WO2023083548A1

WO2023083548A1 - Setting system

Info

Publication number: WO2023083548A1
Application number: PCT/EP2022/078349
Authority: WO
Inventors: Jochen Rintelmann; Jan-Oliver Brassel
Original assignee: Audi Planung GmbH
Priority date: 2021-11-10
Filing date: 2022-10-12
Publication date: 2023-05-19
Also published as: DE102021129194A1

Abstract

The invention relates to a setting system comprising a setting head (5) having a setting ram (7) which has an adjustable stroke and drives a setting element (1) into at least one component (3) in a setting direction (S) and at a setting force (F) during a setting process, said system also comprising a control unit (9) which generates a setting signal (SF) during the setting process on the basis of target setting parameters (FSOLL, sSOLL, vSOLL), which signal can control a pressure generator (11, 13) that drives the setting ram (7) over a setting path (s) and at a setting speed (v). According to the invention, the setting system has a sensor device (21) which detects a deflection of the setting head (5) and/or a deflection of the component (3) during the setting process.

Description

betting system

The invention relates to a setting system with a setting head with a setting stamp with an adjustable stroke according to the preamble of claim 1 .

In series production in vehicle construction, for example, when setting a coarse-threaded bolt, a setting device is used, which is arranged at the distal end of a robot arm. The setting device can be part of a closed setting system in which the setting head and a counterholder with die are integrated in a rigid C-frame. In the setting process, at least one component is clamped between the setting head and the counter-holder using a hold-down device. A setting die arranged in the setting head then drives the setting element (e.g. a semi-tubular punch rivet) into the component. The die located on the counterholder supports a spreading movement of the setting element in the component material. In such a setting device, the C-frame forms a closed force circuit, in which an evasive movement or springback movement of the setting head in the opposite direction to the setting direction is reliably prevented during the setting process. However, the C-frame requires the tool to be accessible from both sides at the joint.

In contrast to this, a generic setting system forms an open system in which the setting head is not integrated in a C-frame with a counter-holder. Rather, the setting head and a counter-holder on the setting side opposite component side is arranged to each other without power transmission. In this case, the setting device consists only of the setting head, so that there is no closed circuit of force between the setting head and a counterholder. During the setting process, the setting head can therefore evade or spring back in the opposite direction to the setting direction, which can impair the setting result.

In order to prevent such an impairment of the setting result, a setting head known from the prior art works with an excessively large setting force. In this way, a perfect setting result is guaranteed despite setting head springback, specifically in different setting head orientations, i.e. in a normal position with a setting direction from top to bottom, in an upside-down position with a setting direction from bottom to top and in one position with outstretched robotic arm.

With such an open setting system, an excessively large amount of energy is therefore required for a perfect setting process. In addition, due to its excessively high setting force, the setting system is only suitable for massive components, but not for more delicate components that can be damaged due to excessively high setting force.

DE 10 2006 002 237 A1 and DE 10 2014 007 554 A1 each disclose a method and a device for monitoring a fastening bolt joining process.

The object of the invention is to provide a setting system that works with reduced energy consumption compared to the prior art and/or can be used with more filigree components. The object is solved by the features of claim 1. Preferred developments of the invention are disclosed in the dependent claims.

The invention is based on a setting system with a setting head with a setting stamp with an adjustable stroke. In a setting process, the setting die drives a setting element in a setting direction and with a setting force into at least one component. In addition, the setting system has a control unit. In the setting process, this generates a setting signal on the basis of target setting parameters, with which a pressure generator can be controlled, which drives the setting stamp over a setting path and at a setting speed. According to the characterizing part of claim 1, the setting system has a sensor device. During the setting process, this detects an evasive movement of the setting head and/or an evasive movement of the component. The control unit has at least one correction component which, on the basis of the detected evasive movement, adapts the setting signal with which the pressure generator can be controlled. For example, the sensor device detects springing back of the setting head in the opposite direction to the setting direction. The control unit has at least one correction module, which adjusts the setting signal, with which the pressure generator can be controlled, on the basis of the detected setting head resilience. Alternatively and/or additionally, the sensor device can detect an evasive movement of the component. In this case, the correction module can adapt the setting signal, with which the pressure generator can be controlled, on the basis of the detected component evasive movement.

