WO2007110236A1 - Dispositif de serrage pour loger et serrer des éléments - Google Patents

Dispositif de serrage pour loger et serrer des éléments Download PDF

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Publication number
WO2007110236A1
WO2007110236A1 PCT/EP2007/002746 EP2007002746W WO2007110236A1 WO 2007110236 A1 WO2007110236 A1 WO 2007110236A1 EP 2007002746 W EP2007002746 W EP 2007002746W WO 2007110236 A1 WO2007110236 A1 WO 2007110236A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
clamping device
coupling
clamping
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.)
Ceased
Application number
PCT/EP2007/002746
Other languages
German (de)
English (en)
Inventor
Stefan Reith
Christian KÖRBEL
Ulrich Kindervater
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.)
EDAG GmbH and Co KGaA
Edag Engineering and Design AG
Original Assignee
EDAG GmbH and Co KGaA
Edag Engineering and Design AG
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 EDAG GmbH and Co KGaA, Edag Engineering and Design AG filed Critical EDAG GmbH and Co KGaA
Publication of WO2007110236A1 publication Critical patent/WO2007110236A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B21D39/02—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 by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—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 by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B23K37/0443—Jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0452—Orientable fixtures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • Clamping device for receiving and clamping components
  • the invention relates to a clamping device for components to be joined together, a clamping device part as such, a preferred use of the clamping device and a joining method.
  • the invention can be used in particular for roll-folding sheet metal structures, preferably in vehicle construction.
  • a particularly preferred application is the mass production of bodies or body parts, in particular attachments, of automobiles.
  • the components are clamped by means of clamping devices relative to each other in a joining position.
  • the components assume the position relative to one another which they are to assume in the joint assembly to be created.
  • the tensioned components are permanently connected to each other permanently.
  • a vehicle roof which has an opening for a sunroof
  • an outer panel and an inner panel are connected to one another by roll-folding.
  • the outer sheet is in the roll folds in a folding bed, and the inner sheet is pressed by means of suitable hold-down in position against the outer panel. The hold-down fixes and tensions in this sense, the inner panel relative to the outer panel.
  • a clamping device as the invention relates to it, is in several parts, preferably in two parts, and comprises a first clamping device part with a first component holder for a first component and a second clamping device member with a second component holder for a second component to be joined to the first component , At least one of the component holders forms a receiving bed for the component assigned to it.
  • the receiving bed advantageously forms a support for the component on which this rests during joining and which receives at least a portion of the forces required for the joining.
  • the first clamping device part comprises a first coupling half and the second clamping device part comprises a second coupling half, which is in a fixed coupling engagement with the first coupling half or can be brought into such.
  • the first coupling half is fixedly connected to the first component receptacle, and the second coupling half is firmly connected to the second component receptacle.
  • the component receptacles are fixed relative to each other in a joining position by being stretched towards each other in a clamping direction.
  • the coupling halves cooperatively form a coupling which firmly connects the two clamping device parts in a predetermined manner in the coupling engagement.
  • the clamping force with which the component receptacles are tensioned towards each other, generated by the clutch is therefore clamped together in the clutch engagement so that the clamping force is generated by this tension.
  • the coupling halves are shaped so that they pull together by the clutch engagement, more precisely during its manufacture, to each other. In coupling engagement, the clamping force acting between the component holders is transmitted in such embodiments. In principle, however, it would be possible to generate the clamping force in another way and to use the coupling only for connecting the jig for the purpose of uniform handling.
  • the coupling halves are preferably arranged and shaped so that they each have a docking side for the other coupling half, which points in the clamping direction of belonging to the same clamping device part component receptacle. This facilitates the connection of the clamping device parts and in particular benefits those embodiments in which the coupling transmits the clamping force and preferably generates it first.
  • the docking sides of the cooperating coupling halves facing each other in the coupling engagement could alternatively point in a direction transverse, ie at right angles or with an inclination to the tensioning direction.
  • the clamping device Due to the design of the clamping device parts with coupling halves, which are complete in the sense that they reach by mere contact in the clutch engagement, which should be blocked to secure and also to facilitate the release of the clutch engagement, the clamping device is ideally suited for use in mass production with short cycle times.
  • the coupling halves are advantageously shaped and arranged on the relevant clamping device part such that the coupling engagement can be produced by a simple movement of one clamping device part relative to the other, preferably by means of a short-stroke linear movement.
  • the manufacture of the clutch engagement alone suffices to tension the component receptacles and thereby the received components relative to one another in the joining position.
  • a first component can be received with the first component receptacle by positioning the first component receptacle relative to the relevant first component and the first component receptacle Component is received and held in order to record with the first component receiving the second component recording and thus together also the second component, namely simply by producing the clutch engagement.
  • the second component receiving not only as a shelf for a second component, but in a further function after performing the joining process can also be used as a removal device by the first component recording after joining the first component and thus releasing the joining compound obtained from the components.
  • the shared joint assembly can then be removed from the second component holder.
  • the first component holder is already free again and can record, for example, the next first component.
  • the second clamping device part is mobile, so that it can be moved in the space corresponding to the geometry of the connection to be produced in the space after the recording with the first clamping device part forming the clamping device in the space to the joining tool and for connecting the components relative to the joining tool.
  • the second clamping device part is stationary in the connection of the components, while the joining tool is moved in space relative to the clamping device.
