There is also a second switch between the supercapacitor of the charger which controls whether power is provided from the supercapacitor to the pulser.

Eine Blindnietverbinder-Setzeinrichtung kann beispielsweise als Blindniet-Setzeinrichtung oder als Blindnietmutter-Setzeinrichtung ausgebildet sein. Wenn man das Setzgerät an einer Handhabungseinrichtung anordnet, beispielsweise an einem Arm eines Roboters, dann kann man einige Vorgänge beim Setzen der Blindnietverbinder automatisieren.A blind rivet connector setting device can be designed, for example, as a blind rivet setting device or as a blind rivet nut setting device. If you arrange the setting tool on a handling device, for example on an arm of a robot, then you can automate some operations when setting the blind rivet connector.

Um eine möglichst lange Betriebsdauer zu ermöglichen, benötigt man ein Netzteil, das die zum Betrieb des Elektromotors notwendige elektrische Energie über einen längeren Zeitraum zur Verfügung stellt. Die Energiezufuhr zum Motor selbst wird durch die Steuereinrichtung gesteuert. Die Steuereinrichtung steuert den Motor beispielsweise in eine Richtung, um den Blindnietverbinder zu setzen und dabei den Schließkopf des Blindnietverbinders auszubilden, oder in eine andere Richtung, um vom Blindnietverbinder frei zu kommen und die Aufnahme eines neuen Blindnietverbinders zu ermöglichen.In order to enable the longest possible service life, you need a power pack that provides the electrical energy required to operate the electric motor over a longer period of time. The power supply to the motor itself is controlled by the controller. For example, the controller controls the motor in one direction to set the blind rivet connector, forming the closing head of the blind rivet connector, or in a different direction to clear the blind rivet connector and allow a new blind rivet connector to be received.

Der Elektromotor im Setzgerät ist über eine Getriebeeinrichtung mit der Zugeinrichtung verbunden. Um die Masse des Setzgeräts kleinzuhalten, verwendet man vorzugsweise einen relativ kleinen Elektromotor, der dann mit einer hohen Drehzahl betrieben wird. Dies erschwert eine genaue Steuerung des Betriebs des Setzgeräts.The electric motor in the setting tool is connected to the pulling device via a gear mechanism. In order to keep the mass of the setting tool small, a relatively small electric motor is preferably used, which is then operated at a high speed. This makes it difficult to accurately control the operation of the setting tool.

Der Erfindung liegt die Aufgabe zugrunde, eine genaue Steuerung bei einem an einem Roboterarm angeordneten Setzgerät zu ermöglichen.The invention is based on the object of enabling precise control in the case of a setting tool arranged on a robot arm.

Diese Aufgabe wird durch die Merkmale des Anspruchs 1 gelöst. Dabei ist eine Zwischenspeicheranordnung vorgesehen, die mindestens einen Superkondensator aufweist, wobei die Steuereinrichtung den Elektromotor zwischen einem motorischen Betrieb und einem generatorischen Betrieb umschaltet und im generatorischen Betrieb elektrische Energie, die vom Elektromotor erzeugt wird, in die Zwischenspeichereinrichtung leitet.This object is solved by the features of claim 1. An intermediate storage arrangement is provided which has at least one supercapacitor, the control device switching the electric motor between motor operation and generator operation and, in generator operation, electrical energy generated by the electric motor being conducted into the intermediate storage device.

