DE202008014886U1 - joining device - Google Patents

Abstract

End effector (10) for joining connecting elements (6), in particular rivets, wherein the end effector (10) has a frame (12) with a processing device (14) and a setting device (18) for connecting elements (6), characterized in that the Setting device (18) formed adaptable to various types of connecting elements (6) and interchangeably on the frame (12) is arranged.

Description

The The invention relates to an end effector for joining fasteners, in particular rivets, having the features in the preamble of the main claim.

Such an end effector is from the DE 690 01 202 T2 known. It is used for setting rivets on workpieces and includes a frame with a drilling unit and a setting device for the rivet. The end effector is adapted to a particular type of rivet.

The US 4,885,836 A shows a riveting method and a riveting device with cooperating multi-axis robots and uni-functional end effectors for riveting aircraft parts, z. B. wing elements. Here, a parallel processing with strict separation of drilling and connecting operations takes place, in which all rivet holes are first made and then in a second operation, the insertion and hitting the individual rivets in the prepared rivet holes. The robots each have a robotic hand with a coupling assembly carrying various interchangeable tails or end-effectors. The end effectors perform only one single action at one time, namely drilling, deburring, setting rivets and striking rivets. If, after drilling and deburring all rivet holes, the rivets are set and beaten in the next pass, the end-effectors must be completely replaced. The end-effectors provided for riveting or otherwise connecting are adapted to the respective connecting element and are not able to handle different types of rivets or other connecting elements. When changing the type of connecting element, therefore, a complete change of the associated end effectors is necessary. To change the end effectors, the robots must each move to a tool magazine located at the end of their travel axis and change tools there, with the complete end effector being replaced.

The US 4,762,261 A and DE 35 35 761 C1 relate to a riveting machine for curved cup-shaped workpieces, which are designed as a fuselage frame with stringers. The riveting machine can handle countersunk rivets and fitting rivets with screwed connections. It has an inner riveting system with a rivet and an outer riveting system with a turret suitable for multiple machining functions that injects drilling and sinking, injecting sealant, performing rivet feeding and counterstay, etc. For the feeding and holding of rivets a hole is provided in the turret. Due to the compact and indivisible design, the complete turret must be exchanged during a rivet change.

It Object of the present invention, a better and in particular show more flexible connection technology.

The Invention solves this problem with the features in the main claim.

Of the claimed end effector can be functionally flexible and in short time and in a simple way to different types of fasteners, z. B. rivets, can be retrofitted. Here it is possible replace only parts of the end effector, in particular the setting device. Of the Apparative effort can be reduced and the change accelerated become. It is particularly favorable here, the setting device to form a multi-part and from a frame-fixed base unit and a changeable and type-specific setting unit. This can be done via a docking the necessary Supplies for the setting unit to be connected.

advantageously, can be an external supply unit for several in the type different fasteners may be present with the base unit is connected, wherein the type-specific setting unit each required connecting element is supplied.

Of the End effector is particularly suitable for connection with a multi-axis manipulator, in particular a Gelenkarmroboter or a Cartesian robot. During the joining process can when changing the type of connector quickly and easily the Set unit be exchanged, which without larger Business interruption is possible. The other components of the end effector can be left. This is simplified and also speeds up the conversion process. With an end effector can use a variety of different types of fasteners to be edited.

Of the claimed end effector has a rotary unit, on which a processing device, z. B. a drilling unit, the setting device and a control device arranged side by side star-like distributed in the circumferential direction are and are brought by a pivoting movement in the working position can. This is in a fast, safe and accurate way possible.

The end effector advantageously has a pressing device, with which the workpieces to be joined are pressed together. The rotary unit can be rotatable about a feed axis of the pressing device. The joining axis can run parallel to these axes. The turntable has an independent meaning and can also be connected used with other end effectors without interchangeable setter.

Of the End effector may have a control device, which may several Can fulfill tasks. For one thing, it can be correct Orientation of the end effector with respect to the surface of the serve the joining workpiece. For this can z. B. suitable sensors are used. In the preferred Embodiment, a measuring camera is used by a passage opening of the pressing device, z. B. the central opening of a swiveling and after the workpiece surface aligning pressure sleeve bush, look. By comparing the location and shape of the images of different Make the passage opening, the position alignment the end effector by means of a suitable positioning device, the z. B. associated with the manipulator can be set exactly.

