KR20150109860A - Method for controlling riveting apparatus - Google Patents

Abstract

The present invention relates to a riveting apparatus and, more specifically, to a method for controlling a riveting apparatus for a riveting process on a workpiece. The method for controlling a riveting apparatus comprises: an operation preparation step (S100) for preparing the riveting apparatus in an operating state; a control value setting step (S200) for storing a control value including Z1 and S for the operation of a riveting head (70) by the selection of a user after the operation preparation step (S100); a control value selection step (S300) for selecting a control value stored in the control value setting step (S200) after the operation preparation step (S100); and a riveting step (S400) for automatically operating the riveting head (70) in accordance with the control value selected in the control value selection step (S300).

Description

[0001] The present invention relates to a method for controlling a riveting apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riveting apparatus, and more particularly, to a method of controlling a riveting apparatus for performing a riveting operation on a workpiece.

Generally, a riveting device refers to a device that rivets two objects together.

The riveting device can be variously configured according to its operating principle and structure. The punch having a concave groove formed at the lower end of the vertical shaft is coupled with the punch, and the vertical axis is moved vertically using a press mechanism. And a tip portion of a predetermined shape is provided at the lower end of the vertical rotation shaft. Then, the vertical rotation shaft is rotated while the vertical rotation shaft is moved vertically using a press mechanism And a riveting device for forming the rivet head in a predetermined shape by rotating the tip along with the conical trajectory while pressing the rivet material.

Meanwhile, in the conventional riveting apparatus, the moving distance of the riveting head, which presses the upper end of the rivet material according to the operation requirements, is manually set every time the operator requires the riveting operation, and then the riveting operation is performed. This is a cumbersome problem.

In addition, the conventional riveting apparatus can recognize only the riveting state by the naked eye when the riveting operation is performed even though there is a defect due to the use of a soft rivet material having a standard value or less, - If the rivet material is used in automobiles, airplanes, etc., it may cause a big accident due to damage of the rivet material.

It is an object of the present invention to provide a control method of a riveting apparatus which can more conveniently perform a riveting operation by setting a control value for a riveting operation in advance in order to solve the above problems.

It is another object of the present invention to provide a control method of a riveting apparatus capable of confirming whether or not a riveting operation is performed in accordance with a preset control value, thereby increasing the reliability of the riveting operation.

The present invention has been made in order to achieve the above-mentioned object of the present invention, and it is an object of the present invention to provide a riveting head which presses a rivet material positioned in a riveting position, A control method of a riveting apparatus (M) comprising a driving unit for vertically and rotationally moving a head (70), and a control unit for controlling the driving unit to control the up and down movement and the rotational movement of the riveting head (70) Is positioned at the riveting position P1 from the end 31 of the riveting head 70 when the riveting head 70 is located at the uppermost position in the operating state, The distance from the upper end 21 of the rivet material 5 to the upper end of the rivet material 5 before the pressing of the riveting head 70 is located at the first distance Z1, 21) of the rivet material (5) in a state where the pressing is completed by the riveting head (70) The time taken by the rivetting head 70 to move the second distance Z2 to the first movement time Z2 is set to the stroke S as Z1 + S to the second distance Z2, The time taken by the riveting head 70 to move the stroke S after the riveting head 70 has moved by the first distance Z1 is referred to as a second movement time T2, (S100) in which the force applied to the upper end of the rivet material (5) is defined as F, and the driving unit is prepared in an operating state; A control value setting step (S200) for storing a control value including Z1 and S for operation of the riveting head (70) at the user's selection after the operation preparation step (S100); A control value selection step (S300) of selecting a control value stored in the control value setting step (S200) after the operation preparation step (S100); And a riveting step (S400) for automatically operating the riveting head (70) in accordance with the control value selected in the control value selection step (S300).

The control value setting step S200 may include the step of lowering the riveting head 70 after the operation preparing step S100 so that the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 A first measuring step S210 of obtaining a moving distance of the riveting head 70 when the riveting head 70 is touched by Z1 and a second measuring step S210 of determining a moving distance of the riveting head 70 after the first measuring step S210, And a control value storing step S250 for storing Z1 and S in the first measuring step and the first inputting step S220 as control values. have.

The control value setting step S200 may include moving the riveting head 70 by a user's selection based on Z1 and S after the first inputting step S220 to perform a riveting operation And a second measurement step (S230) of obtaining the moving times (T1, T2) and F of the riveting head (70) while performing the control value storage step (S250). The control value stored in the control value storage step (S250) And the moving times (T1, T2) and F of the riveting head 70 obtained in the second measuring step S230.

