EP1698411A2 - Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage - Google Patents

Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage Download PDF

Info

Publication number
EP1698411A2
EP1698411A2 EP06003858A EP06003858A EP1698411A2 EP 1698411 A2 EP1698411 A2 EP 1698411A2 EP 06003858 A EP06003858 A EP 06003858A EP 06003858 A EP06003858 A EP 06003858A EP 1698411 A2 EP1698411 A2 EP 1698411A2
Authority
EP
European Patent Office
Prior art keywords
joining tool
robot
die
distance
joining
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.)
Withdrawn
Application number
EP06003858A
Other languages
German (de)
English (en)
Inventor
Hans-Jörg Lang
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.)
Boellhoff Verbindungstechnik GmbH
Original Assignee
Boellhoff Verbindungstechnik 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 Boellhoff Verbindungstechnik GmbH filed Critical Boellhoff Verbindungstechnik GmbH
Publication of EP1698411A2 publication Critical patent/EP1698411A2/fr
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/03—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal otherwise than by folding
    • B21D39/031—Joining superposed plates by locally deforming without slitting or piercing
    • 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
    • B21J15/02—Riveting procedures
    • B21J15/025—Setting self-piercing rivets

Definitions

  • the present invention relates to a method and a device for controlling / regulating the feed movement of a joining tool fastened to a robot, in particular a punch riveting tool or clinching tool (clinching tool).
  • Such joining tools are widely used in the automotive industry, for example, to connect body parts together.
  • body parts workpieces to be joined (body parts) in the production line certain position tolerances (for example, in the order of ⁇ 2mm) are subjected. It is therefore not easy for the positioning of the robot to move the joining tool precisely in the working position, in which the die of the joining tool rests against the workpieces to be joined.
  • a relatively complicated compensation slide between the joining tool and the workpiece which compensates for positional tolerances of the workpieces by a compensatory movement in the axial direction of the joining tool.
  • compensation slide are structurally complex, cumbersome to handle and expensive to manufacture. Despite everything, they do not always lead to the desired success of a gentle and shock-free application of the die of the joining tool to the workpieces to be joined.
  • the present invention has for its object to provide a method and apparatus for controlling / adjusting the feed movement of a fixed to a robot arm joining tool from a starting position to a working position in a structurally simple way a largely shock-free application of the die of the joining tool to the allow joining workpieces.
  • the joining tool fastened to the robot is moved by means of the positioning device of the robot from a starting position to a pre-position in which the die of the joining tool has a distance to the workpiece so that no collision between the joining tool and the workpieces can occur.
  • the distance between the die and the workpieces to be joined is then detected by means of a distance detection device in order to generate a corresponding distance signal.
  • the positioning device of the robot can then with the aid of the distance signal, the joining tool smoothly and smoothly in the working position, i. in contact with the workpieces, move.
  • the distance detection device is in particular a displacement measuring device, which preferably operates mechanically or opto-electronically, although resistive, capacitive or inductive working displacement measuring devices can also be used.
  • the movement of the joining tool from the pre-position to the working position can be controlled or regulated.
  • Attached to robots joining tools such as punch riveting and clinching tools usually have a C-frame, the upper leg carries an actuator with a plunger and the lower leg of a die.
  • the lower leg of the C-frame fastening means for attaching the joining tool has on the robot, which are arranged on the lower leg so that they allow a connection to the robot in the greatest possible proximity to the die. This ensures that the location of the Matrices relative to the workpieces when joining not or only slightly changed when the C-frame bends under the action of the joining forces, so that the lower and upper legs of the C-frame are pressed apart.
  • the punch riveting tool 2 shown schematically in FIG. 1 has in the usual way a C-frame 4 with an intermediate section 6, an upper arm 8 and a lower arm 10. On the upper arm 8 an actuating device 12 with a linearly displaceable joining punch 14 is provided.
  • the lower arm 10 carries a die 16 which lies on the same axis as the joining punch 14.
  • the joining tool 2 has fastening means 18, by means of which it can be fastened to a robot (not shown).
  • the configuration of the fastening means 18 will be explained in more detail below, in particular in connection with FIG. 6.
  • the joining tool 2 is used for joining at least one workpiece and in particular two or more workpieces W by means of punch rivets (not shown).
  • the workpieces W are by means of a clamping device fixed (not shown).
  • the workpieces W are body parts of a vehicle which are to be connected to one another in a production line.
  • the joining tool 2 is therefore provided with a device for controlling the feed movement of the joining tool fixed to the robot from an initial position to a working position in which the joining tool 2 can perform the joining operation on the workpieces W, i. in which the workpieces W rest against the die 16.
  • This device consists essentially of a distance detecting device 28 which is mounted on the C-frame 4 so that it can detect a distance a between the die 16 and the workpieces W to produce a distance signal in dependence on this distance a. This distance signal can then be used by the positioning device of the robot (not shown) to control the feed movement of the joining tool 2, as will be explained in more detail below.
