US20160136723A1 - Scrap container for scrap waste, in particular for scrap mandrels from blind rivets, and movable manipulator with such a scrap container - Google Patents

Scrap container for scrap waste, in particular for scrap mandrels from blind rivets, and movable manipulator with such a scrap container Download PDF

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Publication number
US20160136723A1
US20160136723A1 US15/000,198 US201615000198A US2016136723A1 US 20160136723 A1 US20160136723 A1 US 20160136723A1 US 201615000198 A US201615000198 A US 201615000198A US 2016136723 A1 US2016136723 A1 US 2016136723A1
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US
United States
Prior art keywords
scrap
scrap container
container according
emptying
container
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.)
Abandoned
Application number
US15/000,198
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English (en)
Inventor
Andreas SKOLAUDE
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.)
RIBE ANLAGENTECHNIK GmbH
Original Assignee
RIBE ANLAGENTECHNIK GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by RIBE ANLAGENTECHNIK GmbH filed Critical RIBE ANLAGENTECHNIK GmbH
Assigned to RIBE ANLAGENTECHNIK GMBH reassignment RIBE ANLAGENTECHNIK GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SKOLANDE, ANDREAS
Assigned to RIBE ANLAGENTECHNIK GMBH reassignment RIBE ANLAGENTECHNIK GMBH CORRECTIVE ASSIGNMENT TO CORRECT THE INVENTORS LAS NAME PREVIOUSLY RECORDED AT REEL: 037979 FRAME: 0059. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Assignors: SKOLAUDE, ANDREAS
Publication of US20160136723A1 publication Critical patent/US20160136723A1/en
Abandoned legal-status Critical Current

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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
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • B21J15/326—Broken-off mandrel collection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
    • B65D85/70—Containers, packaging elements or packages, specially adapted for particular articles or materials for materials not otherwise provided for