Der Elektromotor kann bei einer derartigen Ausgestaltung mit einer relativ hohen Drehzahl arbeiten, wobei die Drehzahl mehrere Tausend oder sogar mehrere zehntausend Umdrehungen pro Minute beträgt. Wenn man bei derartig hohen Drehzahlen ein rasches Anhalten des Elektromotors und damit ein entsprechend rasches Ende einer Bewegung der Zugeinrichtung erreichen möchte, kann man den Elektromotor generatorisch bremsen. Wenn der Bremsvorgang sehr schnell erfolgt, also beispielsweise innerhalb von maximal 10 Umdrehungen oder vorzugsweise innerhalb einer Umdrehung, dann entstehen bei diesem generatorischen Bremsen sehr hohe Ströme, die nicht in das Netzteil zurückgespeist werden können. Das Netzteil würde beim Rückspeisen dieser Ströme beschädigt werden. Aus diesem Grund wird die elektrische Energie, die im generatorischen Betrieb vom Motor erzeugt wird, in die Zwischenspeichereinrichtung geleitet und dort in dem Superkondensator gespeichert. Ein Superkondensator, der auch als "Supercap" oder "Ultrakondensator" bezeichnet wird, weist eine relativ hohe Leistungsdichte auf. Er kann sehr schnell geladen und auch sehr schnell entladen werden. Die vom Elektromotor im generatorischen Betrieb in den Superkondensator geleitete elektrische Energie kann bei einem nachfolgenden Setzvorgang wiederverwendet werden, so dass sich eine günstige Energiebilanz ergibt. Der Superkondensator ist in der Lage, relativ große Ströme in der Größenordnung von mehreren 10 A aufzunehmen und auch abzugeben, wobei diese Ströme höher sind oder zumindest sein können als die maximalen Ströme, die vom Netzteil abgegeben werden können. Der Elektromotor kann dabei einen nachfolgenden Setzvorgang mit einer vergleichsweise hohen Stromstärke betreiben, ohne dass das Netzteil entsprechend ausgebildet sein muss. Die Blindnietverbinder-Setzeinrichtung arbeitet nicht kontinuierlich, so dass der Elektromotor nicht kontinuierlich Strom verbraucht. Es gibt also Zeiten, in denen der Elektromotor eine hohe Leistungsaufnahme hat, und Zeiten, in denen der Elektromotor keine oder nur eine sehr geringe Leistungsaufnahme hat. In den letztgenannten Zeiten kann das Netzteil den oder die Superkondensatoren aufladen, die dann in den Zeiten hoher Leistungsaufnahme des Elektromotors eine entsprechend hohe elektrische Leistung zur Verfügung stellen können. Ein Superkondensator hat vorzugsweise eine Kapazität von mindestens 50 F, bevorzugt von mindestens 100 F. Mehrere Superkondensatoren können gekoppelt werden, um noch höhere Speicherkapazitäten zu erreichen. Beispielsweise sind mindestens zehn Superkondensatoren in der Versorgungsanordnung miteinander gekoppelt. Die genaue Anzahl der Superkondensatoren richtet sich nach ihrer Kapazität und dem Bedarf des Setzgeräts.In such a configuration, the electric motor can operate at a relatively high speed, the speed being several thousand or even several tens of thousands of revolutions per minute. If you want to achieve a quick stop of the electric motor at such high speeds and thus a correspondingly quick end of a movement of the traction device, you can brake the electric motor as a generator. If the braking process takes place very quickly, for example within a maximum of 10 revolutions or preferably within one revolution, then this regenerative braking produces very high currents that cannot be fed back into the power supply unit. The power pack would be damaged if these currents were fed back. For this reason, the electrical energy generated by the motor during generator operation is conducted to the temporary storage device and stored there in the supercapacitor. A supercapacitor, also known as a "supercap" or "ultracapacitor", has a relatively high power density. It can be charged very quickly and also discharged very quickly. The electrical energy fed into the supercapacitor by the electric motor in generator mode can be reused in a subsequent setting process, resulting in a favorable energy balance. The supercapacitor is able to withstand relatively large currents in the Order of several 10 A record and also deliver, these currents are higher or at least can be than the maximum currents that can be delivered by the power supply. The electric motor can operate a subsequent setting process with a comparatively high amperage without the power pack having to be designed accordingly. The blind rivet fastener setting device does not work continuously, so that the electric motor does not continuously consume electricity. So there are times when the electric motor has a high power consumption and times when the electric motor has no power consumption or only a very low power consumption. During the latter times, the power pack can charge the supercapacitor(s), which can then provide a correspondingly high level of electrical power during periods of high power consumption by the electric motor. A supercapacitor preferably has a capacitance of at least 50 F, preferably at least 100 F. Multiple supercapacitors can be coupled to achieve even higher storage capacitances. For example, at least ten supercapacitors are coupled together in the supply arrangement. The exact number of supercapacitors depends on their capacity and the needs of the setting tool.