  • the joining tool 2 attached to the robot is moved from a home position to a pre-position by means of the positioning device (not shown) of the robot, in which the joining tool 2 has a distance a from the workpieces W. in which, despite the positional tolerances of the workpieces W, no collision can occur between the joining tool 4 and the workpieces W (FIGS. 1 and 2).
  • the distance detecting device 28 detects the distance a between the top of the die 16 and the bottom of the workpieces W to produce a corresponding (electrical or electronic) distance signal. This distance signal is supplied to the positioning device (not shown) of the robot.
  • This positioning device is a conventional multi-axis position control or regulation of the robot, which permits precise positioning of the joining tool 2 and the like. in the direction of the common axis of the punch 14 and die 16 allows. Since such robotic attitude controls or regulations are known, this will not be discussed further.
  • the positioning device of the robot now moves the joining tool 2 as a function of the distance signal from the preliminary position (shown in FIGS. 1 and 2) into the working position in which the underside of the workpieces W abuts against the upper side of the die 16 (see FIG ).
  • This movement of the joining tool 2 can be controlled (open loop control) or regulated (closed loop control). In any case, there is a gentle and virtually shock-free application of the die 16 to the workpieces W, so that there is no risk of damage or deformation of the workpieces W.
  • the joining tool 2 can now perform a joining process in a conventional manner, by which the workpieces W are connected to each other.
  • the distance detection device 28 is designed as an optoelectronic path measuring device.
  • this is a laser displacement measuring device operating according to the triangulation method which directs a laser beam 30 at the workpieces W, receives a reflected beam which measures the time between sending and receiving the laser beam and deduces therefrom a distance signal corresponding to the distance a.
  • the distance detection device 28 is designed as a mechanical measuring device or scanning device. It comprises a probe element 32 in the form of a stylus, which is biased by a spring 34 in a scanning position.
  • the scanning element 32 is associated with a displacement sensor 36 which detects the position of the sensing element 32.
  • the scanning element 32 abuts against the workpieces (FIG. 4).
  • a distance signal can be generated, which is supplied to the positioning of the robot.
  • the positioning device of the robot then moves the joining tool into the working position in which the die 16 bears against the workpieces W (FIG. 5).
  • the distance detection device can also be designed differently, provided that it allows a sufficiently accurate detection of the distance a and can be integrated into the joining tool 2 in a structurally suitable manner.
  • the joining forces which are exerted on the die 16 by the joining die 14 via the workpieces W during the joining operation can lead to a bending of the C-frame, in which the upper leg 8 and the lower leg 10 of the C-frame 4 pressed apart and thus removed from each other. This would result in a change in position of the die 16 and the dot-dash line indicated Matrizenebene M, in which the workpieces W are, unless special measures to prevent a change in position of the die 16 and thus the workpieces W would be taken.
  • the fastening means 18 are attached to the lower leg 10 of the C-frame 4 so that the C-frame 4 is fixed to the robot in the greatest possible proximity to the die 16.
  • the fastening means 18 in the illustrated embodiment of FIG. 6 comprise a fastening arm 20 which can be fastened at its (in FIG. 6) right end to the robot (not shown) and whose left end is fixed to the lower leg 10 below the die 16.
  • the mounting arm 20 is fixed at its left end by a bearing pin 22 on the lower leg 10, while the mounting arm 20 in a central region by means of a bearing pin 24 and a slot 26 of the mounting arm 20 on the lower leg 10 to compensate for distance tolerances between the both pins 22 and 24 is mounted.
  • This type of attachment of the joining tool 2 to the robot in close proximity to the die 16 ensures that the position of the die 16 and thus the position of the die plane M and the workpieces W during the joining operation remain virtually unchanged and by the bending of the C-frame 4 are not or only slightly affected.
  • connection shown in Fig. 6 of the joining tool 2 on the robot is only an example and that there are numerous other ways to set the joining tool 2 as close to the matrizennah the robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
EP06003858A 2005-03-02 2006-02-24 Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage Withdrawn EP1698411A2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005009526A DE102005009526A1 (de) 2005-03-02 2005-03-02 Verfahren und Vorrichtung zum Steuern/Regeln der Zustellbewegung eines Fügewerkzeuges

Publications (1)

Publication Number Publication Date
EP1698411A2 true EP1698411A2 (fr) 2006-09-06

Family

ID=36636917

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06003858A Withdrawn EP1698411A2 (fr) 2005-03-02 2006-02-24 Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage

Country Status (4)

Country Link
US (1) US20060200273A1 (fr)
EP (1) EP1698411A2 (fr)
JP (1) JP2006239856A (fr)
DE (1) DE102005009526A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007019822A1 (fr) * 2005-08-13 2007-02-22 Eckold Gmbh & Co. Kg Outil de façonnage et procede pour positionner l'outil de façonnage

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9027220B2 (en) 2012-08-07 2015-05-12 Newfrey Llc Rivet setting machine
DE102017213323A1 (de) * 2017-08-02 2019-02-07 Robert Bosch Gmbh Fügevorrichtung und Verfahren zum Verbinden von Bauteilen
DE102017213325A1 (de) * 2017-08-02 2019-02-07 Robert Bosch Gmbh Stanznietvorrichtung mit Überwachung eines Stanznietvorgangs mit einer eine Stempelkraft unterstützenden Schwingung und Verfahren zum Stanznieten mit einer solchen Stanznietvorrichtung
DE102021120409A1 (de) 2021-08-05 2023-02-09 Tox Pressotechnik Gmbh & Co. Kg Vorrichtung zum Durchsetzfügen