  • the second tensioning device part is preferably permanently fixed in the joining station and not only during the joining process.
  • the tensioning device comprises a tensioning structure which clamps the first component receptacle and the second component receptacle and thereby fixes them in a joining position relative to one another.
  • the clamping force is introduced by means of the clamping structure in the component recordings.
  • the first coupling half is arranged on a first structural part and the second coupling half on a second structural part of the clamping structure.
  • the tensioning device In order to connect the tensioned in the joining position components along a path which rotates about an axis in space, preferably along a path in return by means of a path passing through the joining tool, the tensioning device can completely within the path, preferably with the outer peripheral edge the tensioned components coincide, be arranged so that they do not hinder the circumferential joining tool.
  • this requires a common opening for both components.
  • the tensioning structure is guided outwardly from the inner region, ie the area enclosed by the path, in which the tensioning force is introduced into the component receptacles, and engages around the outer peripheral edge of the component receptacles.
  • the path may extend completely along the outer peripheral edge of the components.
  • the coupling halves are preferably also disposed outside of the outer peripheral edge of the component receptacles in such embodiments. If the coupling halves are not arranged in the coupling engagement with respect to the clamping direction at the same height as the mutually clamped component receptacles are, an imaginary parallel projection of the clutch is completely adjacent to the component recordings to lie, with the projection in the clamping direction is to make.
  • the components received by the component receptacles also assume relative to one another the joining position, which they occupy in the permanent firmly joined joining compound after the joining process has been carried out.
  • One or both component receptacles can or can grip the respective component, for example with one or more clamping grippers or suction grippers or possibly also a combination of different grippers.
  • only one of the component receptacles accesses the relevant component.
  • the other component holder preferably takes its component only loosely by the relevant component only rests on requirements of the component holder, but is not clamped.
  • the component receptacles each have an inner side contacting the component and an outer side facing away from the inner side.
  • the component recordings are preferably areal structures.
  • the respective thickness which is measured in the direction of a plan view of the respective outer side, is in each case significantly smaller than the length and width measured in the plane of the plan view.
  • the component receptacles preferably each have a carrier with one or more arranged on the respective carrier, the recording of the respective component serving functional parts.
  • the functional parts may in particular be the already mentioned grippers or supports or the positioning of the components serving positioning.
  • one of the component receptacles forms a receiving bed, which can absorb the forces required for joining as such.
  • a preferred example is a folding bed, which supports the component edge to be folded.
  • the carrier may be cup-shaped or in particular plate-shaped or alternatively, for example, reticulate or truss-like and is preferably a planar structure in the above sense.
  • the clamping structure in preferred embodiments surrounds the component receptacles when they assume the joining position relative to each other.
  • the tensioning structure extends from the outside of the first component receptacle to the outside of the second component receptacle and thus engages around the peripheral edge of the two component receptacles.
  • the tensioning structure may be in the form of a stirrup or at least one Form bracket, wherein the bracket or the plurality of brackets surrounds the peripheral edge of the component recordings or embrace each. It may in particular have the form of a double hoop, ie a frame which engages around the component receptacles on two sides of the peripheral edge.
  • the one or more brackets or the frame is or are preferably at least substantially two-dimensional structures, so that in the case of a multiple bracket, for example the preferred frame, the plurality of brackets or the frame, the component receptacles on sides facing away from each other surround the peripheral edge.
  • a frame is preferred in terms of increased mechanical stability compared to a simple bracket.
  • a simple bracket forms less interference contours.
  • the peripheral edge is at least generally accessible everywhere.
  • the component receptacles and the tensioning structure fixed relative to one another in the joining position can be movable relative to one another, wherein the mobility is such that the position of at least one tensioning structure area encompassing the peripheral edge or preferably the position of the tensioning structure is determined by the relative movement total can be changed in the longitudinal direction of the peripheral edge.
  • a joining tool can be moved from a starting position in a closed circulation around the area of the component receptacles in which the clamping structure is supported for the introduction of the clamping force.
  • the tensioning structure can advance or run at least a little way in the same direction during the circulation, so that the joining tool can be moved back unhindered by the tensioning structure into the starting position.
  • a clamping structure encompassing the peripheral edge is also advantageous if the path along which the components are connected to one another is not closed. Also in such cases, the relative mobility is advantageous to avoid obstructions of the joining tool.
  • the Relative movement can also be generated by a coordinated movement of both the clamping structure and the component recordings.
  • the component receptacles for the implementation of the joining process in the joining station are arranged to be movable. In such embodiments, the components clamped in the joining position relative to one another during the joining process are moved in space relative to a joining tool.
  • the joining tool is fixedly arranged in the joining station, and it is only the clamping device or only the component receptacles are moved relative to the joining tool according to the contour of the peripheral edge.
  • the invention is directed in particular to a "flying joining".
  • movements of the joining tool the component receptacles and the clamping structure are not described concretely with respect to the space, it is about movements of these components relative to each other, and it remains open which of the components performs or execute an absolute motion.
  • the tensioning device is preferably used in conjunction with a joining device, by means of which the components are connected to one another along the common peripheral edge.
  • the joining device is preferably a folding device, particularly preferably a roll folding device, but may alternatively be, for example, a welding device, soldering device or adhesive device.
  • the tensioning device is attached in preferred embodiments to a movable in space actuator.
  • the actuator is preferably freely movable in space in all three degrees of freedom of translation and all three degrees of freedom of rotation.