Die Zwischenspeicheranordnung ist zwischen dem Netzteil und dem Elektromotor angeordnet. Die Zwischenspeicheranordnung ist also sowohl mit dem Netzteil als auch mit dem Elektromotor verbunden. Dies bedeutet, dass die Zwischenspeicheranordnung elektrische Energie einerseits vom Netzteil und andererseits vom Elektromotor aufnehmen kann. Dies hält den Aufwand für eine Leitungsführung zwischen den einzelnen Elementen gering.The intermediate storage arrangement is arranged between the power pack and the electric motor. The intermediate storage arrangement is therefore connected both to the power pack and to the electric motor. This means that the temporary storage arrangement can absorb electrical energy from the power pack on the one hand and from the electric motor on the other hand. This keeps the cost of routing the lines between the individual elements low.

Eine Sperreinrichtung ist vorgesehen, die einen Rückfluss von elektrischer Energie vom Elektromotor zum Netzteil verhindert. Die Sperreinrichtung kann durch die Steuereinrichtung gebildet sein oder von der Steuereinrichtung gesteuert werden. Sie kann auch einfach durch eine Halbleiteranordnung, beispielsweise Dioden, gebildet sein, die einen Rückfluss von elektrischer Energie vom Elektromotor zum Netzteil verhindert.A blocking device is provided, which prevents electrical energy from flowing back from the electric motor to the power pack. The blocking device can be formed by the control device or can be controlled by the control device. You can also simply by a semiconductor device, For example, diodes, be formed, which prevents a backflow of electrical energy from the electric motor to the power supply.

Vorzugsweise verbindet die Steuereinrichtung im motorischen Betrieb den Elektromotor mit der Zwischenspeichereinrichtung und steuert zumindest in Betriebspausen des Elektromotors eine Zufuhr von elektrischer Energie zur Zwischenspeichereinrichtung. Der Elektromotor eines Setzgeräts einer Blindnietverbinder-Setzeinrichtung arbeitet nicht kontinuierlich, sondern abschnittsweise. In einzelnen Abschnitten ist der Elektromotor unterschiedlich stark belastet. So hat der Elektromotor beim Setzen eines Blindnietverbinders eine wesentlich größere Stromaufnahme als bei der Rückbewegung der Zugeinrichtung. Wenn das Setzgerät einen neuen Blindnietverbinder aufnimmt, gibt es Zeiten, in denen sich der Elektromotor überhaupt nicht bewegt. Diesen ungleichmäßigen Energieverbrauch kann man über den Superkondensator ausgleichen. Der Superkondensator kann vom Netzteil mit einem Strom geladen werden, der deutlich kleiner ist als der maximale Strom, der vom Elektromotor beim Setzen eines Blindnietverbinders aufgenommen wird. Dementsprechend kann das Netzteil relativ klein ausgebildet werden, d.h. mit einer maximalen Stromstärke, die kleiner ist als die maximale Stromstärke, die der Elektromotor benötigt.During motor operation, the control device preferably connects the electric motor to the intermediate storage device and controls a supply of electrical energy to the intermediate storage device at least during operating pauses of the electric motor. The electric motor of a setting device of a blind rivet connector setting device does not work continuously, but in sections. The electric motor is subject to different loads in individual sections. When setting a blind rivet connector, the electric motor consumes much more power than when the pulling device moves back. When the setting tool picks up a new blind rivet fastener, there are times when the electric motor does not move at all. This uneven energy consumption can be compensated for via the supercapacitor. The supercapacitor can be charged from the power pack with a current that is significantly lower than the maximum current drawn by the electric motor when setting a blind rivet connector. Accordingly, the power pack can be made relatively small, i.e. with a maximum current that is smaller than the maximum current required by the electric motor.

Das Setzgerät ist an einem beweglichen Element der Handhabungseinrichtung angeordnet und das Netzteil ist an einem anderen Element der Handhabungseinrichtung angeordnet. Man kann das Setzgerät beispielsweise am äußeren Glied eines beweglichen Arms der Handhabungseinrichtung, beispielsweise einem Roboterarm, anordnen und das Netzteil an der Basis oder einem weiter innen liegenden Glied des Arms anordnen. Damit wird die Last, die der Roboterarm außen bewegen muss, kleinhalten. Das Element, das das Setzgerät trägt, muss das Netzteil nicht mitbewegen. Das Netzteil hat in der Regel ein relativ großes Volumen und eine relativ große Masse. Durch die räumliche Trennung von Setzgerät und Netzteil wird daher die Belastung des Arms der Handhabungseinrichtung kleingehalten. Dies wirkt sich positiv auf die Positioniergenauigkeit aus. Der Superkondensator kann am gleichen Element wie das Setzgerät oder an einem anderen Element angeordnet sein.The setting tool is arranged on a movable element of the handling device and the power pack is arranged on another element of the handling device. For example, the setting tool can be placed on the outer limb of a movable arm of the handler, such as a robotic arm, and the power pack can be placed on the base or a more inner limb of the arm. This keeps the load that the robot arm has to move on the outside small. The element that carries the setting tool does not have to move the power pack with it. The power pack usually has a relatively large volume and a relatively large mass. Due to the spatial separation of setting tool and power supply, the load on the arm is therefore Handling device kept small. This has a positive effect on the positioning accuracy. The supercapacitor may be located on the same element as the setting tool or on a different element.