The control value setting step S200 may include a second input step of inputting Z1, an error range for the moving times T1 and T2 and F of the riveting head 70 after the second measuring step S230 S240), and the control value stored in the control value storage step S250 may include the error range input in the second input step S240.

The method further includes a third measuring step of measuring and storing the movement times (T1, T2) and F of the riveting head (70) while simultaneously performing the riveting step (S400) .

The moving times T1, T2 and F of the riveting head 70 are measured, and Z1, the measured riveting head 70, and the moving speed of the riveting head 70 are measured while simultaneously performing the riveting step S400, And a third measuring step of generating a malfunction signal when the moving times (T1, T2) and F of the moving object are out of the error range stored in the control value setting step (S200).

After the control value storage step S250, the control value setting step S200 selects whether or not to add the control value according to the user's selection. If the control value addition is selected, the control value setting step S200 is performed again from the first input step And a step of adding a control value to the control information.

The moving times T1, T2 and F of the riveting head 70 are measured, and the measured Z1, S, and the riveting head 70 are measured while simultaneously performing the riveting step S400, And a third measuring step of displaying at least one of the moving times (T1, T2) and the moving time (F) of the driving unit (70) in a graph of the operating time.

The driving part is vertically partitioned into a first space and a second space into which the fluid flows and moves up and down by a pressure difference between the first space and the second space to move the riveting head 70 up and down Wherein the first measuring step S210 comprises the step of measuring the pressure X1 of the first space after a predetermined time at a value equal to the pressure X2 of the second space, It can be recognized that the riveting head 70 is in contact with the upper end 21 of the rivet material 5 before the pressing.

The control method of the riveting apparatus according to the present invention is a control method for performing a riveting operation before the riveting operation is performed, for example, when the riveting head (70) is positioned at the uppermost position in the operating state The distance from the end 31 of the rivet head 70 to the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 is defined as the first distance Z1, And the upper end 21 of the rivet material 5 in the state in which the pressing is completed by the riveting head 70 from the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 of the riveting head 70, The control value including the stroke S is stored in advance and the riveting operation can be performed quickly and conveniently by performing the riveting operation automatically using the previously stored control value.

Also, a method of controlling a riveting apparatus according to the present invention includes performing a riveting operation using a previously stored control value, simultaneously measuring values corresponding to a previously stored control value at the time of performing a riveting operation, There is an advantage that the reliability of the riveting operation can be greatly improved by judging that the riveting operation is bad when the reference value, for example, deviates from the error range.

1 is a cross-sectional view schematically showing an example of a riveting apparatus to which a riveting control method according to the present invention is applied.
Figs. 2 to 4 are partial enlarged views of the riveting apparatus of Fig.
5 is a flowchart showing an example of a control method of the riveting apparatus according to the present invention.
FIG. 6 is a flowchart showing an example of a control value setting step in the control method of the riveting apparatus of FIG.
7A and 7B are conceptual diagrams showing an example of a screen of a display device for performing a control value setting step in the control method of the riveting device of FIG.

Hereinafter, a method of controlling a riveting apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

The riveting apparatus M controlled by the control method of the riveting apparatus according to the present invention is a method of controlling the riveting apparatus according to the present invention, A riveting head 70 for pressing the riveted material 5 and a driving unit for vertically and rotationally moving the riveting head 70 and a driving unit for controlling the riveting head 70 to move up and down and rotate And a control unit for controlling the control unit.

The riveting head 70 is configured to press the rivet material 5 by the upward and downward movement and rotational movement to perform the riveting operation. The rivet material 70 may have various configurations according to the working conditions.

The driving unit is configured to vertically and rotationally move the riveting head 70, and various configurations are possible according to the operation method thereof.

The control unit may be configured in various manners to control the up and down movement and the rotation movement of the riveting head 70 by controlling the drive unit.

Particularly, the control unit is configured to perform the control method described below as well as the control of the driving unit, and various configurations such as a single physical module and a plurality of modules can be physically realized.

On the other hand, the riveting device M may include a power supply for a driving part, a control method according to the present invention, a riveting head 70, a display device for displaying control states of a driving part, have.