The Measuring camera can also measure a receiving opening, in particular a bore, for the connecting element serve in the workpieces. Any errors can detected and corrected before setting the connector z. B. by a change and the use of another suitable Connecting element. The measuring camera can also be used with multipart Connecting elements z. B. from a bolt part and a counterpart exist, the position of the counterpart on the other side of the workpiece with Capture camera view through the receiving opening and, if necessary, via another positioning device can be corrected. For the counterpart can be used another end effector.

The claimed joining device with one or more end effectors and associated handling devices, in particular cooperating robots, has the advantage of being a joining of the same or different fasteners in fully automatic Way of any and especially complicated shaped Workpieces can be performed. Special Advantages arise with curved workpieces, z. B. skins of aircraft fuselages or other aircraft parts which rely on proppants, e.g. B. curved frame, must be joined. The workpieces can also be problematic and sensitive Materials, eg. As special plastics or the like., Consist. The manual work that used to be common in aircraft construction can largely be achieved omitted. The claimed joining device can faster the joining processes and more precise than a worker perform and is also able to handle heavyweight end-effectors. The claimed joining device only needed low on-site requirements, eg. B. a pedestal for support and possibly for handling the handling equipment. Another Process optimization can be achieved by parallel use of multiple joining devices be achieved.

The claimed joining device is highly flexible and can for any type of one-piece or multi-part fasteners be used. In particular, the aforementioned two-part Rivets to be used with bolt part and counterpart, wherein the counterpart under exact clamping of the workpieces and set with pressure on the bolt part and in a suitable manner can be fixed, for. B. by crushing. The other end effector this may have a rotation lock to the joining process to make safer and twisting of a connecting element part, in particular of the bolt part to prevent. On the other hand, too one-piece rivets are processed, with only one handling device can be used with an end effector, its setting can be converted accordingly. Instead of rivets can also other fasteners, eg. As screws and nuts, pinch or the like. Use find.

In The dependent claims are further advantageous embodiments of the invention.

The The invention is for example and schematically in the drawings shown. In detail show:

1 a joining device with two robots and two end effectors for riveting arched workpieces,

2 FIG. 2: a perspective view of an end effector with a multi-part setting device and a deposited setting unit, FIG.

3 : the end effector of 2 with mounted unit,

4 : a broken and longitudinal section of a pressing device and a control device for aligning the effector with respect to the workpiece surface,

5 : a broken and longitudinal section of a control device for the position detection of a counterpart on the other side of the workpiece,

6 : A perspective view of the two end effectors of 1 at workpieces shown broken off,

7 : the two end-effectors of 6 in another perspective view,

8th a perspective view of a multi-part connecting element and

9 to 11 : a riveting process in three steps

The invention relates to an end effector ( 10 . 11 ) for joining fasteners ( 6 ). The invention further relates to a one or more end effectors ( 10 . 11 ) formed joining tool ( 9 ) and a joining device ( 1 ) as well as a joining method.

The workpieces to be joined ( 2 . 3 ) can be of any number, type, shape and size. They can also consist of any materials that may be the same or different in the workpiece pairing.

In the illustrated embodiment of 1 is a part of an aircraft fuselage shown. The one large-scale workpiece ( 2 ) is z. Example, a shell or outer skin of the hull of plastic or light metal, which may be flat or curved as in the embodiment shown in one or more axes. The second workpiece ( 3 ) can z. As a carrier made of metal, in particular light metal, here z. B. a curved bulkhead, which along the curvature on the inside of the shell ( 2 ) by connecting elements ( 6 ) is fixed. The second workpiece ( 3 ) can z. B. also a longitudinally extending stiffening element, for. B. a so-called. Stringer, his.

In addition, any other configurations and arrangements of the workpieces ( 2 . 3 ) possible. In particular, three, four or more workpieces ( 2 . 3 ). With the end effector ( 10 ) and the joining device ( 1 ) can on the other hand joining work on a single workpiece ( 2 ), wherein z. B. bolt-shaped connecting elements ( 6 ) plugged in and be added so far.