Vorzugsweise weist der Superkondensator eine Entfernung von maximal 1,5 m zum Setzgerät auf. Damit werden Leitungsverluste bei der Übertragung von elektrischer Energie zwischen Superkondensator und Elektromotor kleingehalten.The supercapacitor is preferably at a maximum distance of 1.5 m from the setting tool. In this way, line losses during the transmission of electrical energy between the supercapacitor and the electric motor are kept small.

Vorzugsweise sind die Zwischenspeichereinrichtung und das Netzteil als Baueinheit ausgebildet. Dies hält Leitungswege zwischen dem Netzteil und der Zwischenspeichereinrichtung klein.The temporary storage device and the power supply unit are preferably designed as a structural unit. This keeps line paths between the power pack and the intermediate storage device small.

Alternativ ist die Zwischenspeichereinrichtung vom Netzteil getrennt ausgebildet. Dies erhöht die Flexibilität bei der Konstruktion.Alternatively, the temporary storage device is designed separately from the power pack. This increases design flexibility.

Vorzugsweise weist eine erste elektrische Verbindung zwischen dem Netzteil und der Zwischenspeichereinrichtung einen kleineren Leitungsquerschnitt auf als eine zweite elektrische Verbindung zwischen der Zwischenspeichereinrichtung und dem Elektromotor. Die zweite elektrische Verbindung ist beispielsweise für Ströme bis zu 100 A ausgelegt, während die erste elektrische Verbindung nur für Ströme bis 50 A ausgelegt sein muss. Dadurch werden Kosten für die Blindnietverbinder-Setzeinrichtung kleingehalten.A first electrical connection between the power pack and the intermediate storage device preferably has a smaller line cross-section than a second electrical connection between the intermediate storage device and the electric motor. The second electrical connection is designed for currents of up to 100 A, for example, while the first electrical connection only has to be designed for currents of up to 50 A. As a result, costs for the blind rivet connector setting device are kept low.

Die Erfindung wird im Folgenden anhand eines bevorzugten Ausführungsbeispiels in Verbindung mit der Zeichnung beschrieben. Hierin zeigt
die einzige Fig.: eine schematische Darstellung einer Blindnietverbinder-Setzeinrichtung.The invention is described below using a preferred exemplary embodiment in conjunction with the drawing. Herein shows
the only figure: a schematic representation of a blind rivet connector setting device.

Die einzige Figur zeigt stark schematisiert eine Blindnietverbinder-Setzeinrichtung 1, die im vorliegenden Fall zum Setzen von Blindnietmuttern ausgebildet ist.The only figure shows a highly schematic blind rivet connector setting device 1, which is designed in the present case for setting blind rivet nuts.

Die Blindnietverbinder-Setzeinrichtung weist ein Setzgerät 2 auf, das eine Zugeinrichtung 3 aufweist, die von einem Elektromotor 4 angetrieben wird. Der Elektromotor 4 ist von einer Steuereinrichtung 5 gesteuert.The blind rivet connector setting device has a setting device 2 which has a pulling device 3 which is driven by an electric motor 4 . The electric motor 4 is controlled by a control device 5 .

Das Setzgerät 2 ist an einem Arm 6 oder einem beweglichen Element oder Glied des Arms einer Handhabungseinrichtung 7, beispielsweise einem Roboter, angeordnet. Das Setzgerät 2 kann also in verschiedene Positionen bewegt werden. Der Arm kann mehrere Elemente oder Glieder aufweisen. Das Setzgerät 2 ist bevorzugterweise an einem äußeren Element des Arms 6 angeordnet.The setting tool 2 is arranged on an arm 6 or a movable element or link of the arm of a handling device 7, for example a robot. The setting tool 2 can therefore be moved into different positions. The arm may have multiple elements or limbs. The setting tool 2 is preferably arranged on an outer element of the arm 6 .