Definitions

  • the invention relates to a scrap container for unit waste, in particular for scrap mandrels from blind rivets, and also a movable manipulator having a scrap container of this kind.
  • a blind rivet to be set is introduced into a component hole with the help of a blind rivet setting tool and usually comes to rest against a hole edge with a setting head.
  • a drawing mandrel of the blind rivet is then drawn with the help of a drawing head of the setting tool, so that a closing head is formed on the component surface opposite the setting head and the blind rivet is reliably set.
  • the drawing mandrel breaks off at a predetermined breaking point. This produces a scrap mandrel that must be disposed of.
  • the setting tool is secured to a movable manipulator, in particular to a robot hand of a robot.
  • the robots in this case are usually multiaxial industrial robots which are moved in a highly dynamic fashion at high acceleration values during operation.
  • a fundamental problem associated with this highly dynamic method of operation comes in the shape of any supply lines in this case, which are highly tensioned. Accordingly, a hose for any scrap mandrels produced is also associated with an installation cost and is subject to high stresses. In addition, the hose may also be problematic when it has to be fed over a certain distance to a scrap mandrel container.
  • the problem addressed by the invention is that of facilitating improved scrap mandrel disposal.
  • a scrap container for unit waste particularly for scrap mandrels from blind rivets, wherein this unit waste is generally produced during a machining operation on a moved machine hand.
  • this scrap container is used to receive scrap mandrels which are produced during the setting of blind rivets which are produced with the help of a blind rivet setting tool secured to a robot hand of an industrial robot.
  • the scrap container in this case is particularly configured for direct attachment to the robot hand and is also secured accordingly during operation directly to the robot hand. It is therefore also moved in a highly dynamic fashion during operation, just as the setting tool is.
  • a filling nozzle is fitted which extends into a central region of the receiving volume defined by the scrap container and terminates there in the central region at an outlet opening.
  • the filling nozzle is connected via a hose to the setting tool, for example, for removal of the scrap mandrels.
  • the central region in this case is understood to mean a middle region within the receiving volume which is spaced apart from walls of the housing on all sides.
  • the housing is therefore completely closed, so that none of the scrap pieces already in the housing can fall out during movements of the robot hand.
  • the crucial advantage here should be regarded as the fact that irrespective of the position of the scrap container in the space, a partial region of the receiving volume lies beneath the outlet opening in each case.
  • the scrap mandrels therefore accumulate in all cases for all positions which the scrap container along with the robot hand adopts in the space beneath the outlet opening, at least until a certain filling level is reached. Safe scrap mandrel disposal is thereby guaranteed overall, even with applications involving highly dynamic movements.
  • the outlet opening it is appropriate in this case for the outlet opening to be positioned within the receiving volume, such that depending on the orientation of the scrap container in the space, there is an at least approximately identical filling volume in each case.
  • the filling volume in this case is defined by a partial region of the receiving volume which is limited by the housing up to a current horizontal plane in each case, which receives the outlet opening.
  • the filling volume is therefore defined by the volume within the housing beneath this horizontal plane.
  • “Beneath” in this case should be understood to mean in the direction of gravity in each case. This ultimately means that a center point of the outlet opening is at least arranged roughly in the center of the space volume defined by the receiving volume, such that a plane through this center point divides the receiving volume into at least two equally sized partial volumes in each case.
  • At least equally sized in this case should be taken to mean a deviation of maximum 20%, preferably of maximum 10%.
  • a maximum filling volume can therefore easily be specified by this embodiment, which therefore corresponds to roughly half the receiving volume.
  • the scrap container can be filled in a process-safe manner up to this filling volume, possibly following the deduction of a safety region, without there being any risk of the outlet opening being obstructed by scrap mandrels.
  • outlet opening of the filling nozzle is beveled. This prevents scrap mandrels from being left in an unfavorable position on the edge of the filling nozzle and therefore blocking the outlet opening.
  • the housing has a roughly box-shaped configuration overall and has at least one box-shaped central or base space.
  • a flat design is advantageously provided in this case, in order to restrict the overall installation height.
  • a box-shaped configuration of this kind is often favorable for positioning on a robot hand.
  • the housing can be advantageously sealed by an emptying lid lockable by means of a locking unit.
  • the housing is completely closed during operation, which means that scrap mandrels are in principle prevented from falling out. So that accidental opening of the emptying opening or emptying lid at high acceleration values is reliably prevented, said lid is reliably locked during operation via the locking unit.
  • the emptying lid itself is advantageously arranged in a pivoting-movable manner in this case, so that it can easily be opened in the unlocked state.
  • the emptying lid is preferably locked by a locking lever of the locking unit.
  • the locking lever in this case is, in particular, part of a preferably self-locking toggle lever mechanism which usually contains two toggle or articulated levers connected to one another in an articulated fashion.
  • the toggle lever mechanism also referred to as a toggle clamp, has the particular advantage that due to the self-locking property, only a comparatively small holding force is required during operation, in order to reliably hold the locking lever in the closed position.
  • the locking lever simultaneously presses the emptying lid preferably into a closed position. No additional active movement of the emptying lid for opening and closing is therefore provided for. Actuation of the emptying lid simply involves actuating the locking lever.
  • the locking lever in this case is actuated in an advantageous embodiment by means of a drive.
  • the housing has an emptying region with at least one oblique wall.
  • the housing is roughly wedge-shaped when viewed in cross section, wherein the emptying lid is arranged at the tapered tip, in other words, with a corresponding positioning of the housing, at the lowest point. Said emptying lid therefore covers a pouring opening to this extent.
  • This embodiment has, in particular, the advantage that a fully automated emptying of the scrap container is made possible and also provided for.
  • the robot hand advantageously moves to an emptying position where there is a collecting container, for example, and brings the scrap container into a defined emptying position, so that the pouring opening closed by the emptying lid points downwards.
  • the locking lever is actuated, so that the emptying lid opens and the container is emptied.
  • the scrap container preferably furthermore has a counting unit for counting the unit waste fed in.
  • a counting unit for counting the unit waste fed in.