According to the invention, the setting die is thus monitored and controlled with the aid of a combined force-displacement measuring system. In this way, the setting distance actually covered by the setting punch can be determined, independently of the springback of the setting head or the robot arm, which can be caused, for example, by the setting force being applied to the Setting element are caused. With the invention, a dynamic distance between the setting head and the component surface can be continuously measured during the setting process. This measured value is offset against the setting path of the setting stamp online, i.e. during the setting process. This results in the setting path actually covered by the setting element and its setting speed. The setting path and the setting speed can be controlled/actuated online from the recorded data. In addition, in the setting system according to the invention, the setting force acting on the setting element during the setting process can also be determined and stimulated online, ie continuously, over the entire setting path. For example, a self-sufficient hydraulic system integrated in the setting head can be used as a setting piston drive. Advantageously, the setting die has a lower mass in order to enable precise control of the setting process and rapid acceleration of the setting die and to avoid the setting die being pressed down again due to the flywheel mass when the setting process is complete.

Aspects of the invention are described in detail below: The sensor device can be a distance/speed detector. A relative speed at which the setting head and the component move apart can be detected by means of the sensor device during the setting process. In addition, a relative path can be recorded over which the setting head and the component move apart in the setting process.

In a technical implementation, a target setting parameter can be the target setting speed or a variable correlating therewith. In the correction module, a corrected target setting speed (or a variable correlating therewith) can be based on the target setting speed and the relative speed (e.g. setting head spring-back speed). are determined, on the basis of which the pressure generator driving

Set signal is generated.

Alternatively and/or additionally, a target setting parameter can be the target setting path or a variable correlating therewith. A corrected target setting path is determined in the correction module on the basis of the target setting path and the detected relative path (e.g. setting head spring-back path), on the basis of which the setting signal that controls the pressure generator is generated.

The invention can be used in particular in an open setting system in which the setting head is not integrated in a C-frame with a counter-holder, but instead the setting head and a counter-holder do not transmit any force to one another, which is arranged on the component side opposite the setting side.

It is of particular importance if the setting system is designed to be completely self-regulating. Against this background, the setting system can additionally have a setting force detection, by means of which an actual setting force acting on the setting system can be detected in the setting process. The control unit can have a comparator module that compares the detected actual setting force with a limit value. If the actual setting force is significantly greater than the limit value, the control unit can generate a switch-off signal with which the setting process is ended and the setting lever is correspondingly returned to its initial position. In the starting position, a new setting element is fed to the setting head.

In a preferred embodiment, the travel/speed detection of the setting head can take place mechanically. In this case, the sensor device can have at least one sensor element, which is mounted on the setting head so that it can be adjusted in the setting direction and in interacts with a sensor module attached to the setting head. The sensor module can be in signal connection with the control unit. At the start of the setting process, the setting element is positioned until it is in contact, in particular without deformation, with a component surface. At the start of the setting process, the stroke-adjustable sensor element can also be positioned in contact with the component surface. The sensor element remains in contact with the component surface during the setting process so that a relative movement (ie springback of the setting head and/or a component evasive movement) can be detected during the setting process. For this purpose, the sensor element can be supported on the component surface under spring preload. In this case, in the event of a relative movement (that is, setting head springback and/or component evasive movement), the sensor element can move out of the setting head by a stroke distance detected by the sensor module. The stroke distance recorded by the sensor module corresponds to the relative distance over which the setting head and the component move apart in the setting process.

In one embodiment variant, a plurality of sensor elements, for example three sensor elements, can be distributed around the setting die in the circumferential direction. In this case, an inclined position of the setting head in relation to the component surface can also be detected. As an alternative to this, the sensor element can be a displacement/positioning sleeve which is preferably arranged concentrically to the setting axis and/or surrounds the setting punch radially on the outside.

According to the invention, the parameters relating to the relative movement, in particular the springback speed and/or the springback path, can be continuously recorded during the setting process duration. In this case, the pressure generator driving setting signal on the Based on the springback parameters can be continuously adjusted during the setting process period.

According to the invention, it is therefore possible to automatically and quickly readjust during the setting process. Above all, this means that the setting elements can always be driven into the component reproducibly at the same setting speed, in any orientation of the setting head, i.e. in a normal position with a setting direction from top to bottom, an upside down position with a setting direction of down and up as well as in a position with the robot arm extended.

An exemplary embodiment of the invention is described below with reference to the accompanying figures. Show it:

1 shows a setting head with associated control unit;

FIGS. 2 to 5 each show views based on which a setting process is illustrated.

Figure 1 shows a setting device which is arranged on a distal end of a robot arm 2 and is adjusted with the aid of a robot controller (not shown) to a joint in which a setting element 1 (e.g. a coarse threaded bolt) is inserted into a component 3 to be driven in during a setting process.