Der Elektromotor ist mit einer elektrischen Versorgungsanordnung 8 verbunden. Die elektrische Versorgungsanordnung weist ein Netzteil 9 auf. Weiterhin weist die elektrische Versorgungseinrichtung 8 eine Zwischenspeicheranordnung 10 auf. Die Zwischenspeicheranordnung 10 kann als Baueinheit mit dem Netzteil 9 ausgebildet sein. Es ist aber auch möglich, die Zwischenspeicheranordnung 10 vom Netzteil zu trennen.The electric motor is connected to an electrical supply arrangement 8 . The electrical supply arrangement has a power pack 9 . Furthermore, the electrical supply device 8 has an intermediate storage arrangement 10 . The temporary storage arrangement 10 can be designed as a structural unit with the power supply unit 9 . However, it is also possible to separate the intermediate storage arrangement 10 from the power pack.

Die Zwischenspeicheranordnung weist mindestens einen Superkondensator 11 auf. Bevorzugterweise weist die zwischen Speicheranordnung 10 mindestens zehn Superkondensatoren 11 auf, die miteinander verschaltet sind, um eine höhere Kapazität als ein einzelner Superkondensatoren 11 zu erzielen. Die Anzahl der Superkondensatoren richtet sich nach ihrer Kapazität und nach dem Leistungsbedarf des Setzgeräts 2. Weiterhin ist eine Sperreinrichtung 12 vorgesehen, die verhindert, dass elektrische Energie vom Elektromotor 4 zurück zum Netzteil 9 gelangt. Die Sperreinrichtung 12 ist bevorzugt als ein Halbleiterbauteil, insbesondere als eine Diode oder eine Diodenanordnung ausgebildet.The intermediate storage arrangement has at least one supercapacitor 11 . The intermediate storage arrangement 10 preferably has at least ten supercapacitors 11 which are connected to one another in order to achieve a higher capacitance than a single supercapacitor 11 . The number of supercapacitors depends on their capacity and on the power requirement of the setting tool 2. Furthermore, a blocking device 12 is provided, which prevents electrical energy from the electric motor 4 returning to the power pack 9. The blocking device 12 is preferably designed as a semiconductor component, in particular as a diode or a diode arrangement.

Die Zwischenspeicheranordnung 10 ist zwischen dem Netzteil 9 und dem Elektromotor 5 angeordnet.The intermediate storage arrangement 10 is arranged between the power pack 9 and the electric motor 5 .

Das Netzteil 9 ist über eine erste elektrische Verbindung 13 mit der Zwischenspeichereinrichtung 10 verbunden. Die Zwischenspeichereinrichtung 10 ist über eine zweite elektrische Verbindung 14 mit dem Elektromotor verbunden, wobei im vorliegenden Fall die Verbindung über die Steuereinrichtung 5 erfolgt. Die Verbindung kann auch direkt erfolgen und von der Steuereinrichtung 5 gesteuert sein. Die erste elektrische Verbindung 13 weist einen kleineren Leitungsquerschnitt auf als die zweite elektrische Verbindung 14. Die erste elektrische Verbindung 13 kann beispielsweise für eine Stromstärke von 50 A vorgesehen sein, während die zweite elektrische Verbindung 14 für eine Stromstärke von 100 A ausgelegt ist.The power pack 9 is connected to the intermediate storage device 10 via a first electrical connection 13 . The intermediate storage device 10 is connected to the electric motor via a second electrical connection 14 , the connection being made via the control device 5 in the present case. The connection can also be direct and controlled by the control device 5 . The first electrical connection 13 has a smaller line cross-section than the second electrical connection 14. The first electrical connection 13 can be provided for a current of 50 A, for example, while the second electrical connection 14 is designed for a current of 100 A.