  • an emptying signal is emitted particularly to a control unit. Due to the high dynamics, the individual counting of the individual scrap mandrels via the counting unit is a process-safe solution.
  • a filling level sensor is installed which measures the filling level or else the filling quantity within the collection volume.
  • the sensor is also configured as a weight sensor, for example.
  • control unit Upon receipt of the emptying signal, the control unit activates an emptying mode, so that fully automatic emptying is triggered.
  • the control system in this case is advantageously set up so that emptying only takes place when a component being machined, for example a car body, is complete, in other words a defined working cycle has come to an end. Emptying then preferably takes place during a component changeover.
  • the overall filling volume of the container in this case is advantageously adjusted to a working cycle of this kind, in other words, for example, to the quantity of scrap mandrels produced per component, so that emptying can always take place during a component changeover, for example after one, two, three, etc. components, in other words between two working cycles.
  • the problem according to the invention is further solved by a movable manipulator, in particular a robot hand.
  • FIG. 1 is a diagrammatic, perspective view of an industrial robot with a scrap container secured to a robot hand according to the invention
  • FIG. 2 is a sectional view of the scrap container according to FIG. 1 ;
  • FIG. 3 is a perspective view of the scrap container
  • FIG. 4 is a sectional view of the scrap container within a sectional plane leading through a filling nozzle.
  • FIG. 1 in this case only shows an exemplary installation without the complete connections.
  • the scrap container 8 has a hose connection 10 for connecting a scrap mandrel hose not depicted in greater detail here, via which scrap mandrels which are produced as waste products during a blind rivet setting operation are fed from the setting tool 6 to the scrap container 8 .
  • the feed for this purpose particularly takes place by a pneumatic device. The scrap mandrels are therefore pushed into the scrap container 8 via the scrap mandrel hose.
  • the industrial robot 2 is suitable and configured for carrying out complex movement sequences. Particularly when machining car bodies, the robot hand 4 moves in a highly dynamic fashion into a wide variety of working positions. This means that the elements secured to the robot hand 4 , particularly the setting tool 6 and also the scrap container 8 , adopt any positions in the space. They must be configured for these highly dynamic movement sequences.
  • the scrap container 8 exhibits the design described below in relation to FIGS. 2 to 4 .
  • the scrap container 8 contains a housing 12 which exhibits a box-shaped base body 14 and an emptying region 16 connected thereto.
  • the emptying region 16 has an oblique wall 20 A extending from a lower side 18 A to an upper side 18 B, so that viewed in section ( FIG. 2 ) the emptying region is roughly wedge-shaped in design.
  • the side walls also run between the upper side 18 B and the lower side 18 A as an oblique wall 20 B, so that the emptying region 16 defines a roughly trapezoidal area as a continuation of the upper side 18 B.
  • the emptying region 16 is closed by an emptying lid 22 which is connected thereto in a pivoting-moving manner at the edge of the base body 14 .
  • a locking unit 24 contains a toggle lever mechanism 26 with a locking lever 28 is furthermore arranged on the upper side 18 B.
  • the locking unit 24 furthermore contains a pneumatic drive 30 , for example.
  • the locking lever 28 can be activated via the toggle lever mechanism 26 , so that the emptying lid is opened or locked.
  • the locking lever 28 in this case is connected to the emptying lid 22 .
  • the toggle lever mechanism 24 is actuated, the locking lever 28 pivots away upwards and thereby opens the emptying lid 22 .
  • a feed unit 34 is secured to a rear side 32 of the housing 12 lying opposite the emptying region 16 , which feed unit contains the hose connection 10 which is continued by a filling nozzle 36 .
  • the filling nozzle 36 in this case extends into the interior of the housing 12 . This interior defines a receiving volume 38 in this case.
  • the filling nozzle 36 terminates at an outlet opening 40 which is positioned in a central region 42 of the receiving volume 38 .
  • the filling nozzle 36 is beveled at the end.
  • the positioning of the outlet opening 40 in this case is selected in such a manner that it is positioned in the free inside volume of the housing 12 , so that the outlet opening 40 is therefore spaced apart from all wall regions of the housing 12 .
  • the outlet opening 40 is particularly positioned in such a manner that any dividing plane through an opening center 44 (see FIG. 4 ) divides the receiving volume 38 , in particular the receiving volume 38 defined by the base body 14 (so without the volume of the emptying region 16 ), into at least roughly two filling volumes 46 of equal size.
  • Two dividing or horizontal planes 48 of this kind are drawn by way of example in FIGS. 2 and 4 .
  • This positioning means that independently of the respective position of the scrap container 8 , an at least substantially equal filling volume 46 is always available up to the outlet opening 40 .
  • the scrap mandrels being received are usually elongate, pin-shaped elements with a diameter in the region of a few millimeters, for example in the region of 2 to 8 mm.
  • the length of the scrap mandrels is a multiple thereof.
  • the free internal diameter of the filling nozzle is adjusted to the diameter of the scrap mandrels and lies in the region of 10 mm, for example.
  • the feed unit 34 exhibits a feed hopper 50 downstream of the hose connection 10 , which hopper is part of a center piece 52 .
  • the hose connection 10 is particularly secured to the center piece 52 via a screw fastening.
  • the feed hopper 50 guarantees a process-safe delivery of the scrap mandrels from the hose into the center piece.
  • the filling nozzle 36 is further attached to the center piece 52 , which is in turn secured particularly by a screw fastening to the center piece 52 .
  • a feed hopper 50 is configured at the delivery point on the side of the filling nozzle 36 , upstream of which there is a kind of diffusor of the center piece 52 .
  • the center piece 52 contains a counting unit 54 which is connected via a cable connection 56 for transmitting a counting signal to a control unit not shown in greater detail here.
  • the counting unit 54 is configured to count the scrap mandrels fed into the scrap mandrel container 8 individually.
  • the counting unit 54 has a suitable sensor for this purpose.
  • the scrap mandrel container 8 is guided by the robot hand 4 via a corresponding emptying position, then the toggle lever mechanism 26 is actuated via the drive 30 , so that the locking lever 28 opens the emptying lid 22 and the scrap mandrels fall out of the scrap container 8 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Making Paper Articles (AREA)
  • Basic Packing Technique (AREA)
  • Manipulator (AREA)
US15/000,198 2013-07-19 2016-01-19 Scrap container for scrap waste, in particular for scrap mandrels from blind rivets, and movable manipulator with such a scrap container Abandoned US20160136723A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102013012075.6 2013-07-19
DE102013012075.6A DE102013012075A1 (de) 2013-07-19 2013-07-19 Restbehälter für Stückabfälle, insbesondere für Restdorne von Blindnieten
PCT/EP2014/001886 WO2015007374A2 (de) 2013-07-19 2014-07-09 Restbehälter für stückabfälle, insbesondere für restdome von blindnieten, sowie bewegbarer manipulator mit einem solchen restbehälter