According to FIG. 1, the setting device consists only of a setting head 5 with a setting stamp 7 with an adjustable stroke. During the setting process, this drives the setting element 1 in a setting direction S and with a setting force F into the component 3 . A control unit 9 is assigned to the setting head 5 . The control unit 9 uses setpoint setting parameters FSOLL, VSOLL, SSOLL to generate a setting signal SF with which a pressure generator 11 integrated in the setting head 5 can be controlled, to which a hydraulic unit with a hydraulic cylinder 13 is assigned in FIG. When the hydraulic unit is actuated, hydraulic pressure is applied to the hydraulic cylinder 13, as a result of which its cylinder piston 15 drives the sleeve-shaped setting die 7 in the setting direction S.

A load cell 17 is integrated in the cylinder piston 15 and records an actual setting force Factual during the setting process. The load cell 17 has a signal connection to a comparator module 18 in the control unit 9 . At the end of the setting process, the setting die 7 presses an annular collar 19 of the setting element 1 into contact with the component surface. As a result, the actual setting force Fact recorded in the load cell 17 rises abruptly. If the actual setting force Fact detected by the load cell 17 exceeds a limit value FG, SO stored in the comparator module 18, a switch-off signal Saus is generated, which ends the setting process and the setting stamp 7 is reset to its reset position (FIG. 2).

The core of the invention relates to a sensor device 21 for detecting the path/speed of the relative movement between the setting head 5 and the component 3 during the setting process. The sensor device 21 has a displacement/positioning sleeve 23 that is stroke-adjustable in the setting direction S, which is arranged concentrically to the setting axis and moves the setting stamp 7 around. In FIG. 1, the displacement/positioning sleeve 23 is guided in a setting head guide 25 in a stroke-adjustable manner. In addition, the displacement/positioning sleeve 23 in the setting head 5 can be supported against a prestressing spring 27 . The displacement/positioning sleeve 23 interacts with a sensor module 29 which is arranged stationarily on the setting head 5 and has a signal connection with the control unit 9 . A setting process is described below with reference to FIGS. 2 to 5: In FIG. 2, the setting head 5 is shown disengaged from the component surface. The setting head 5 is adjusted to a predefined joint (for example in a teach-in process) by means of the robot control, as shown in FIG. In FIG. 3, the displacement/positioning sleeve 23 is spring-loaded and supported on the component surface. In addition, the setting die 7 presses the setting element 1 with its element tip 31 without deformation until it comes into contact with the component surface. The setting process starts in this state. During the setting process, as shown in FIG. 4, for example, there is a springback R of the setting head 5 in the opposite direction to the setting direction S, during which the setting head 5 moves upwards with a springback path SRF in the opposite direction to the setting path s and with a springback speed VRF. With the aid of the sensor device 21, the springback path SRF of the setting head 5 and the springback speed VRF of the setting head 5 are recorded during the setting process.

The resilience R of the setting head 5 leads to a relative movement (ie relative speed and relative distance) between the setting head 5 and the component 3 which can be detected by the sensor device 21 . The relative movement between the setting head 5 and the component 3 can alternatively and/or additionally be generated by a deviating movement A (FIG. 4) of the component 3 downwards.

As can be seen from FIG. 1, a corrected desired setting speed VK is determined on the basis of the detected setting head spring-back speed VRF (or generally: relative speed) and the desired setting speed VSOLL; this takes place in a correction module 35 of the control unit 9. In the correction module 35 of the control unit 9, the amount of the detected setting head springback speed VRF is added to the target setting speed VSOLL, resulting in the corrected target setting speed VSOLL. For example, the target setting speed VK is 20 m/s, while the absolute value of the detected setting head springback speed VRF is 5 m/s. From this, the correction component 35 of the control unit 9 determines a corrected target setting speed VK of 25 m/s. In the same way, in a further correction module 33 of the control unit 9 on the basis of

A corrected target setting path SK is determined from the amount of the setting head springback path SRF (or generally: relative path) and the target setting path SSOLL. On the basis of these corrected parameters, a setting signal SF is generated in a signal generation component 37 of the control unit 9, with which the pressure generator 11 is activated.

FIG. 5 shows the setting head 5 at the end of the setting process, in which the setting element 1 has been driven into the component 3 correctly and the annular collar 19 of the setting element 1 is seated on the component surface.