The connecting elements ( 6 ) can be one-piece or multiple pieces. They can be of any type and size. In the illustrated embodiment, the connecting elements ( 6 ) formed as a rivet. Alternatively, it may be nuts with nuts, pinch bolts or the like in any other way configured fasteners. 8th shows a multi-part rivet ( 6 ), which consists of a bolt part ( 7 ) with a widened end conical head and a z. B. hollow counterpart ( 8th ) exists, the z. B. as a nut, as a closing ring, as a deformable squeeze ring (so-called. Swaged collar) or as a so-called. Nut is formed. The bolt part ( 7 ) At the front end of the shaft, a peripheral thread, a wave profile or the like. Other of the basic shape, for. B. cylindrical shape, deviating contour to form a positive locking when crimping or mounting the counterpart ( 8th ) exhibit. The sleeve-like counterpart ( 8th ) may also have a thread, a wave profile or the like. On the inner wall of the bore.

The bolt part ( 7 ) can at the front end of a frontal opening ( 53 ), z. B. a prismatic cross-section blind bore, in particular a hexagon socket, have. Here, in the manner described below, a rotation lock ( 52 ), which are used for a rotational position fixation of the bolt part ( 7 ) in the joining process. At an end opening ( 53 ) can also be a projecting small bolt portion, z. As an external hexagon, be present.

Furthermore, it is possible, in a modification of the embodiment of 8th the bolt part ( 8th ) with two thread or wave-like contours and a constriction in between. As a result, a clamping shaft is formed, on which another sleeve-like counterpart ( 8th ), against the workpieces ( 2 . 3 ) and thereby fixed by squeezing or the like., Wherein the support is made on the front shaft end, which then breaks at the constricted predetermined breaking point and can be removed.

Instead of a squeeze fixing is also a detent or clip connection by correspondingly shaped element parts ( 7 . 8th ) with locking rings or locking lugs possible. Furthermore, a material or adhesive fixation by gluing, welding or the like. Take place.

In the rear, near the head shaft area, the bolt part ( 7 ) have a receiving area for a sealing means (not shown), which the rivet opening ( 15 ) with inserted rivet ( 6 ) and possibly also the rivet ( 6 ) glued. 9 to 11 illustrate in a sectional view of this installation position.

The joining device ( 1 ) is used to join one or more workpieces ( 2 . 3 ) with said connecting elements ( 6 ), z. B. the rivets shown and has at least one handling device ( 4 . 5 ) with an end effector ( 10 . 11 ) for performing the joining process. For one-piece fasteners ( 6 ), z. B. rivets or blind rivets, a single end effector is sufficient ( 10 ) and a handling device ( 4 ). At the other handling device ( 5 ) may alternatively be attached a counter-holder. The one or more end effectors ( 10 . 11 ) form a one- or multi-part joining tool ( 9 ).

1 shows the formation of the joining device ( 1 ) together with joining tool ( 9 ) for a multipart connecting element ( 6 ), z. B. the in 8th shown rivet with the bolt ( 7 ) and its counterpart ( 8th ). With one end effector ( 10 ) the bolt part ( 7 ) in the workpieces ( 2 . 3 ) set, possibly before the Receiving opening or bore ( 15 ) with the same end effector ( 10 ) is created. The bolt parts ( 7 ) are z. B. from the outside through the shell ( 2 ) in a countersunk bore ( 15 ), with her head flush with the outside of the shell ( 2 ) completes. The counterpart ( 8th ) is transmitted from the other end effector ( 11 ) and its handling device ( 5 ) handled on the opposite side of the workpiece and on the bolt part ( 7 ).

The handling device ( 4 . 5 ) may be formed in any suitable manner. It can have one or more axes of motion. In the exemplary embodiment shown, the one or more handling devices ( 4 . 5 ) are designed as multi-axis manipulators. This can be done in 1 shown articulated arm robot with six rotatory axes and a multi-axis and z. B. consisting of three rotary axes robot hand, the articulated arm one or more additional axes, z. B. the in 1 may have shown. In another embodiment, not shown, the manipulator ( 4 . 5 ) be designed as a Cartesian robot. The handling device ( 4 . 5 ) can also be designed in another way and can have any number and combination of rotational and / or translational axes.