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/001886 Continuation WO2015007374A2 (de) 2013-07-19 2014-07-09 Restbehälter für stückabfälle, insbesondere für restdome von blindnieten, sowie bewegbarer manipulator mit einem solchen restbehälter

Publications (1)

Publication Number Publication Date
US20160136723A1 true US20160136723A1 (en) 2016-05-19

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US15/000,198 Abandoned US20160136723A1 (en) 2013-07-19 2016-01-19 Scrap container for scrap waste, in particular for scrap mandrels from blind rivets, and movable manipulator with such a scrap container

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US (1) US20160136723A1 (de)
DE (1) DE102013012075A1 (de)
WO (1) WO2015007374A2 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10478889B2 (en) 2015-12-21 2019-11-19 Vvg-Befestigungstechnik Gmbh & Co. Method for operating an electrically operated portable riveting machine, and electrically operated portable riveting machine
CN111266913A (zh) * 2020-04-02 2020-06-12 深圳市睿格晟设备有限公司 一种ai机器人自动收集废屑系统
GB2592368A (en) * 2020-02-25 2021-09-01 Nissan Motor Mfg Uk Ltd Mandrel container for a rivet tool

Citations (9)

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US3846967A (en) * 1971-06-21 1974-11-12 Skf Kugellagerfabriken Gmbh Mounting apparatus for spinning assembly
US4247019A (en) * 1977-09-14 1981-01-27 Automated Packaging Systems, Inc. Article handling system with dispenser
US4515005A (en) * 1981-03-31 1985-05-07 Gesipa Blindniettechnik Gesellschaft Mit Beschrankter Haftung Hydropneumatic blind riveter with automatic mandrel catcher
US4790470A (en) * 1986-04-11 1988-12-13 Avdel Limited Fastener installation apparatus
US4901431A (en) * 1988-06-06 1990-02-20 Textron Inc. Powered fastener installation apparatus
US6163945A (en) * 1999-03-17 2000-12-26 Emhart Inc. Broken piece collecting assembly for fastener setting tool
US20070193606A1 (en) * 2005-12-27 2007-08-23 Bsh Bosch Und Siemens Hausgerate Gmbh Dishwashing machine with a self-closure mechanism for locking the door and method for operating the dishwashing machine
US20100275424A1 (en) * 2009-04-30 2010-11-04 Newfrey Llc Blind Rivet Fastening Device
US20110131776A1 (en) * 2009-12-04 2011-06-09 Stoeger Lorenz Automatic device for setting rivets