  • a robot arm at the end of which the tensioning device is fastened, form the actuator.
  • the actuator provides for the relative movement between the clamping structure and the component receptacles located in the joining position.
  • one of the component holders with one of the axes of movement of the actuator and the clamping structure with one of the axes of movement of the actuator are each immovably connected.
  • the actuator is preferably a robot arm with a plurality of rigid joint elements and joints formed by these, for example, which are arranged one behind the other from a base of the robot up to the end of the robot arm, in such embodiments the tensioning structure or preferably the relevant component Recording with the last in the kinematic chain, that is fastened by the robot base farthest joint element, while the other of the two components can be firmly connected to another, preferably the penultimate joint element of the actuator.
  • the last and penultimate hinge elements together form the hinge of the chain farthest from the robot base.
  • one of the component receptacles is fixedly connected to one of the axes of movement of the actuator, while the tensioning structure has an additional, own degree of freedom of movement, so to speak as the 7th degree of freedom.
  • the tensioning device additionally comprises a separate drive.
  • the clamping device can be firmly connected to a movement axis of the actuator and the component recording by means of an auxiliary drive to be movable.
  • the tensioning structure is, so to speak, tied to the actuator, namely in relation to the degree of freedom of movement of the joint element to which the component receptacles are fastened. Its degree of freedom does not have the tensioning structure.
  • the tensioning structure carries along all movements of the component receptacles, but has an additional degree of freedom of movement, and movements within the framework of the additional degree of freedom are superimposed on the actuator movement.
  • the relevant area can, for example, be movably mounted on a tensioning structure cantilever which projects in the direction of the peripheral edge from a central region of the tensioning structure, for example linearly movable or preferably pivotally movable. More preferably, not only is an outer portion of the tensioning structure movable relative to the component receptacles, but the tensioning structure as a whole. Also, for the relative mobility of the tensioning structure as a whole, it is preferred that pivoting or rotational mobility is preferred.
  • the clamping structure as a whole can be linearly movable relative to the component receptacles and, for example, formed as a linearly movable carriage for this purpose. If the mobility of the tensioning structure or only an outer tensioning structure area is mentioned above, this also includes the case in which the tensioning structure is due to the relative mobility Joining process stationary and instead the component images are movable for the change in position. This is also a preferred mode of relative mobility of the tensioning structure.
  • the clamping force is introduced into the component receptacles only at one point, preferably via a respective short column, d. H. a pedestal.
  • a longitudinal axis of the column can advantageously also form a rotary or pivot axis of the clamping structure.
  • the tensioning structure may be a continuous structure having one or more portions movable relative to the component receptacles.
  • several clamping structures of the type described above may be provided to clamp the component receptacles relative to each other.
  • the clamping structures or only movable region of the clamping structures can be equipped with their own drives or the relative movements are effected by means of a Transmission causes.
  • a Transmission causes When using a plurality of non-uniformly movable clamping structures or clamping structure areas also several joining tools are used and perform only a part of each revolution.
  • the tensioning structure is in preferred embodiments in several parts with a first structural part and at least one further, second structural part.
  • the first structural part and the second structural part can be connected to one another permanently, relative to one another, so as to be movable relative to one another.
  • the components are received in an extended state and moves the structural parts with the component receptacles and the recorded components in the joining position toward each other and fixed with the coupling to each other.
  • the tensioning structure may comprise one or more further structural parts, which are or are permanently movable and fixable with one of the two structural parts mentioned, or which are or are each connected to a coupling of the type mentioned above.
  • the tensioning structure preferably consists only of the first and the second structural part, ie it is preferably in two parts.
  • the coupling halves are, as already mentioned, advantageously designed so that they can be brought into a coupling engagement by a linear movement.
  • the direction of the linear movement preferably coincides with the direction of the clamping force, with which the components in the joining position by means of the clamping structure toward each other, preferably directly against each other, are pressed.
  • the coupling halves are preferably shaped so that they tighten in the preparation of the clutch engagement, so to speak firmly claw, and thereby generate the clamping force.
  • the coupling halves preferably one forms a coupling finger and the other a coupling receptacle, which enter into the coupling engagement with each other.
  • the coupling may preferably form a plug / socket connection in the connected state of the coupling halves.
  • the coupling half has at least one engagement element with the coupling receptacle and supports this engagement element transversely to the direction in which the coupling halves are moved into the coupling engagement, d. H. transverse to the clamping direction, preferably perpendicular to the clamping direction or with an inclination.
  • the at least one engagement element is advantageously blockable in the clutch engagement.
  • the respective coupling half has, in such embodiments, at least one blocking element and supports this blocking element between a blocking position and a release position movable back and forth. In the blocking position, the blocking element prevents the at least one engagement element from moving out of the clutch engagement.
  • the clutch engagement is possible only in the release position of the blocking element.
  • the blocking and the release are advantageously effected by a controller, expediently an actuator control, for example purely mechanically or preferably electrically or pneumatically.
  • the invention also relates to a clamping device of a single one of the clamping device parts as such.
  • the tensioner part comprises either the first one Component holder with the first coupling half or the second component holder with the second coupling half.
  • the above statements on embodiments of the clamping device as a whole also apply with respect to the clamping device part.
  • the tensioner part preferably also comprises the structural part of the tensioning structure which is connected to the relevant component receptacle.