Die Steuereinrichtung 5 steuert den Elektromotor 4. Die Steuereinrichtung 5 kann den Elektromotor 4 beispielsweise so ansteuern, dass er sich in eine Richtung dreht, um einen Blindnietverbinder zu setzen und einen Schließkopf am Blindnietverbinder auszubilden. Die Steuereinrichtung 5 kann den Elektromotor 4 auch so ansteuern, dass er sich in die entgegengesetzte Richtung dreht, beispielsweise um die Zugeinrichtung 3 wieder in eine Ausgangsposition zu bewegen, in der sie einen Blindnietverbinder aufnehmen kann oder um die Zugeinrichtung einer Blindnietmutter auszuspindeln. Diese beiden Arten der Ansteuerung entsprechen einem Betrieb des Elektromotors 4 mit einer hohen Leistungsaufnahme, wobei der Setzvorgang eine höhere Leistungsaufnahme als der Vorgang des Ausspindelns hat. Beim Ausspindeln könnte die vom Netzteil 9 bereitgestellte elektrische Leistung noch ausreichen. Zwischen einzelnen Setzvorgängen steuert die Steuereinrichtung 5 den Elektromotor 4 so an, dass er keine oder nur wenig elektrische Leistung benötigt. Zwischen den einzelnen Setzvorgängen kann der Superkondensatoren 11 geladen werden. Unter Umständen kann der Superkondensator 11 auch geladen werden, wenn der Elektromotor 4 die Mutter ausspindelt.The control device 5 controls the electric motor 4. The control device 5 can control the electric motor 4, for example, so that it rotates in one direction in order to set a blind rivet connector and form a closing head on the blind rivet connector. The control device 5 can also control the electric motor 4 so that it rotates in the opposite direction, for example to move the pulling device 3 back into a starting position in which it can receive a blind rivet connector or to unscrew the pulling device of a blind rivet nut. These two types of control correspond to operation of the electric motor 4 with a high power consumption, with the setting process having a higher power consumption than the spindle-boring process. The electrical power provided by the power supply unit 9 could still be sufficient during spindle removal. Between individual setting processes, the control device 5 controls the electric motor 4 in such a way that it requires little or no electrical power. The supercapacitor 11 can be charged between the individual setting processes. In certain circumstances the supercapacitor 11 can also be charged when the electric motor 4 unscrews the nut.

Der Elektromotor 4 kann mit einer relativ hohen Drehzahl betrieben werden, beispielsweise 20.000 U/min. Die Steuereinrichtung 5 ist auch dafür verantwortlich, den Antrieb des Motors zu beenden, beispielsweise am Ende eines Setzvorgangs, wenn die notwendige Setzkraft aufgebracht oder der notwendige Setzhub zurückgelegt worden ist. Auch bei einer Bewegung der Zugeinrichtung 3 in die entgegengesetzte Richtung ist eine hohe Positioniergenauigkeit gewünscht. Dies erfordert, dass der Elektromotor 4 innerhalb von wenigen Umdrehungen, im Extremfall innerhalb von einer Umdrehung, angehalten werden muss. Dies kann dadurch bewirkt werden, dass die Steuereinrichtung 5 den Elektromotor 4 von einem motorischen Betrieb in einen generatorischen Betrieb umschaltet. Im generatorischen Betrieb wird die kinetische Energie des Elektromotors in elektrische Energie umgewandelt. Diese elektrische Energie wird nun in der Zwischenspeicheranordnung 10 gespeichert, genauer gesagt in dem oder den Superkondensatoren 11. Die Sperreinrichtung 12 verhindert auf jeden Fall, dass diese elektrische Energie wieder in das Netzteil 9 zurückfließen kann. Im generatorischen Betrieb kann der Elektromotor 4 durchaus Ströme in der Größenordnung von mehreren 10 A erzeugen, die allerdings nur für einen relativ kurzen Zeitraum fließen und in diesem Zeitraum auch problemlos von dem Superkondensator 11 aufgenommen werden können.The electric motor 4 can be operated at a relatively high speed, for example 20,000 rpm. The control device 5 is also responsible for ending the drive of the motor, for example at the end of a setting process when the necessary setting force has been applied or the necessary setting stroke has been completed. A high degree of positioning accuracy is also desired when the pulling device 3 moves in the opposite direction. This requires that the electric motor 4 must be stopped within a few revolutions, in the extreme case within one revolution. This can be brought about by the control device 5 switching over the electric motor 4 from motor operation to generator operation. In generator operation, the kinetic energy of the electric motor is converted into electrical energy. This electrical energy is now stored in the temporary storage arrangement 10, more precisely in the supercapacitor(s) 11. The blocking device 12 prevents this electrical energy from being able to flow back into the power supply unit 9 in any case. In generator operation, the electric motor 4 can certainly generate currents of the order of several 10 A, which, however, only flow for a relatively short period of time and can also be absorbed by the supercapacitor 11 without any problems during this period.