The riveting device M includes a riveting head 70 for pressing the rivet material 5 positioned in the riveting position P1, a driving unit for vertically and rotationally moving the riveting head 70, It is possible to arrange any structure as long as it includes a control section for controlling the driving section to control the up and down movement and the rotation movement of the riveting head 70. [

1 to 4, the riveting apparatus M includes a work table 2 on which a workpiece 1 is mounted, a work table 2 disposed on the top of the work table 2, A riveting unit 3 for performing riveting on the riveting unit 3, and a control unit 4 for controlling the operation of the riveting unit 3. [

The riveting unit 3 includes a cylinder 10 in which two or more pressure action spaces 11 and 12 are formed in the interior of the riveting head 70 and a cylinder 10 A pressure source 20 for supplying a working fluid to operate the hydraulic or pneumatic pressures in the at least two pressure action spaces 11 and 12 and at least two pressure action spaces 11 and 12 of the pressure source 20 and the cylinder 10 A control valve 40 provided in the flow path 30; a hollow sleeve 50 arranged to penetrate the cylinder 10; And a rotating device 80 connected to the other end of the rod 60 to rotate the rod 60. [

Wherein the riveting head 70 is connected to one end of the rod 60 and configured to press the rivet material 5 while being in contact with the rivet material 5 positioned on the workpiece 1, Is provided with a position detecting device 90 for detecting the position of the riveting head 70 in the vertical direction.

Inside the cylinder 10, a partition 13 for partitioning the space inside the cylinder 10 into two pressure action spaces 11 and 12 is formed. That is, the partition 13 divides the space inside the cylinder 10 into the first pressure action space 11 and the second pressure action space 12. Here, the partitioning portion 13 may be formed integrally with the remaining portion of the cylinder 10, and may be separately molded and then joined.

The sleeve 50 includes a first flange 51 disposed inside the first pressure action space 11 and a second flange 52 disposed inside the second pressure action space 12. The sleeve 50 has a first flange 51, Here, the first flange 51 and the second flange 52 may be molded integrally with the remainder of the sleeve 50, and may be separately molded and then joined.

On the other hand, the sleeve 50 includes a plurality of members connected in the longitudinal direction, and the plurality of members can be coupled in a screw-fastening manner or the like.

The first pressure action space 11 is divided into the first space 111 and the second space 112 by the first flange 51 and the second pressure action space 12 is divided by the second flange 52 into the second pressure action space 12. [ Is divided into a first space (121) and a second space (122). The first space 111 of the first pressure action space 11 and the first space 121 of the second pressure action space 12 are provided on the upper side of the first flange 51 and the second flange 52, do. The second space 112 of the first pressure action space 11 and the second space 122 of the second pressure action space 12 are located below the first flange 51 and the second flange 52, Respectively.

A sealing member 511 is interposed between the first flange 51 and the inner wall of the cylinder 10 so that the first space 111 and the second space 112 of the first pressure acting space 11 Respectively. A sealing member 521 is interposed between the second flange 52 and the inner wall of the cylinder 10 so that the first space 121 and the second space 122 of the second pressure acting space 12 Respectively.

As the pressure source 20, a hydraulic pump or a pneumatic pump may be used.

The flow path 30 includes a first flow path 31 connected to the first space 111 of the first pressure action space 11 and the first space 121 of the second pressure action space 12, And a second flow path 32 connected to the second space 112 of the pressure action space 11 and the second space 122 of the second pressure action space 12. [ The working fluid 20 is supplied from the pressure source 20 through the first flow path 31 to the first space 111 of the first pressure action space 11 and the first space 121 of the second pressure action space 12, Or the working fluid can be simultaneously discharged from the first space 111 of the first pressure working space 11 and the first space 121 of the second pressure working space 12. [ The working fluid is supplied from the pressure source 20 through the second flow path 32 to the second space 112 of the first pressure action space 11 and the second space 122 of the second pressure action space 12, Or the working fluid can be simultaneously discharged from the second space 112 of the first pressure working space 11 and the second space 122 of the second pressure working space 12. [

The control valve 40 functions to selectively connect the pressure source 20 to the first flow path 31 or the second flow path 32. The control valve 40 is provided with a housing in which an inlet through which a working fluid flows in and a discharge hole through which a working fluid is discharged are formed as a control valve 40, a switching member provided inside the housing for switching a flow path inside the housing, A solenoid valve constituted by a driving unit for moving the solenoid valve can be used.

The operation of the control valve 40 allows the supply of working fluid to the first spaces 111 and 121 of the first and second pressure action spaces 11 and 12 and the supply of the working fluid to the first and second pressure action spaces 11 The supply of the working fluid to the second spaces 112, 122 of the first and second chambers 12, 12 can be alternately performed.