  • a clamping device comprising only one of the component receptacles, such as a clamping device only for flanging a peripheral edge of a component.
  • Beading may involve a roll hemming process, i. H. include a connection with another component, but can also be used only for forming alone.
  • the further component receptacle is preferably replaced by a hold-down device which presses the component to be processed into the flanging bed of the component receptacle.
  • FIG. 1 shows a clamping device of a first exemplary embodiment in a perspective
  • FIG. 3 shows a folding process
  • FIG. 4 shows a first half of the tensioning device
  • FIG. 5 shows a second half of the tensioning device
  • FIG. 6 coupling halves of the tensioning device
  • FIG. 7 shows the second half of the clamping device with a received component
  • FIG. 8 shows a joining station for a first joining method
  • FIG. 9 shows a clamping device of a second exemplary embodiment in perspective
  • Figure 1 shows a tensioning device, as it can be preferably used for a flying joining, in particular roll hemming, in a first embodiment.
  • the clamping device is used for clamping two components Bl and B2, which are fixedly connected to each other along its outer peripheral edge circumferentially in a joining process to form a joint assembly after joining.
  • the clamping device clamps the components Bl and B2 relative to each other in a joining position, which they occupy in the joint assembly after joining.
  • the components Bl and B2 are circumferentially joined in the tensioned state along its outer peripheral edge, preferably by Rollfalzen.
  • a single joining tool can perform a complete circulation.
  • the joining tool or the plurality of joining tools is stationarily arranged in a joining station, and the circulation is effected by a corresponding movement of the components Bl and B2 which are located in the joining position relative to one another.
  • a roll-folding process as a preferred example of such a joining process is the subject of DE 103 38 170 B4, which is referred to in this regard.
  • the clamping device comprises a first component receptacle 1 for the component Bl and a second component receptacle 5 for the component B2.
  • the components Bl and B2 are sheet metal structures.
  • the component Bl is an outer panel and the component B2 is an inner panel for a motor vehicle attachment, such as a door.
  • the component receptacles 1 and 5 are areal structures with a length and a width which are each several times larger than the thickness of the relevant structure.
  • the component receptacle 1 comprises a carrier, which is formed in the exemplary embodiment as a support plate and is provided in the figures directly with the reference numeral "1", and a fixedly connected to the carrier receiving bed 4, which is a folding bed in the preferred case of use of the roll creasing.
  • the receiving bed 4 forms an inside of the component receptacle 1, on which the component Bl abuts at least in an edge strip which forms the peripheral edge.
  • the component holder 1 further comprises a plurality of grippers 2, by means of which the component Bl can be carried hanging.
  • the grippers 2 protrude from an outer side of the component receptacle 1 through openings of the carrier and the Aufhahmebetts 4 and are arranged so that they can carry the component Bl hanging on the receiving bed 4 adjacent hanging.
  • the grippers 2 are suction pads, pneumatic suction pads in the exemplary embodiment, which can be acted upon either with negative pressure or positive pressure.
  • the component receptacle 1 comprises a positioning element 3, which is formed in the embodiment as a centering pin. The positioning element 3 protrudes from the outside of the component receptacle 1 through a section of the Aufhahmebetts 4 and projects beyond the inside of the component receptacle 1 in the direction of the second component receptacle 5.
  • FIG. 2 shows the tensioning device in a view of the second component receptacle 5.
  • the component receptacle 5 likewise has a support, which is formed by way of example as a support plate and is provided directly with the reference numeral "5" in the figures.
  • On the support a plurality of supports 6 and positioning 7a, 7b and 8 are arranged.
  • the recorded component B2 rests on the supports 6.
  • the supports 6 form a receiving bed 6 for the component B2.
  • the supports 6 can serve in secondary function also the positioning of the component B2 relative to the component holder 5.
  • the positioning elements 7a serve as a guide when placing the component B2, and the pin-shaped further positioning 7b serve the more accurate positioning of the component B2 relative to the component recording 5.
  • the positioning element 8 is used in cooperation with the positioning element 3 of the first Component recording 1 of the positioning of the component receptacles 1 and 5 relative to each other and is therefore formed in the embodiment as a pin receiving, in which the positioning element 3 enters when the component receptacles 1 and 5 moves toward each other in the illustrated joining position and the of Component recordings 1 and 5 formed component receiving device 1, 5 is closed.
  • the clamping device further comprises a clamping structure 10 with a first structural part 11, which is permanently connected to the component receptacle 1, and a second structural part 11, 12 which is permanently connected to the component receptacle 2.
  • the structural parts 11 and 12, 13 are connected by means of a releasable connection firmly together, hu shown connected state, the clamping structure 10 takes on the clamping force with which the components Bl and B2 are pressed against each other in a clamping direction X and so clamped in the joining position.
  • the clamping structure 10 has the form of a frame or double hoop which engages around the component receptacles 1 and 2 and the components Bl and B2 received therein at two opposite sides of the peripheral edge at a distance.
  • the tensioning structure 10 comprises a central joint element 14, from which two beam-shaped, straight arms, which together form the structural part 11, protrude outwards.
  • the structural member 11 and the hinge member 14 form a single rigid part.
  • the joint element 14 forms with a joint element 24 a swivel joint with a joint axis X pointing in the clamping direction X.
  • the joint element 24 projects centrally in the X direction from the outside of the component receptacle 1 and is rigidly connected thereto.