Reference character list

1 placement element

2 robot arm

3 component

5 setting head

7 setting stamps

9 control unit

11 hydraulic unit

13 hydraulic cylinders

15 cylinder pistons

17 load cell

19 ring collar

18 comparator block

21 sensor device

23 displacement/position sleeve

25 setting head guide

27 bias spring

29 sensor module

31 element tip

33 first correction module

35 second correction module

FSOLL target setting force

SSOLL Set travel

VSOLL target setting speed

SRF relative travel VRF relative speed

SK corrected target setting path

VK corrected target setting speed

Fact actual setting force FG limit value

Saus shutdown signal

SF set signal

S setting direction

R Setting head springback A Component evasive movement

Claims

Claims Setting system with a setting head (5) with a stroke-adjustable setting stamp (7), which in a setting process drives a setting element (1) in a setting direction (S) and with a setting force (F) into at least one component (3), and with a control unit (9), which generates a setting signal (SF) in the setting process on the basis of target setting parameters (FSOLL, SSOLL, VSOLL), with which a pressure generator (11, 13) can be controlled, which presses the setting stamp (7) via a setting path ( s) and at a setting speed (v), characterized in that the setting system has a sensor device (21) which detects an evasive movement of the setting head (5) and/or an evasive movement of the component (3) during the setting process, and in that the control unit (9) has at least one correction module (33, 35) which, on the basis of the detected evasive movement, adjusts the set signal (SF) with which the pressure generator (11, 13) can be controlled. Setting system according to Claim 1, characterized in that the evasive movement of the setting head (5) is a springback (R) of the setting head (5) in the opposite direction to the setting direction (S), and/or that the evasive movement (A) of the component (3) is in the setting direction (S) takes place. Setting system according to Claim 1 or 2, characterized in that the sensor device (21) is a path/speed detector, by means of which a relative speed (VRF) can be detected in the setting process, at which the setting head (5) and the component (3) move apart, and / or that a relative path (SRF) can be detected, over which the setting head (5) and the component

(3) move apart in the setting process.

4. Setting system according to one of the preceding claims, characterized in that a target setting parameter is the target setting speed (VSOLL) or a variable correlating therewith, and that in particular in the correction module (35) on the basis of the detected relative speed (VRF) and the Target setting speed (VSOLL), a corrected target setting speed (VK) or a variable correlating thereto can be determined, on the basis of which the setting signal (SF) can be generated.

5. Setting system according to one of the preceding claims, characterized in that a target setting parameter is the target setting path (SSOLL) or a variable correlating therewith, and that in particular in the correction module (33) on the basis of the detected relative path (SRF) and the Target setting path (SSOLL), a corrected target setting path (SK) or a variable correlating thereto can be determined, on the basis of which the setting signal (SF) can be generated.

6. Setting system according to one of the preceding claims, characterized in that the setting system is an open setting system in which the setting head (5) is not integrated in a C-frame with a counter-holder, but instead the setting head (5) does not transmit any force to a counter-holder , which is arranged on the component side opposite the setting side.

7. Setting system according to one of the preceding claims, characterized in that the setting system has a setting force detection (17) 15, by means of which an actual setting force (Fact) can be detected in the setting process, and that the control unit (9) has a comparator module (18) which compares the actual setting force (Fact) with a limit value (FG), and that at an actual setting force (Fact) that is significantly greater than the limit value (FG), a switch-off signal (Saus) can be generated, with which the setting process is ended.

8. Setting system according to one of the preceding claims, characterized in that the sensor device (21) has at least one sensor element (23) which is mounted on the setting head (5) so that it can be adjusted in the setting direction (S) and with a sensor module attached to the setting head (5). (29), which in particular is in signal connection with the control unit (9).

9. Setting system according to Claim 8, characterized in that at the start of the setting process the setting head (5) places the setting element (1) on the component surface, in particular without deformation, and in that in particular at the start of the setting process the sensor element (23) is also in contact with the component surface and that during the setting process the sensor element (23) remains in contact with the surface of the component, in particular is supported on the surface of the component under spring tension, so that when the setting head springs back (R) and/or when the component moves evasively (A). the sensor element (23) is moved out of the setting head (5) by a stroke distance detected by the sensor module (29), which corresponds to the relative distance (SRF).

10. Setting system according to claim 9, characterized in that several sensor elements (23) are arranged distributed in the circumferential direction around the setting axis, or that the sensor element (23) has a displacement/ 16

Position sleeve, which is preferably arranged concentrically to the setting axis and / or the setting die (7) moves radially outwards. Setting system according to one of the preceding claims, characterized in that during the setting process period (t) that

The evasive movement parameters relating to the evasive movement (R, A), for example the relative speed (VRF) and/or the relative travel (SRF), can be continuously detected, and that the setting signal (SF) that controls the pressure generator (11, 13) is based on the Dodge move parameters (VRF, SRF) during the

Setting process duration (t) is continuously adjustable.