In the process of supplying the working fluid to the first spaces 111 and 121 of the first and second pressure operating spaces 11 and 12 through the first flow path 31, The working fluid in the second spaces 112 and 122 of the first and second pressure application spaces 11 and 12 can be discharged to the outside through the second flow path 32, In the process of supplying the working fluid to the second spaces 112 and 122 of the first and second pressure application spaces 11 and 12, the working fluid inside the first spaces 111 and 121 of the first and second pressure application spaces 11 and 12, Can be discharged to the outside through the first flow path (31).

Here, when the working fluid flows into the first spaces 111 and 121 and the working fluid is discharged from the second spaces 112 and 122, the first and second flanges 51 and 52 of the sleeve 50, The sleeve 50 is moved downward together with the rod 60. As a result, Conversely, when the working fluid flows into the second spaces 112 and 122 and the working fluid is discharged from the first spaces 111 and 121, the first and second flanges 51 and 52 of the sleeve 50 The upward force is applied to the sleeve 50, so that the sleeve 50 is moved upward together with the rod 60.

On the other hand, pressure sensors 33 and 34 may be installed in the first flow path 31 and the second flow path 32, respectively. The pressure in the first flow path 31 and the second flow path 32 can be measured by the pressure sensor so that the pressure X1 of the first spaces 111 and 121 and the second spaces 112 and 122 , X2) can be measured.

By using the pressure sensors 33 and 34 as described above, the initial state of the riveting device can be set. For example, when the pressures measured by the pressure sensors 33 and 34 are equal to each other, the pressures in the first spaces 111 and 121 and the second spaces 112 and 122 are in equilibrium, Is not moved. Therefore, when the pressures measured by the pressure sensors 33 and 34 are not equal to each other before the riveting operation of the riveting apparatus is started, the first spaces 111 and 121 and the second spaces 112 and 122 An operation of introducing the working fluid into any one of the first and second spaces 111 and 121 and the second spaces 112 and 122 in a pressure balanced state may be performed.

The rotating device 80 includes a driving motor 81 connected to the other end opposite to one end of the rod 60 on which the riveting head 70 is installed. In this case, the other end of the rod 60 is directly connected to the drive shaft 82 of the drive motor 81 and can be rotated by the rotational force of the drive motor 81.

The rod 60 is inserted into the hollow sleeve 50 so as to be rotatable about a central axis in the longitudinal direction thereof.

The rod 60 includes a first rod 61 connected to the drive shaft 82 of the drive motor 81 and a second rod 61 connected slidably in the longitudinal direction of the first rod 61 and the rod 60. [ (61). For example, the first rod 61 may be configured to be inserted into the second rod 62. In this case, in order to prevent the first rod 61 and the second rod 62 from rotating relative to each other, the first rod 61 is extended in the longitudinal direction of the first rod 61 And an insertion groove extending in the longitudinal direction of the second rod 62 may be formed on the inner circumference of the second rod 62 so that the protrusion of the first rod 61 is inserted. The first rod 61 is connected to the drive shaft 82 of the drive motor 81 and is fixed in position and the second rod 62 is engaged with the sleeve 50 when the sleeve 50 is moved in the vertical direction .

Since the first rod 61 is relatively slidable in a state that it is inserted into the second rod 62 and the projection of the first rod 61 is fitted into the insertion groove of the second rod 62, Not only smooth change of the length of the rod 60 due to the vertical movement of the sleeve 50 can be achieved but also the driving force of the rotating device 80 is accurately transmitted from the first rod 61 to the second rod 62 .

On the other hand, the second rod 62 is rotatable with respect to the central axis of the sleeve 50, and the movement of the second rod 62 in the longitudinal direction is restricted by the sleeve 50. Connections 54 and 64 are provided between the second rod 62 and the sleeve 50 for restricting the longitudinal movement of the second rod 62 with respect to the sleeve 50. For example, the connecting portions 54 and 64 include a protruding portion 64 projecting from the outer circumferential surface of the second rod 62 and a groove 54 inserted into the inner circumferential surface of the sleeve 50 and into which the protruding portion 64 is inserted .

A bearing 56 is provided between the upper and lower portions of the projection 54 and the groove 54, that is, between both ends of the projection 64 in the longitudinal direction of the second rod 62 and the groove 54 . The bearing 56 is preferably made of a thrust bearing so as to appropriately support the axial load of the rod 60. When the thrust bearing is employed, there is an advantage that the width of the riveting unit in the radial direction of the sleeve 50 or the rod 60 can be reduced.

On the other hand, the second rod 62 includes a plurality of members connected in the longitudinal direction, and the plurality of members can be coupled in a screw-fastening manner or the like.