  • the component receptacle 1 is connected via the joint element 24 and a docking member 20 with a movable in space actuator, preferably the end of a robot arm.
  • the joint member 24 forms with the docking member 20, a connection joint 20, 24 as a further pivot joint with also the X-axis as a hinge axis.
  • the hinge element 24 is thus rotatable about the X-axis both relative to the tensioning structure 10 and the docking member 20.
  • the docking member 20 has a terminal 21 in the form of a connection flange.
  • the connection 21 serves for attachment to the actuator.
  • the terminal end of the actuator to which the docking member 20 is attached is rotatable about a Y-axis orthogonal to the X-axis.
  • the two axes X and Y are the two outermost axes of movement of the actuator and determine two degrees of freedom of rotation.
  • the jig as a whole is pivotable about the Y axis, and the component mounts 1 and 5 are rotatable about the X axis.
  • the structural part 11 is rigid via a connection 23, i. H. immovable, connected to the docking member 20.
  • a connection 23 comprises two angle elements which are each torsionally rigidly connected via a connecting ring with the joint element 22 and thus torsionally rigid with the docking member 20 and at the opposite end in each case with the structural part 11.
  • the connection to the structural part 11 may be a solid, permanent connection, for example a screw or cohesive connection, or more preferably a pure press connection.
  • the second structural part 12, 13 of the clamping structure 10 is rotatably connected in a rotary joint with the carrier of the component receptacle 5.
  • the swivel joint can be seen in particular in FIG.
  • the carrier of the component holder 5 forms one of the hinge elements of this rotary joint.
  • the other hinge element is designated 15 and is centrally and rigidly arranged on the boom 12.
  • the X-axis is also the hinge axis of this joint 5, 15.
  • the second structural part 12, 13 is U-shaped with a continuous crossbar, which forms a parallel to the structural part 11 boom 12 and up over the two furthest apart points the peripheral edge of the component receptacles 1 and 5 and components Bl and B2 extends.
  • each a connecting beam 13 projects vertically from and to the structural part 11.
  • the structural part 12, 13 thus has the shape of a "U" open to the structural part 11. In the connected state, the structural part 11 closes the open side of the U-shaped structural part 12, 13.
  • the structural parts 11 and 12, 13 are rigidly connected to each other by means of an automatically closable and automatically releasable coupling so that they can absorb the required clamping force for clamping the components Bl and B2. More specifically, the Clamping force generated by the clamping structure 10 and passed through the joints 5, 15 and 14, 24 in the component receptacles 1 and 5. The component receptacles 1 and 5 are stretched toward one another in the clamping direction X with the clamping force thus produced and with their inner sides facing one another, so that the components Bl and B2 are pressed sufficiently firmly against each other over their peripheral edge.
  • the coupling consists of two first coupling halves 16, one of which is arranged at one of the two outer ends of the structural part 11, and two second coupling halves 17, one of which is arranged at the two in the released state free ends of the structural part 12, 13 ,
  • the clamping force is generated by the clutch engagement of the first two coupling halves 16 and the respectively associated second coupling half 17.
  • the structural part 11 is pressed by the interaction of the coupling halves 16 and 17 in the clamping direction X against the structural part 12, 13.
  • the structural part 11 thus becomes a yoke.
  • the tensioning structure 10 provides two closed power flow circuits located in the central region in the junctions of the tensioning structure 10 and the component receptacles 1 and 5, i. meet in the joints 14 and 15, from there via a respective base in the component receptacles 1 and 5 are introduced and distributed and further separated the two brackets of the tensioning structure 10, i. pull each one of the pairs of coupling halves 16 and 17.
  • Figure 3 shows the geometry of the peripheral edge of the components Bl and B2 in a cross section.
  • the component Bl has circumferentially on an angle to the component B2 flange, which is folded over completely during folding against a sheet edge of the component B2 and so a solid rabbet joint is generated.
  • the flange of the component Bl is successively folded in several folding steps, for example two or three folding steps.
  • the initial geometry is shown in solid line, an intermediate step and the state after complete handling are indicated by dashed lines.
  • For a two-stage folding required folding rollers 30a and 30b are also sketched in dashed lines.
  • the tensioning structure 10 is in two parts, and the two parts, namely the structural part 11 with the joint element 14 on the one hand and the structural part 12, 13 with the joint element 15 on the other hand, are releasably connected to one another via a coupling.
  • the two clamping device parts are on the same clutch detachable from each other and separately handled in the dissolved state.
  • FIG. 4 shows the first clamping device part in a perspective view of the inside of the receiving bed 4.
  • the component Bl is indicated in dashed line, but shown transparent.
  • the receiving bed 4 by cross-gripper 2, which are arranged distributed over the inside of the receiving bed 4.
  • FIG. 4 also shows the second coupling halves 16 which are open towards the tensioning direction X.
  • the coupling halves 16 each have a docking side 16a which faces in the tensioning direction X.
  • the coupling halves 16 each have on their docking side 16 a on a plate-like, transversely to the clamping direction X extending docking surface for each assigned to the coupling halves 17.
  • Figure 5 shows the second clamping device part separately in a perspective view of the inside of the component receptacle 5.
  • a plurality of the supports 6 are arranged, on which the second component B2 can be placed.
  • the carrier thus forms with the supports 6 a receiving bed 6 for the second component B2.
  • the positioning element 8 is formed for cooperation with the positioning element 3 formed as a centering pin as a pin recording.