In a multiple arrangement of handling devices ( 4 . 5 ), in particular robots, they may be coupled together in a master-slave relationship or as cooperating robots and act with their end-effectors ( 10 . 11 ) in the joining process in a mutually coordinated manner together. The handling devices ( 4 . 5 ) can also be controlled together, z. B. from the robot control of a robot ( 4 ), which the bolt parts ( 7 ) puts.

In the arrangement of 1 are the workpiece parts ( 2 . 3 ) in a tensioning device ( 54 ), which is shown here schematically as a support frame. In the concrete embodiment of a joining device ( 1 ) for a fuselage can be made from a shell ( 2 ) and a plurality of frames ( 3 ) existing shell elements with the clamping device ( 54 ) may be held in a turning device which rotates the fuselage as needed to allow the joining device (15) equipped with a limited working range (Fig. 1 ) all joints on the hull and in particular the entire circumference of the outer skin ( 2 ) can reach. The handling devices ( 4 ) are arranged on a pedestal, not shown, and can move along this on the fuselage longitudinal axis. If necessary, they can also be moved transversely to the longitudinal axis during fuselage rotation. In modification of the representation of 1 several joining devices ( 1 ) may be arranged one behind the other in the fuselage longitudinal axis.

The handling devices ( 4 . 5 ) each handle at least one end effector ( 10 . 11 ). Both end-effectors ( 10 . 11 ) have a frame ( 12 . 44 ), which at a suitable location, for. B. on the back, a connection ( 13 ) for the fixed or detachable connection with the handling device ( 4 . 5 ), z. B. with the output flange of a robot hand having. At the connection ( 13 ) may be interposed a controllable change coupling, the handling device ( 4 . 5 ) a stand-alone, automatic change of the end effector ( 10 . 11 ) allowed. In the work area for this purpose a magazine (not shown) may be present.

2 and 3 such as 6 and 7 show the end effector ( 10 ) in different representations. It serves in the aforementioned manner for setting the one-piece fasteners ( 6 ) or the bolt parts ( 7 ) of multi-part fasteners ( 6 ). The connecting elements ( 6 ) can be detected at the end effector ( 10 ) be stored. In the embodiment shown, an external supply device ( 39 ) for fasteners ( 6 ) present at a suitable location, eg. B. at the handling device ( 4 ) and with the end effector ( 10 ) is connected via a hose or other suitable transport route. In the embodiment shown, the end effector ( 10 ) and the joining device ( 1 ) flexible and can be several different types of fasteners ( 6 ) to process. The end effector ( 10 ) can be adapted thereto in the manner described below. In the supply facility ( 39 ) Several different types can be stored and selectively on the transport route, z. B. a hose, the end effector ( 10 ). For this purpose, the supply device ( 39 ) have a corresponding conveyor, for. B. a pneumatic conveyor. The selection of the required and supplied element type takes place in the supply device ( 39 ) and z. B. controlled by the common robot controller.

The type differences of the connecting elements ( 6 ) can be of any kind. It can be z. B. different sizes of the same design of a connecting element ( 6 ), z. B. of in 8th shown rivet ( 6 ) or bolt part ( 7 ), act. Furthermore, the type differences can be one-piece or multi-part fasteners ( 6 ) and also different basic forms of connecting elements ( 6 ), z. As rivets, screws, bolts or the like., Affect.

In the frame ( 12 ) of the end effector ( 10 ) is at least one setting device ( 18 ) for a connecting element ( 6 ) and in particular its bolt part ( 7 ). In addition, other components may be present, for. B. a processing device ( 14 ), a pressing device ( 16 ) and a control device ( 20 ). These additional components may be omitted in whole or in part or replaced by other end-effectors (not shown).

If from the joining device ( 1 ) several different types of connecting elements ( 6 ), an adaptable design of the setting device and its replacement during a type change of the connecting element ( 6 ). The setting device ( 18 ) can be changed or converted as a whole or in parts, whereby the end effector ( 10 ) at the handling device ( 4 . 5 ) can remain. This exchangeable or convertible design of the setting device ( 18 ) is possible in different ways.