Also, the sleeve 50 should be able to move in the longitudinal direction but be prevented from rotating about its central axis. To this end, the riveting unit 3 may further include a rotation preventing portion 58 for preventing rotation of the sleeve 50.

For example, the rotation preventing portion 58 includes a guide groove 581 formed in the outer peripheral surface of the sleeve 50 in the longitudinal direction of the sleeve 50, and a guide groove 581 fixed to the frame 6 to which the cylinder 10 is fixed And a guide protrusion 582 protruded to be inserted into the guide groove 581. [ According to such a configuration, it is possible to move the sleeve 50 in the longitudinal direction while the guide protrusion 582 is inserted into the guide groove 581, but the rotation of the sleeve 50 is transmitted to the guide groove 581 The guide protrusion 582 can be prevented from being caught.

The riveting head 70 includes a tip portion 71 in contact with the rivet material and a fixing portion 72 to which the tip portion 71 is detachably fixed. The fixing portion 72 can be fixed at a position eccentric from the center axis of the rod 60 at one end of the rod 60 so that the tip portion 71 can be inclined at a predetermined angle. The tip portion 71 is a portion directly in contact with the rivet material 50 and is provided with a magnet 73 to which the tip portion 71 is attached in the fixing portion 72 so that the tip portion 71 can be easily exchanged. .

The position detecting device 90 includes a linear sensor between the frame 6 and the sleeve 50. For example, the position detecting device 90 may include a moving part 91 provided on the outer circumferential surface of the sleeve 50 and provided with one or more magnets, a moving part 91 disposed apart from the moving part 91 by a predetermined distance, And a sensing unit 92 formed of a device. When the moving part 91 is moved by the movement of the sleeve 50, the position detecting device 90 can detect the position of the sleeve 50 by using the magnetoresistive effect of the magnetoresistive element according to the change of the magnetic field due to the change of the position of the magnet, It is possible to detect the position of the riveting head 70 by sensing the displacement of the sleeve 50 and measuring the displacement from the reference position of the riveting head 70 from the displacement of the sensed sleeve 50.

The displacement of the riveting head 70 can be measured more accurately since the moving part 72 of the position detecting device 90 is installed in the sleeve 50 which is moved substantially to move the riveting head 70 .

In addition, since the linear sensor is used as the position detecting device 90, the displacement of the riveting head 70 can be accurately measured as the sleeve 50 moves.

In the riveting apparatus according to the embodiment of the present invention configured as described above, the sleeve 50 is moved up and down in accordance with the pressure change in the pressure action spaces 11 and 12 in the cylinder 10, The rod 60 can be moved up and down. By the movement of the rod 60 in the downward direction, the riveting head 70 can press the rivet material 5 to perform riveting with respect to the workpiece 1. [

At the same time, the rod 60 is rotated by the operation of the rotating device 80 so that the riveting head 70 provided at one end of the rod 60 is rotated while pressing the rivet material 5. [ Here, since the riveting head 70 is installed eccentrically from the central axis of the rod 60 at one end of the rod 60, the head of the rivet is formed in a shape corresponding to the rotation locus of the riveting head 70 . That is, the riveting head 70 is rotated in a conical trajectory, so that the riveting head 70 is in point contact with the rivet material 5, and then gradually riveted while being linearly contacted.

During this process, the position of the sleeve 50 and the rod 60 in the vertical direction by the position detecting device 90, that is, the position in the vertical direction of the riveting head 70 is detected, The pressure for pressing the rivet material 5 and the shape of the head of the rivet can be adjusted based on the vertical position of the turning head 70. [

In the riveting apparatus according to the present invention as described above, two or more pressure action spaces 11 and 12 are formed in the cylinder 10, and in the two or more pressure action spaces 11 and 12, The vertical movement of the rod 60 can be stably performed so that the riveting head 70 can press the exact position on the rivet material 5 So that riveting can be performed smoothly.

Since the riveting device M according to the embodiment of the present invention has two or more pressure action spaces 11 and 12 formed in the cylinder 10 so that the riveting head 70 can press the rivet material 5 The impact generated in the pressing process can be smoothly buffered by using the pressure in the two or more pressure application spaces 11 and 12, thereby making it possible to stably perform riveting.

A control method of the riveting apparatus having the above-described structure will now be described.