  • the component holder 5 has further positioning elements 9, which serve to position the component holder 5 in a tray of a joining station.
  • the positioning elements 9 are exemplified as holes in the carrier.
  • corresponding positioning counter-elements are arranged in the exemplary embodiment towering positioning pins, which in the positioning Retract the component holder 5 in the tray in the holes.
  • the second clamping device part is placed in the storage of the joining station with its underside on a base in a predetermined position, so that it rests on the base and is fixed in five degrees of freedom of movement by means of the structural part 12, 13.
  • the determination of the sixth degree of freedom, in the embodiment of the rotational mobility of the component receptacle 5 relative to the structural part 12, 13, is effected by the interaction of said positioning elements 9 and positioning counter-elements.
  • the positioning elements 9 and the positioning counter-elements through holes and pins, and the outer edge of the carrier of the B auteil- recording 5 can be used as a positioning of the second clamping device part; in the tray a corresponding stop for the carrier would be provided.
  • the 5 furthermore shows the two second coupling halves 17 with a view of their docking side 17a.
  • the two coupling halves 17 each have a docking surface for the associated coupling half 16 on their docking sides 17 a.
  • the docking surfaces of the coupling halves 17 are also plate-like and extend transversely to the clamping direction X.
  • Figure 6 shows a first coupling half 16 and a second coupling half 17 detached from the clamping structure 10 in comparison side by side.
  • the two cooperating other coupling halves 16 and 17 correspond to those shown in FIG.
  • the coupling half 17 has a pin-shaped or bolt-shaped coupling finger 19, which protrudes on the docking side 17a in the clamping direction X from the docking surface.
  • the coupling finger 17 is arranged centrally with respect to the docking surface. It has in a central region circumferentially on a thickening 19a.
  • the thickening 19a forms a tangible projection for the first coupling half 16.
  • the coupling half 16 has a coupling receptacle 18 for the coupling finger 19.
  • the coupling receptacle 18 is cylindrical according to the shape of the coupling finger 19 and open at the docking side 16a, so that the coupling finger 19 can move from the component receptacle 5 in the clamping direction X in the coupling receptacle 18 to make the clutch engagement and thereby the two Clamping parts firmly together.
  • the coupling receptacle 18 is also arranged centrally with respect to the docking surface of the coupling half 17.
  • the coupling half 16 further comprises a plurality of engagement elements, for example, balls, pins or bolts, transversely to the clamping direction X, preferably perpendicular to the clamping direction X, are movably guided. In the coupling receptacle 18 side holes are visible.
  • Each of the holes in the clutch engagement projects in each case one of the engagement elements into the cavity of the coupling receptacle 18 in radially.
  • the engagement elements engage behind the coupling formed by the thickening 19a projection and hold the coupling finger 19 so in the coupling receptacle 18.
  • the thickening 19a widens in the clamping direction X of the second component recording 5 radially, either simply conical or preferably trumpet-shaped progressive, so that the coupling finger 19 is drawn by the engaging engagement elements of the coupling half 16 in the clamping direction X of the component receptacle 5 in the coupling receptacle 18 and the two clamping device parts, in particular the two component receptacles 1 and 5, in their respective clamping direction X are stretched towards each other.
  • the docking sides 16a and 17a of the coupling halves 16 and 17 are further formed so that the docking surfaces are pressed against each other by the coupling engagement. In this way, a defined clamping force is introduced into the component receptacles 1 and 5 by means of the clutch engagement.
  • the distances between the engaging elements and the docking surface of the coupling halves 16 and the projection 19 a and the docking surface of the coupling half 17 are selected accordingly.
  • the engagement elements of the coupling half 16 are blocked or locked in the coupling engagement.
  • the two coupling halves 16 each have a blocking element for the engagement elements for this purpose.
  • a plurality of blocking elements per coupling half 16 may be provided.
  • the blocking element is received in the respective coupling half 16, for example in the clamping direction X axially reciprocatingly movable and acted upon at both end faces with a pneumatic force.
  • the blocking element is selectively moved to a blocking position or a release position.
  • the blocking element forms a two-sided acted upon piston. In the blocking position it locks the engagement elements of the respective coupling half 16 in the clutch engagement, and in the release position, there are the engagement elements free, so that the clutch engagement can be solved.
  • the coupling halves 16 are supplied via the structural part 11 with the required compressed air.
  • the blocking element may for example be conically shaped in the tensioning direction X and in the blocking position with its thicker region in the axial direction Covering the engagement elements lie, while it is brought in the release position with its thinner portion on the axial height of the engagement elements and the engagement elements can therefore yield to release the clutch engagement radially outward.
  • the blocking can also be effected electrically instead of pneumatically.
  • the compressed air supply is omitted in such versions; Instead, an electric drive for actuating the blocking elements is provided per coupling half 16 and is controlled by appropriate actuating signals, preferably by an actuator control.
  • FIG. 7 again shows the second clamping device part, but with the component B2 resting thereon.
  • the second clamping device part is deposited in the tray of the joining station and can be received by the first clamping device part with the already picked-up component B2.
  • the second clamping device part is stored in the tray by means of the boom 12 and the positioning elements 9 in a defined position, so that the actuator with the first clamping device part, the stored second clamping device part programmatically approach and record.