In the illustrated embodiment of 2 and 3 is the setting device ( 18 ) formed in several parts and consists of a base unit ( 32 ) with the frame ( 12 ) and remains there during the conversion and from a type-specific setting unit ( 33 ), which is replaced when a type change. 2 shows the setting unit ( 33 ) in a stored position.

The base unit ( 32 ) can with the frame ( 12 ) be connected firmly or movably. In the embodiment shown, it is on a rotary unit (described below) ( 21 ) arranged. The base unit ( 32 ) has a supply connection ( 38 ) in the manner of a multiple interface for connection to the aforementioned external supply device ( 39 ) on. Here are several hoses or transport lines in parallel for the different types of fasteners ( 6 ) arranged. The base unit ( 32 ), an applicator device ( 19 ) for a sealant, which on the bolt part ( 7 ) is applied before setting. The base unit ( 32 ) may also have a feed in the joining direction or axial direction, this direction with the axis of rotation described below ( 22 ) and a feed axis of the pressing device (also described below) (US Pat. 16 ) can coincide or runs parallel.

The base unit ( 32 ) and the setting unit ( 33 ) have a docking unit ( 36 ) and an exchangeable coupling ( 37 ) for their detachable connection. The change coupling ( 37 ) is z. B. designed in the manner of a mechanical change coupling for robot hands and is automated or remotely controllable. The base unit ( 32 ) and the setting unit ( 33 ) form-fit mating male and female coupling parts. The docking unit ( 36 ) is used to close frame-fixed on the base part ( 32 ) connected line connections and has couplings for equipment, eg. As power, control and signal currents, fluids, etc. on.

The setting unit ( 33 ) has a frame ( 34 ) with a suspension ( 35 ) for positioning and placement in a magazine (not shown). It also has a setting head ( 40 ) connected to at least one respective type of connecting element ( 6 ) can be adjusted. The setting head ( 40 ) can be extended in the joining direction shank with an end-side receptacle, for. B. a suction cup, for a connecting element ( 6 ), in particular the head of a bolt part ( 7 ), exhibit.

At the setting head ( 40 ) can be at a suitable location, for. B. on said shaft, a joining aid ( 41 ), the setting of the connecting element ( 6 ) in the receiving opening ( 15 ), eg. B. by vibration or shaking. A because of unfavorable tolerances or other reasons stiff connecting element ( 6 ) can be shaken during the feed, wherein the joining aid ( 41 ) z. B. has a Rüttelantrieb which acts transversely and / or longitudinally to the bolt shaft.

Furthermore, the setting head ( 40 ) a customized element holder ( 43 ), which consists of a fork-shaped support for the front shaft end of the bolt part ( 7 ) and consists of two cup-shaped and hinged holding jaws for the shaft (see. 2 ). In the element holder ( 43 ) the required connecting element ( 6 ) and in front of the shaft of the setting head ( 40 ) and handed over to it. The setting head ( 40 ) and in particular its element holder ( 43 ) is connected via a hose or another transport line (not shown) in the ready and coupled state to the type-specific connection point of the supply connection ( 38 ).

At the setting unit ( 33 ), a disposal facility ( 42 ) arranged with the element holder ( 43 ) and disposal of unusable fasteners ( 6 ) serves. For this purpose, the element holder ( 43 ) a second cup-shaped receiving area.

The handling device ( 4 ), the setting unit ( 33 ) automatically switch to a magazine. After a change, the supply device ( 39 ) and possibly the other components in the end effector ( 10 ) reversed or converted.

The processing device ( 14 ) can be used for introducing and lowering the receiving opening ( 15 ) on the workpieces ( 2 . 3 ) and has z. B. a drilling unit ( 24 ) with a replaceable drill, which also with the turntable ( 21 ) and has a feed in the axial or joining direction. If the type is changed, the drill may be replaced manually or automatically. Instead of a drilling unit ( 24 ) may be any other suitable one Unit for inserting the countersunk receiving opening ( 15 ) to be available.

