EP3988227B1 - Dispositif de pose de rivet aveugle - Google Patents

Dispositif de pose de rivet aveugle 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
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.)
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Application number
EP20203214.0A
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German (de)
English (en)
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EP3988227A1 (fr
Inventor
Uwe Herth
Stefan Petsch
Robert Kölm
Alexander Wenzel
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.)
Gesipa Blindniettechnik GmbH
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Gesipa Blindniettechnik GmbH
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Priority to EP20203214.0A priority Critical patent/EP3988227B1/fr
Publication of EP3988227A1 publication Critical patent/EP3988227A1/fr
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Publication of EP3988227B1 publication Critical patent/EP3988227B1/fr
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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
    • B21J15/16—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)

Claims (5)

  1. Dispositif de pose de rivet aveugle (1) comprenant un appareil de pose (2) et un système de manutention, sachant que l'appareil de pose (2) comporte un dispositif de traction (3) entraîné par un moteur électrique (4) et est disposé sur un bras mobile (6) du système de manutention (7) et un système d'alimentation électrique (8) relié au moteur électrique (4), qui comporte une partie de réseau (9), sachant que le moteur électrique (4) est commandé par un système de commande (5), sachant qu'un système de stockage provisoire (10) est prévu,
    sachant que le système de commande (5) fait passer le moteur électrique (4) d'un fonctionnement motorisé en un fonctionnement générateur et dirige, en fonctionnement générateur, l'énergie électrique, qui est produite par le moteur électrique (4), dans le système de stockage provisoire (10), caractérisée en ce que le système de stockage provisoire (10) comporte au moins un supercondensateur (11), en ce que le système de stockage provisoire (10) est disposé entre la partie de réseau (9) et le moteur électrique (4) et en ce qu'un dispositif de blocage (12) est prévu, qui évite un reflux de l'énergie électrique du moteur électrique (4) vers la partie de réseau (9), sachant que l'appareil de pose (2) est disposé sur un élément du bras mobile (6) du système de manutention (7) et la partie de réseau (9) est disposée sur un autre élément du système de manutention (7).
  2. Dispositif de pose de rivet aveugle selon la revendication 1, caractérisé en ce que le système de commande (5) relie en fonctionnement motorisé le moteur électrique (4) au système de stockage provisoire (10) et commande au moins dans les pauses de fonctionnement du moteur électrique (4), un apport en énergie électrique de la partie de réseau (9) au système de stockage provisoire (10).
  3. Dispositif de pose de rivet aveugle selon la revendication 1, caractérisé en ce que le supercondensateur (11) comporte une distance de 1,5 m maximum par rapport à l'appareil de pose (2).
  4. Dispositif de pose de rivet aveugle selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le système de stockage provisoire (10) et la partie réseau (9) sont constitués sous la forme d'une unité modulaire.
  5. Dispositif de pose de rivet aveugle selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'une première liaison électrique (13) entre la partie réseau (9) et le système de stockage provisoire (10) comporte une section de câble plus petite qu'une deuxième liaison électrique (14) entre le système de stockage provisoire (10) et le moteur électrique (4).
EP20203214.0A 2020-10-22 2020-10-22 Dispositif de pose de rivet aveugle Active EP3988227B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20203214.0A EP3988227B1 (fr) 2020-10-22 2020-10-22 Dispositif de pose de rivet aveugle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20203214.0A EP3988227B1 (fr) 2020-10-22 2020-10-22 Dispositif de pose de rivet aveugle

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EP3988227A1 EP3988227A1 (fr) 2022-04-27
EP3988227B1 true EP3988227B1 (fr) 2023-04-05

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Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4478275B2 (ja) * 2000-02-22 2010-06-09 ポップリベット・ファスナー株式会社 自動穿孔型リベット締結装置
GB0111265D0 (en) * 2001-05-05 2001-06-27 Henrob Ltd Fastener insertion apparatus and method
DE102004006407A1 (de) * 2004-02-10 2005-09-01 Daimlerchrysler Ag Vorrichtung zum automatisierten Setzen eines Blindniets
EP2985093B1 (fr) * 2014-08-15 2019-05-29 GESIPA Blindniettechnik GmbH Appareil de pose de rivets aveugles et procédé de pose d'un rivet aveugle
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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EP3988227A1 (fr) 2022-04-27

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