  • the actuator moves the first clamping device part in its clamping direction X, so that the coupling fingers 19 of the two coupling halves 17 retract into the coupling mounts 18 and are engaged behind by the engagement elements of the first coupling halves 16.
  • the clutch engagement thus produced is blocked by actuation of the blocking elements of the coupling halves 16, so that the firm connection of the clamping device parts is made.
  • the second fixture part is used in the joining station not only the placement of the components B2 and thus the loading of the joining station, but is used in a further function as a removal device for the created joint assembly.
  • FIG. 8 shows, by way of example, a joining station in a schematic representation for carrying out a first joining process.
  • a robot In the joining station, a robot is arranged, which has a fixed, about a vertical axis rotatable base 27 and projecting from the base 27 robot arm 28 which forms a chain of rigid joint elements and the hinge elements pairwise connecting joints extending from the base 27 to extends to a last of the hinge elements at the end of the robot arm 28.
  • the first clamping device part by means of the docking member 20 is attached ( Figures 1 and 2), so that the hinge member 24 is the last hinge member of the robot arm 28.
  • Arranged around the robot base 27 are four substations F1 to F4, which the robot approaches one after the other in one revolution.
  • first substation Fl a plurality of first components Bl are arranged one above the other.
  • the robot takes up the uppermost component Bl with the first clamping device part by positioning the first clamping device part relative to the component Bl and activating the grippers 2 after the positioning, so that the component Bl is held suckingly on the receiving bed 4.
  • the robot continues to turn to the second substation F2.
  • the second substation F2 is the shelf for the second fixture part.
  • the second tensioner part has already received a component B2.
  • the relevant component B2 was previously stored either by machine or by hand on the receiving bed 6 of the second component holder 5.
  • the robot docks the first tensioner part to the second tensioner part, namely the first two coupling halves 16 on the two second coupling halves 17, and blocks the two locking elements of the coupling halves 16 so that the firm clutch engagement is established.
  • the two components Bl and B2 are now clamped in the joining position relative to each other.
  • the robot moves the clamping device with the components located in the joining position Bl and B2 to the third substation F3, the actual joining station.
  • a joining tool 30 preferably a Rollfalzwerkmaschine, stationary.
  • the robot positions the clamping device so that the joining tool 30 attaches to a specific point of the joint to be created joint.
  • the robot moves the clamping device in a predetermined manner so that the peripheral edge is pulled in a closed circuit so to speak by the joining tool 30.
  • This movement of the tensioning device and corresponding to the tensioned components Bl and B2 comprises in particular a rotational movement of the tensioning device about the X-axis (FIGS. 1 and 2).
  • the joining tool 30 can therefore move in a closed circulation along the peripheral edge of the components Bl and B2 relative to the components Bl and B2 unhindered by the clamping structure 10.
  • the joining tool 30 is always located at a location between the two connecting bars 13 and the coupling halves 16 and 17 during the joining process. These outer areas of the clamping structure 10 run before or after the joining tool 30, from the point of view of FIG Component recordings 1 and 5 viewed from.
  • two tools 30 may each be stationarily arranged in the station F3 and act on mutually opposite sides of the peripheral edge.
  • the robot moves the jig into the last, fourth substation F4.
  • the tensioning device is positioned and deposited on the underside of the second tensioner part in station F4. After settling, the robot disengages the clutches 16, 17 and lifts the first chuck portion upwardly from the offset second chuck portion. While the robot executes the described duty cycle again, the joining compound Bl and B2 formed from the components Bl and B2 is taken out of the second fixture part.
  • the second clamping device part is now available again for receiving a new second component B2. If the cycle times in the individual stations F1 to F4 allow it, the same second clamping device part is positioned again in the second station F2 for the next operating cycle. If the cycle times of the individual stations do not permit this, the station has another second clamping device part in order to use the two clamping device parts alternately.
  • Figures 9 and 10 show a tensioning device in a modified second embodiment.
  • the component receptacles 1 and 5 correspond to those of the first embodiment.
  • the clamping structure 10 forms only a simple bracket, which surrounds the peripheral edge of the component receptacles 1 and 5 as each half of the double hanger of the first embodiment.
  • the clamping structure 10 corresponds in terms of mechanics and geometry of each of the two halves of the double bow of the first embodiment. This is especially true for the second embodiment only a total of two coupling halves 16 and 17th
  • the tensioning device of the second embodiment comprises a separate drive 26 to effect the relative movement between the tensioning structure 10 and the tensioned component receptacles 1 and 5.
  • the drive 10 is a pneumatic linear drive consisting of a cylinder and a piston with piston rod.
  • the cylinder is fastened to the component receptacle 1, and the piston rod is fastened to the tensioning structure 10 opposite to the structural part 11 in the exemplary embodiment.
  • the attachment is stationary in each case, but rotatably designed so that the drive 26 can compensate for the pivotal movements of the clamping structure 10 that can be generated by it.
  • the relative movement is not effected by a drive of the actuator, but by a separate drive 26 of the tensioning device.
  • the clamping device can thus be attached to the actuator via the hinge element 24, which is rigidly connected to the component receptacle 1.
  • the joint 14, 24 still exists.
  • the component receptacles 1, 5 on the one hand and the tensioning structure 10 on the other hand are movable relative to each other, in the embodiment rotatably.
  • the pneumatic drive 26 can be replaced by an electric drive.
  • the clamping device of the second embodiment can be used apart from the differences described in the same way as the clamping device of the first embodiment and used in a joining process as exemplified.