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE455281B (sv) * 1983-04-18 1988-07-04 Asea Ab Anordning vid industrirobot
JPH0531653A (ja) * 1991-07-26 1993-02-09 Fanuc Ltd 非接触倣い制御方式
US6276050B1 (en) * 1998-07-20 2001-08-21 Emhart Inc. Riveting system and process for forming a riveted joint
DE19752367A1 (de) * 1997-11-26 1999-05-27 Emhart Inc Verfahren und Vorrichtung zur Herstellung einer Stanznietverbindung
US6789309B2 (en) * 2000-02-22 2004-09-14 Newfrey Llc Self-piercing robotic rivet setting system
DE20122048U1 (de) * 2000-06-14 2004-04-01 Newfrey Llc, Newark Nietvorrichtung
US6421900B1 (en) * 2000-09-29 2002-07-23 Trw Inc. Automatic nutplate die
US6405421B1 (en) * 2001-01-03 2002-06-18 Hon Hai Precisionind. Co., Ltd. Die assembly for riveting
EP1238726B1 (fr) * 2001-01-12 2005-05-11 Newfrey LLC Dispositif de rotation pour une machine de pose de rivets
DE10119018A1 (de) * 2001-04-18 2002-10-24 Emhart Llc Newark Positionier- und/oder Montagehilfe sowie dementsprechendes Verfahren
US6910263B2 (en) * 2001-12-25 2005-06-28 Newfrey Llc Self-piercing rivet setting apparatus and system
US6835020B2 (en) * 2003-04-02 2004-12-28 General Motors Corporation Bi-direction self-piercing riveting
FR2862243B1 (fr) * 2003-11-19 2006-01-06 Renault Sas Dispositif de rivetage et procede de rivetage associe.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007019822A1 (fr) * 2005-08-13 2007-02-22 Eckold Gmbh & Co. Kg Outil de façonnage et procede pour positionner l'outil de façonnage

Also Published As

Publication number Publication date
JP2006239856A (ja) 2006-09-14
US20060200273A1 (en) 2006-09-07
DE102005009526A1 (de) 2006-09-07

Similar Documents

Publication Publication Date Title
EP2512755B1 (fr) Procédé et dispositif pour commander un manipulateur
DE60127092T2 (de) Einstellbare Orientierungseinheit, Montagestrasse für Karosserien von Kraftfahrzeugen mit so einer Einheit und Verfahren dazu
AT503790B1 (de) Anschlagvorrichtung für eine biegepresse
DE102016114863B4 (de) Bauteilmontagesystem zur Zusammensetzung einer Komponente
DE19905527A1 (de) Vorrichtung zum Fügen von Werkstücken aus duktilem Material
DE102017122172B4 (de) Zweiteilige koppelbare Handvorrichtung zum Festklemmen eines Werkstücks mit einem Positioniermechanismus und separatem Koppelmechanismus
EP3771502B1 (fr) Procede et dispositif de formage pour la fabrication d'un composant en tôle comprenant des brides
EP3284548A1 (fr) Procédé et appareil de pose d'un élément de fixation
EP1698411A2 (fr) Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage
DE102015117028B4 (de) Vorrichtung zum Schneiden von Substrat und Roboter
DE3916014C2 (fr)
EP3552729B1 (fr) Dispositif d'installation de rivets auto-poinçonneurs
DE4400350C2 (de) Bolzenschweißvorrichtung
DE10021781B4 (de) Werkzeug zum mechanischen Fügen mindestens zweier Werkstücke aus duktilem Material
DE10006512C2 (de) Vorrichtung für eine Abkantpresse zum Messen des Biegewinkels am Werkstück
EP3381581B1 (fr) Dispositif de poinçonnage et procédé de fonctionnement d'un dispositif de poinçonnage
EP2173513B1 (fr) Dispositif de soudage doté d'un système mécanique de suivi du cordon
DE102020110770B3 (de) Vorrichtung und Verfahren zum Bohren durch ein Bauelement und ein Werkstück
EP3552731B1 (fr) Unité de pose pour un dispositif rivet auto-poinçonneur et dispositif rivet auto-poinçonneur
DE29918486U1 (de) Vorrichtung zur Positionierung und Herstellung von Schraubverbindungsstellen an Blechpreßteilen einer Fahrzeugkarosserie
DE102018205621A1 (de) Stanznietvorrichtung mit Zuführeinheit für Niete
DE102014104641B4 (de) Schweißelektrodeneinheit und Verfahren zum Buckelschweißen
DE60111287T2 (de) System zum Stanznieten
EP1707915B1 (fr) Procédé pour mesurer une pièce supportée dans une position de référence
DE202007018547U1 (de) Laserbearbeitungsmaschine zum Bearbeiten von Werkstücken sowie maschinelles Verfahren zum Bearbeiten von Werkstücken mittels eines Laserstrahls

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20100901