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GB2025295B (en) * 1978-06-24 1982-05-12 Gesipa Blindniettechnik Apparatus for collectingbroken-off mandrels of blind rivets
US4940879A (en) * 1989-10-11 1990-07-10 F.I.A. Futurologie Industrielle Automation Gmbh Cutting head for use in a non-contact cutting process
DE4035778C1 (en) * 1990-11-08 1992-04-09 Noell Gmbh, 8700 Wuerzburg, De Suction unit for use on manipulators or robots - has lower section with interchangeable collector container and suction element and upper section with vacuum head and pressurised gas system
DE4202984C2 (de) * 1992-02-03 1996-09-05 Friederichs Karl Heinz Dipl In Verfahren und Vorrichtung zum Entsorgen von Butzen beim robotergeführten Laserschneiden von Löchern an dünnwandigen Blechteilen
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JP2009056558A (ja) * 2007-08-31 2009-03-19 Toshiba Corp マニピュレータ
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US7930810B2 (en) * 2008-06-25 2011-04-26 Nifco Inc. Rivet fastening air tool
JP5701028B2 (ja) * 2010-12-06 2015-04-15 十和田精密工業株式会社 ブラインドリベット用リベット取付け工具及びそのリベット打ち数の計数装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3846967A (en) * 1971-06-21 1974-11-12 Skf Kugellagerfabriken Gmbh Mounting apparatus for spinning assembly
US4247019A (en) * 1977-09-14 1981-01-27 Automated Packaging Systems, Inc. Article handling system with dispenser
US4515005A (en) * 1981-03-31 1985-05-07 Gesipa Blindniettechnik Gesellschaft Mit Beschrankter Haftung Hydropneumatic blind riveter with automatic mandrel catcher
US4790470A (en) * 1986-04-11 1988-12-13 Avdel Limited Fastener installation apparatus
US4901431A (en) * 1988-06-06 1990-02-20 Textron Inc. Powered fastener installation apparatus
US6163945A (en) * 1999-03-17 2000-12-26 Emhart Inc. Broken piece collecting assembly for fastener setting tool
US20070193606A1 (en) * 2005-12-27 2007-08-23 Bsh Bosch Und Siemens Hausgerate Gmbh Dishwashing machine with a self-closure mechanism for locking the door and method for operating the dishwashing machine
US20100275424A1 (en) * 2009-04-30 2010-11-04 Newfrey Llc Blind Rivet Fastening Device
US20110131776A1 (en) * 2009-12-04 2011-06-09 Stoeger Lorenz Automatic device for setting rivets

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10478889B2 (en) 2015-12-21 2019-11-19 Vvg-Befestigungstechnik Gmbh & Co. Method for operating an electrically operated portable riveting machine, and electrically operated portable riveting machine
GB2592368A (en) * 2020-02-25 2021-09-01 Nissan Motor Mfg Uk Ltd Mandrel container for a rivet tool
CN111266913A (zh) * 2020-04-02 2020-06-12 深圳市睿格晟设备有限公司 一种ai机器人自动收集废屑系统

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WO2015007374A2 (de) 2015-01-22
DE102013012075A1 (de) 2015-01-22
WO2015007374A3 (de) 2015-03-19

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Owner name: RIBE ANLAGENTECHNIK GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SKOLANDE, ANDREAS;REEL/FRAME:037979/0059

Effective date: 20160225

AS Assignment

Owner name: RIBE ANLAGENTECHNIK GMBH, GERMANY

Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE INVENTORS LAS NAME PREVIOUSLY RECORDED AT REEL: 037979 FRAME: 0059. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT;ASSIGNOR:SKOLAUDE, ANDREAS;REEL/FRAME:038108/0857

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