Die zweite elektrische Verbindung 14 weist eine Länge von maximal 1,5 m auf. Dementsprechend weist der Superkondensator 11 eine Entfernung von maximal 1,5 m zum Setzgerät 2 auf.The second electrical connection 14 has a maximum length of 1.5 m. Accordingly, the supercapacitor 11 is at a maximum distance of 1.5 m from the setting tool 2 .

Beim Setzen eines Blindnietverbinders, beispielsweise einer Blindnietmutter, benötigt der Elektromotor 4 relativ viel Strom, beispielsweise bis zu 100 A. Zumindest ein Teil dieses Stroms wird nun von der Zwischenspeichereinrichtung 10 bereitgestellt. Hierzu kann man vorsehen, dass das Netzteil 9 die Zwischenspeichereinrichtung 10 kontinuierlich mit elektrischer Energie versorgt, also den Superkondensator 11 kontinuierlich lädt. Der Betrieb des Elektromotors 4 ist hingegen diskontinuierlich. Zwischen dem Setzen von einzelnen Blindnietbefestigern gibt es immer wieder Pausen, in denen der Elektromotor 4 keine elektrische Energie benötigt.When setting a blind rivet connector, for example a blind rivet nut, the electric motor 4 requires a relatively large amount of current, for example up to 100 A. At least part of this current is now used by the intermediate storage device 10 provided. For this purpose, it can be provided that the power pack 9 continuously supplies the temporary storage device 10 with electrical energy, ie continuously charges the supercapacitor 11 . In contrast, the operation of the electric motor 4 is discontinuous. Between the setting of individual blind rivet fasteners there are always pauses in which the electric motor 4 does not require any electrical energy.

Auch gibt es Zeiten, in denen der Elektromotor 4 weniger elektrische Energie benötigt, als das Netzteil 9 liefern kann. Die Differenz zwischen der vom Elektromotor 4 benötigten elektrischen Energie und der vom Netzteil 9 bereitgestellten Energie kann dann ebenfalls im Superkondensator 11 gespeichert werden.There are also times when the electric motor 4 requires less electrical energy than the power pack 9 can supply. The difference between the electrical energy required by the electric motor 4 and the energy provided by the power pack 9 can then likewise be stored in the supercapacitor 11 .

Mit einer derartigen Ausgestaltung kann das Netzteil 9 kleiner dimensioniert werden, als es ansonsten für den Betrieb des Setzgeräts 2 notwendig wäre.With such a configuration, the power pack 9 can be dimensioned smaller than would otherwise be necessary for the operation of the setting tool 2 .

Wie man in der Zeichnung erkennen kann, ist die Versorgungseinrichtung 8 an der Handhabungseinrichtung 7 angeordnet, also ortsfest. Sie kann auch eine gewisse Entfernung von der Handhabungseinrichtung 7 aufweisen. Sie ist im vorliegenden Ausführungsbeispiel jedoch nicht am Arm 6 der Handhabungseinrichtung 7 angeordnet, so dass der Arm 6 die Masse der Zwischenspeichereinrichtung 10 nicht mitbewegen muss.As can be seen in the drawing, the supply device 8 is arranged on the handling device 7, ie it is stationary. It can also be at a certain distance from the handling device 7 . In the present exemplary embodiment, however, it is not arranged on the arm 6 of the handling device 7, so that the arm 6 does not have to move the mass of the intermediate storage device 10 with it.