4, the end 31 of the riveting head 70 when the riveting head 70 is positioned at the uppermost position in the operating state, Is positioned at the riveting position P1 and at a first distance Z1 to the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 is located at the riveting position P1 The distance from the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 to the upper end 21 of the rivet material 5 in the state where the pressing is completed by the riveting head 70 is defined as a stroke S to the riveting head 70 with the first movement time T1 as the time taken to move the Z1 + S to the second distance Z2 and the riveting head 70 to move the second distance Z2, The force applied by the riveting head 70 to the upper end of the rivet material 5 is referred to as F (t) by the second movement time T2, Is defined.

The moving distance of the riveting head 70 such as Z1, Z2 and S is measured by the position detecting device 90 and F is measured by the pressure sensors 33 and 34 in the first and second spaces 111 and 121, By measuring the pressures X1 and X2 of the first and second spaces 112 and 122 and calculating the pressure difference and the surface area of the first spaces 111 and 121 and the second spaces 112 and 122.

The control method of the riveting apparatus according to the present invention may further include: an operation preparing step (S100) of preparing the driving unit in an operating state as shown in FIG. 5; A control value setting step (S200) for storing a control value including Z1 and S for operation of the riveting head (70) by the user's selection after the operation preparation step (SlOO); A control value selection step (S300) of selecting a control value stored in the control value setting step (S200) after the operation preparation step (S100); And a riveting step S400 for automatically actuating the riveting head 70 in accordance with the control value selected in the control value selection step S300.

The operation preparing step S100 is a step of preparing the operation of the riveting device M and is a step of turning on the screen of the display device and turning on the pressure source 20 and the rotating device 80, And preparing it in an operable state.

The control value setting step S200 is a step of storing a control value including Z1 and S for operation of the riveting head 70 by the user's selection after the operation preparing step S100, do.

That is, the control value setting step S200 is not performed if it is not selected by the user, and the control method according to the present invention can be performed in the control value selecting step S300 and the riveting step S400.

The control value stored in the control value setting step S200 is a control value for the riveting operation to be performed in the selection and riveting step S400 in the control value selection step S300, Lt; / RTI >

6, the riveting head 70 is lowered to move the rivet material 5 before the pressing of the riveting head 70, for example, as shown in Fig. 6, A first measurement step S210 of obtaining a moving distance of the riveting head 70 by Z1 when the riveting head 70 touches the upper end 21 of the rivet head 70, A first input step S220 for inputting S required for the first inputting step S220 and a control value storing step S250 for storing Z1 and S in the first measuring step and the first inputting step S220 as control values .

The first measuring step S210 is a step of lowering the riveting head 70 after the operation preparing step S100 so that the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 is moved to the riveting head 70 The moving distance of the riveting head 70 is obtained as Z1.

At this time, it is necessary to detect whether the riveting head 70 has contacted the upper end 21 of the rivet material 5 with the riveting head 70.

For example, the driving unit is vertically divided into a first space 111 and a second space 112 into which the fluid flows, and moves up and down by a pressure difference between the first space 111 and the second space 112 The first measurement step S210 is performed when the pressure X1 of the first space 111 is lower than the pressure X2 of the second space 112 It is preferable to recognize that the riveting head 70 touches the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 after a preset time at a value such as X2.

This takes into consideration the fact that the deformation of the rivet material 5 starts when the weight of the riveting head 70 and the force F applied to the upper end 21 of the rivet material 5 are not less than a certain value.

The preset time for recognizing that the riveting head 70 touches the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 is performed through several test operations, Can be set by measuring the strain point.

On the other hand, Z1 measured by the first measuring step S210 is displayed on the screen of the display device, as shown in Fig. 7A.

As shown in FIG. 7A, the first input step S220 is a step of inputting S required for the rivet material 5 after the first measurement step S210, and the riveting conditions, for example, ) And the rivet material (5).

The control value storing step S250 is a step of storing Z1 and S in the first measuring step and the first inputting step S220 as control values.

In particular, the control value storage step (S250) may be stored in a storage medium such as a hard disk, a flash memory, or the like, and may be stored in various ways such as being stored in a storage medium installed separately by wire or wireless communication.

The control value storage step (S250) may be distinguished from other control values stored in advance according to the user's selection, or may be substituted for other previously stored control values.

On the other hand, in the control value setting step S200, after the first inputting step S220, the riveting head 70 is moved by the user's selection on the basis of Z1 and S to perform a riveting operation on the rivet material 5 (Tl, T2) of the riveting head 70 and a second measuring step S230 of obtaining the F.

In the second measurement step S230, after the first inputting step S220, the riveting head 70 is moved by the user's selection based on Z1 and S to perform a riveting operation on the rivet material 5 (T1, T2) and F of the riveting head 70 are obtained.