  • FIG. 11 shows, by way of example, a joining station in a schematic representation for carrying out a second joining method.
  • the joining station comprises only two substages Fl and F2.
  • the stations Fl of the two embodiments are the same.
  • the second component receptacle 5 is arranged stationary immovably in the substation F2. Apart from the stationary arrangement of the component receptacle 5, the component receptacle 5 and the structural part 12, 13 can form the described second tensioning device part.
  • the robot 27, 28 corresponds to the robot of the joining station of FIG. 8 up to and including its penultimate hinge element 20-22.
  • a hinge element 25 which is modified relative to the hinge element 24 constitutes the last hinge element of the robot arm 28 as viewed from the base 27.
  • the hinge element 25 is forked.
  • the component holder 1 is attached.
  • the arrangement of the joint element 25 and component receptacle 1 corresponds to the described combination of joint element 24 and component receptacle 1.
  • a joining tool 31 is arranged on the other fork end.
  • the joining tool 31 may correspond to the joining tool 30. It comprises at least one folding roller and preferably also a counter roller for the folding roller, as indicated in FIG. 11.
  • the joining tool comprises at least one further folding roller.
  • the at least two folding rollers in such a development are arranged inclined to each other at the fork end and can be selectively brought into working position.
  • a Rollfalzkopf is described as it can be arranged in particular at the fork end of the hinge member 25.
  • the end of the fork can also again as Be formed joint to selectively bring several folding rollers in the working position can.
  • folding rollers can be used with advantage also the joining tool described in EP 06 001 600 at the fork end; this joining tool requires no additional joint at the fork end, since it comprises a plurality of folding rollers, which are arranged in the same work before each other and trailing.
  • the first tensioning device part may be either the first tensioning device part of FIGS. 1 to 7 or the first tensioning part of FIGS. 9 and 10, the only difference being that a connection 23 rigidly connects the first structural part 11 to the articulation element 25 and not to the first Joint element 20-22.
  • the connection 23 is a releasable connection and designed so that the robot 27, 28 can solve them automatically.
  • the joining cycle starts again in the substation Fl, in that the robot 27, 28 with the component receptacle 1 receives the next component Bl there.
  • the robot 27, 28 moves the component holder 1 with the picked-up component Bl into the substation F2 and docks the first clamping device part by means of the coupling halves 16 and 17 on the second clamping device part.
  • the connection between the joint member 25 and the component receptacle 1 is released.
  • the connection 23 is also solved.
  • the mutually tensioned component receptacles 1 and 5 are now stationary and absolutely immovable in the substation F2.
  • the robot 27, 28 moves the joining tool 31 to the starting position for the joining process and then moves the joining tool 31 along the peripheral edge to make the seaming connection.
  • the clamping structure produced by the coupling engagement of the coupling halves 16 and 17 is also moved in coordination with the movement of the joining tool 31, as already described with reference to the other exemplary embodiments, so that the joining tool 31 in a closed circulation the peripheral edge of the components Bl and B2 can depart.
  • the movement of the tensioning structure can by means of one in the second Clamping device part arranged drive can be effected.
  • the drive can, for example, act directly on the joint element of the component receptacle 5, which forms the joint 5, 15.
  • the rotor of a rotary motor preferably electric rotary motor, be torsionally rigidly connected to the hinge element of the component receptacle 5.
  • the joining tool 31 After joining, the joining tool 31 is moved out of the working position and the joint element 25 is again connected to the component receptacle 1.
  • the coupling engagement of the coupling halves 16 and 17 is released, and the component receptacle 1 lifted off the component receptacle 5.
  • the joint assembly formed from the components Bl and B2 is now free on the component receptacle 5 and is taken from the component receptacle 5, while the robot 27, 28, the first fixture already moves again for the next cycle to Substation Fl.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Clamps And Clips (AREA)

Abstract

L'invention concerne un dispositif de serrage pour assembler des éléments (B1, B2). Ledit dispositif de serrage comprend; a) une première partie de dispositif de serrage comportant une première cavité de réception d'élément (1), pour un premier élément (B1) et un premier demi-accouplement (16), solidarisé avec la première cavité de réception d'élément (1); b) une seconde partie de dispositif de serrage comportant une seconde cavité de réception d'élément (5) pour un second élément (B2) et un second demi-accouplement (17), solidarisé avec la seconde cavité de réception d'élément (5); c) au moins une des cavités de réception d'élément (1, 5) constitue un plateau de réception (4, 6) pour l'élément (B1, B2) qui lui est associé; et d) lorsque les demi-accouplements (16, 17) sont en prise mutuelle d'accouplement, les cavités de réception d'élément (1, 5) sont contraintes mutuellement l'une sur l'autre, dans une position d'assemblage, dans un sens de serrage (X) et la cavité de réception d'élément (1, 5) comportant le plateau de réception (4, 6) fait face à l'autre cavité de réception d'élément (1, 5).
PCT/EP2007/002746 2006-03-28 2007-03-28 Dispositif de serrage pour loger et serrer des éléments Ceased WO2007110236A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200610014282 DE102006014282A1 (de) 2006-03-28 2006-03-28 Spannvorrichtung zum Aufnehmen und Spannen von Bauteilen
DE102006014282.9 2006-03-28

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WO2007110236A1 true WO2007110236A1 (fr) 2007-10-04

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