Der Arm 6 der Handhabungseinrichtung 7 hat in der Regel mehrere Element, die relativ zueinander beweglich sind. Das Setzgerät 2 ist an einem äußeren Element angeordnet. Es ist in diesem Fall auch möglich, die Zwischenspeichereinrichtung 10 an dem gleichen Element des Arms 6 wie das Setzgerät 2 anzuordnen oder an einem weiter innen liegenden Element des Arms 6, also näher an der Basis der Handhabungseinrichtung 7. Das Netzteil 9 ist aufgrund seiner relativ hohen Masse nicht am gleichen Element des Arms 6 wie das Setzgerät 2 angeordnet.The arm 6 of the handling device 7 usually has several elements that can be moved relative to one another. The setting tool 2 is arranged on an outer element. In this case, it is also possible to arrange the intermediate storage device 10 on the same element of the arm 6 as the setting tool 2 or on an element of the arm 6 that lies further inwards, i.e. closer to the base of the handling device 7. The power supply unit 9 is due to its relative high mass is not arranged on the same element of the arm 6 as the setting tool 2.

Die Steuereinrichtung 5 ist im vorliegenden Ausführungsbeispiel so dargestellt, dass sie zwischen der elektrischen Versorgungsanordnung 8 und dem Elektromotor 4 angeordnet ist. Die Steuereinrichtung 5 kann jedoch auch außerhalb dieser Verbindung angeordnet sein und auf andere Weise den Elektromotor 4 ansteuern und den Fluss von elektrischer Energie zwischen dem Elektromotor 4 und dem Superkondensator 11 steuern.In the present exemplary embodiment, the control device 5 is shown in such a way that it is arranged between the electrical supply arrangement 8 and the electric motor 4 . However, the control device 5 can also be arranged outside of this connection and can activate the electric motor 4 and control the flow of electrical energy between the electric motor 4 and the supercapacitor 11 in a different way.

Claims (5)

  1. Blind rivet setting device (1) comprising a setting tool (2) and a handling device, wherein the setting tool (2) has a pulling device (3) driven by an electric motor (4) and is arranged on a movable arm (6) of the handling device (7), and an electrical supply arrangement (8) which is connected to the electric motor (4) and which has a power supply unit (9), wherein the electric motor (4) is controlled by a control device (5), wherein a buffer storage arrangement (10) is provided,
    wherein the control device (5) switches the electric motor (4) between motor operation and generator operation and, in generator operation, feeds electrical energy generated by the electric motor (4) into the buffer storage device (10), characterized in that the buffer storage arrangement (10) has at least one supercapacitor (11), in that the buffer storage arrangement (10) is arranged between the power supply unit (9) and the electric motor (4) and in that a blocking device (12) is provided which prevents a return flow of electrical energy from the electric motor (4) to the power supply unit (9), wherein the setting tool (2) is arranged on a member of the movable arm (6) of the handling device (7) and the power supply unit (9) is arranged on another member of the handling device (7) .
  2. The blind rivet setting device according to claim 1, characterized in that in motor operation, the control device (5) connects the electric motor (4) to the buffer storage device (10) and controls a supply of electrical energy from the power supply unit (9) to the buffer storage device (10) at least during operating pauses of the electric motor (4).
  3. The blind rivet setting device according to claim 1, characterized in that the supercapacitor (11) has a maximum distance of 1.5 m from the setting tool (2).
  4. The blind rivet setting device according to any one of claims 1 to 3, characterized in that the buffer storage device (10) and the power supply unit (9) are designed as a structural unit.
  5. The blind rivet setting device according to any one of claims 1 to 4, characterized in that a first electrical connection (13) between the power supply unit (9) and the buffer storage device (10) has a smaller wire cross-section than a second electrical connection (14) between the buffer storage device (10) and the electric motor (4).
EP20203214.0A 2020-10-22 2020-10-22 Blind rivet setting device Active EP3988227B1 (en)

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Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4478275B2 (en) * 2000-02-22 2010-06-09 ポップリベット・ファスナー株式会社 Automatic perforated rivet fastening device
GB0111265D0 (en) * 2001-05-05 2001-06-27 Henrob Ltd Fastener insertion apparatus and method
DE102004006407A1 (en) * 2004-02-10 2005-09-01 Daimlerchrysler Ag Device for automated setting of a blind rivet
EP2985093B1 (en) * 2014-08-15 2019-05-29 GESIPA Blindniettechnik GmbH Blind riveting apparatus and method for setting a blind rivet
SE543362C2 (en) * 2015-10-13 2020-12-15 Atlas Copco Ind Technique Ab A method of driving a motor of a power tool, a power supply system and a power tool
US10491020B2 (en) * 2016-12-22 2019-11-26 Milwaukee Electric Tool Corporation Power source for burst operation

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