Specifically, the movement times T1 and T2 of the riveting head 70 are obtained in accordance with the movement interval of the riveting head 70, that is, Z1 and S.

The force F is obtained by measuring the pressures X1 and X2 of the first spaces 111 and 121 and the second spaces 112 and 122 by means of the pressure sensors 33 and 34, 111 and 121 and the second spaces 112 and 122, respectively.

Meanwhile, when the second measurement step S230 is performed, the control value stored in the control value storage step S250 described above is calculated by subtracting the movement time T1 of the riveting head 70 obtained in the second measurement step S230, T2) and F. < / RTI >

In addition, as shown in FIG. 7A, the measurement values can be displayed on the screen of the display device so that the user can confirm the second measurement step S230.

Here, the control values obtained by the second measurement step S230 may be displayed on the screen of the display device and then fine-tuned (calibrated) by the user.

On the other hand, the control value setting step S200 includes a second input step S240 for inputting Z1 after the second measurement step S230, the movement times T1 and T2 of the riveting head 70, ). ≪ / RTI >

That is, when the measurement values are displayed on the screen of the display device as shown in FIG. 7A so that the user can confirm the second measurement step S230, The error range, which is the tolerance for each control value, can be entered by the user during the tuning operation.

The control value stored in the control value storage step S250 may include an error range input in the second input step S240 when the second input step S240 is performed. Here, S is a value set by the user, and an error range is unnecessary.

On the other hand, in the control value setting step S200, after the control value storing step S250, whether to add the control value is selected according to the user's selection, and when the addition of the control value is selected, (S260) to perform the control value adding step (S260).

The control value adding step S260 is a step for further inputting a control value different from the control value stored by performing the first measurement step S210 to the control value storing step S250, Is a step for adding a new control value through execution of the first input step (S220) to the control value storing step (S250).

The control value selection step S300 is a step of selecting a control value stored in the control value setting step S200 after the operation preparation step S100.

For example, the control value selection step S300 is performed by displaying one or more control values previously stored in the control value setting step S200 on the screen of the display device and selecting a control value displayed on the screen of the display device .

On the other hand, if there is not more than one control value in the control value setting step S200, the control value setting step S200 must be performed before the control value selection step S300.

The control value stored in the control value setting step S200 includes Z1, S, and the like for controlling the riveting device M when the control value is performed in the riveting step S400.

The riveting step S400 is a step of automatically actuating the riveting head 70 in accordance with the control value selected in the control value selecting step S300 and is performed by the operation of the riveting apparatus M described above 10 by pressing the rivet material 5 by the up-down movement and the rotational movement of the rivet material 5.

On the other hand, the riveting step (S400) is a step of performing a riveting operation, and it is necessary to monitor whether or not good riveting is performed, whether the rivet material (5) is bad or not, and the previously set control value may be utilized.

That is, the control method of the riveting apparatus according to the present invention is performed simultaneously when the riveting step (S400) is performed, while measuring the movement times (T1, T2) and F of the riveting head (70) And a third measuring step of storing the data.

The third measuring step is performed simultaneously with the riveting step S400 to measure Z1 and S for each rivet material 7 and the moving times T1 and T2 and F of the riveting head 70 And storing it in a memory.

In the third measuring step, Z1, S for each rivet material 7, the moving times (T1, T2), F, etc. of the riveting head 70 can be stored in a storage medium such as a hard disk and a flash memory, Or stored in a storage medium installed separately by wireless communication, or the like.

Here, the third measurement step is good when the stored values correspond to the respective rivet material 7 within the error range input in the second input step S240, and can be determined as defective when they are outside the error range.

In particular, since the values corresponding to the respective rivet materials 7 can be stored and judged within the error range, it is possible to distinguish between good or bad of the rivet material 7, which makes it convenient to manage the riveting work.

Further, in the case of the defective material of the rivet material 7 which can not be judged by the naked eye of the operator, for example, in the case of the rivet material 7 having a value higher than or equal to the reference value, an abnormality occurs in the force F, 7), it is possible to select defects that can not be judged by the operator's eyes.

Meanwhile, the third measuring step is performed simultaneously with the riveting step (S400) while measuring the movement times (T1, T2) and F of the riveting head (70) A malfunction signal can be generated when the moving times T1 and T2 of the spinning head 70 and the F exceed the error range stored in the control value setting step S200.

The third measurement step is performed simultaneously with the riveting step S400 while measuring the movement times T1 and T2 and F of the riveting head 70 and measuring the Z1, At least one of the moving times (T1, T2) and F of the riveting head 70 can be displayed on the display device as a graph of the operating time.

As described above, when the values measured in the third measuring step are displayed on the screen of the display device, there is an advantage that the operator can intuitively check the abnormality of the riveting operation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

2: worktable 3: riveting unit
4: control unit 10: cylinder
20: pressure source 30: flow path
40: control valve 50: sleeve
60: rod 70: riveting head
80: Rotating device 90: Position detecting device

Claims (9)

A riveting head (70) for pressing a rivet material (5) positioned at a riveting position (P1), a driving unit for vertically and rotationally moving the riveting head (70) A control method of a riveting apparatus (M) including a control section for controlling up-down movement and rotation movement of a head (70)
Is positioned at the riveting position P1 from the end 31 of the riveting head 70 when the riveting head 70 is located at the uppermost position in the operating state, The distance from the upper end 21 of the rivet material 5 to the first distance Z1,
The rivet material 70 is positioned at the riveting position P1 and is pressed from the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 by the riveting head 70, 5 to the upper end 21 is referred to as a stroke S,
Z1 + S to the second distance Z2,
The time taken when the riveting head 70 moves the second distance Z2 is referred to as a first moving time T1,
The time taken by the riveting head 70 to move the stroke S after the movement by the first distance Z1 is referred to as a second movement time T2,
The force applied by the riveting head 70 to the upper end of the rivet material 5 is defined as F,
An operation preparation step (S100) of preparing the driving unit in an operating state;
A control value setting step (S200) for storing a control value including Z1 and S for operation of the riveting head (70) at the user's selection after the operation preparation step (S100);
A control value selection step (S300) of selecting a control value stored in the control value setting step (S200) after the operation preparation step (S100);
And a riveting step (S400) for automatically operating the riveting head (70) in accordance with the control value selected in the control value selection step (S300). The method according to claim 1,
The control value setting step (S200)
When the riveting head 70 is lowered to the upper end 21 of the rivet material 5 before the pressing of the riveting head 70 after the operation preparing step S100 A first measuring step S210 of obtaining the moving distance of the riveting head 70 by Z1,
A first input step (S220) of inputting S required for the rivet material (5) after the first measuring step (S210)
And a control value storing step (S250) for storing Z1 and S in the first measuring step and the first inputting step (S220) as control values. The method of claim 2,
The control value setting step (S200)
After the first inputting step S220, the riveting head 70 is moved by a user's selection based on Z1 and S to perform a riveting operation on the rivet material 5, Further comprising a second measuring step (S230) of obtaining the moving times (T1, T2)
The control value stored in the control value storing step S250 includes the moving times T1 and T2 and F of the riveting head 70 obtained in the second measuring step S230. A method of controlling a device. The method of claim 3,
The control value setting step (S200)
A second input step (S240) of inputting Z1 after the second measurement step (S230), an error range for the moving times (T1, T2) and F of the riveting head (70)
Wherein the control value stored in the control value storage step (S250) includes the error range input in the second input step (S240). The method of claim 3,
Further comprising a third measuring step of measuring and storing the movement times (T1, T2) and F of the riveting head (70) while simultaneously performing the riveting step (S400) And a control unit for controlling the operation of the riveting device. The method of claim 3,
The moving times T1, T2 and F of the riveting head 70 are measured, and Z1, the measured riveting head 70, and the moving speed of the riveting head 70 are measured while simultaneously performing the riveting step S400, Further comprising a third measuring step of generating an erroneous signal when the moving times (T1, T2) and the moving time (F) of the moving object . The method of claim 3,
The moving times T1, T2 and F of the riveting head 70 are measured, and the measured Z1, S, and the riveting head 70 are measured while simultaneously performing the riveting step S400, Further comprising a third measuring step of displaying at least one of the moving times (T1, T2) and the moving time (F) of the driving unit (70) in a graph of the operating time. The method according to any one of claims 2 to 6,
The control value setting step (S200)
Further comprising a control value addition step of selecting whether or not to add a control value by the user's selection after the control value storage step (S250), and to perform the control value addition from the first input step again when the addition of the control value is selected And a control unit for controlling the operation of the riveting device. The method according to any one of claims 1 to 6,
The driving unit includes:
And a sleeve which is vertically partitioned into a first space and a second space into which the fluid flows and moves up and down by a pressure difference between the first space and the second space to move the riveting head 70 up and down ,
The first measurement step (S210)
The upper end 21 of the rivet material 5 before the pressing of the riveting head 70 after the pressure X1 in the first space is set to a value equal to the pressure X2 of the second space, And recognizes that the turning head (70) is touched.

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