The pressing device ( 16 ) is at the front and preferably at the connection ( 13 ) opposite side of the end effector ( 10 ) arranged. The frame ( 12 ) can be found in the 2 and 3 shown manner from a rear support plate with the connection ( 13 ) and two in the joining direction above, end tethered support arms exist. At the front end is a bridge ( 25 ) arranged movably, which consists of a bridgehead and in the support arms linearly movable support arms. By means of a delivery device ( 26 ), z. B. acting on the support arms feed, the bridge ( 25 ) are extended in the axial and joining direction.

The pressing device ( 16 ) can also have a pressure bushing ( 29 ) on the front and in a central location on the centrally thickened, arm or strip-shaped bridge ( 25 ) exhibit. The pressure stamp bush ( 29 ) can be pivoted, z. B. over a dome ( 30 ), in the bridge ( 25 ) and is frontally over this before. On the inside, the pressure stamp bushing ( 29 ) a passage opening ( 31 ), through which the connecting element ( 6 ) can be set.

For the joining process, the handling device ( 4 ) first the end effector ( 10 ) at the intended joint and remains in front of it at a small distance from z. B. 10 mm, stand. Subsequently, the pressing device ( 16 ) activates and drives the bridge ( 25 ) with its two end support arms until the pressure bushing ( 29 ) Contact with the workpiece ( 2 ) and is pressed here with a predetermined pressure.

The positioning of the end effector ( 10 ) on the workpiece ( 2 ) may be inaccurate in the angular position. The joining axis should occupy a certain angular position relative to the workpiece surface and z. B. be aligned vertically at the joint. For the correct alignment is a control device ( 20 ), which may be formed in different ways. Furthermore, a positioning device ( 17 ), which corrects an existing misalignment if necessary.

The control device ( 20 ) has in the embodiment shown a measuring camera ( 27 ) with their viewing and camera axis ( 28 ) is aligned along the joining axis and in functional position through the passage opening ( 31 ) to the workpiece ( 2 ) looks. The visual axis ( 28 ) aligns with the joining axis.

The swivel pressure bushing ( 29 ) is aligned with her z. B. annular contact element according to the existing surface contour and curvature of the workpiece ( 2 ) out. When the end effector ( 10 ) or the bridge ( 25 ) is aligned with its feed direction not parallel to the desired joining axis, the pressure piston bushing ( 29 ) a pivoting movement and takes the in 4 shown tilted position, wherein the sleeve axis shown in phantom of the viewing and joining axis ( 28 ) deviates.

The measuring camera ( 27 ) looks through the passage opening ( 31 ) and sees several z. B. annular opening contours. If the viewing and joining axis ( 28 ) is aligned in the desired manner normal to the workpiece surface, the pressure stamp bushing ( 29 ), whereby said opening contours are formed as concentric circles about the axis ( 28 ) appear. In the in 4 shown tilt position sees the measuring camera ( 27 ) Ellipses instead of circles, where the ellipses are also mutually shifted. From these reference pictures the measuring camera ( 27 ) recognize the angular offset and the misalignment and, if necessary, also acquire or calculate by measurement.

The control device ( 20 ) and in particular the measuring camera ( 27 ) can with the robot controller and z. B. the aforementioned positioning ( 17 ). From the positioning device ( 17 ) the end effector ( 10 ) to correct the misalignment moves. If a metrological detection of the misalignment is possible, the robot controller receives a corresponding correction value for the correction movement of the robot ( 4 ). Alternatively, the robot ( 4 ) in crawl the end effector ( 10 ) until the control device ( 20 ) determines a correct angular orientation.

In a modification of the embodiment shown, instead of the measuring camera ( 27 ) any other sensor for the control device ( 20 ) are used. This can z. B. multiple arranged in a triangle and spaced-proximity sensors or contact sensors, which register without contact or in contact the faulty angular orientation in the delivery. Alternatively, the workpiece surface at the joint can be detected by an optical measurement or in any other way and for angular delivery of the end effector (FIG. 10 ) or the pressing device ( 16 ) be used.

In the embodiment shown, the drilling unit ( 24 ) and the camera ( 27 ) also at the turntable ( 21 ) arranged. The revolver-like turntable ( 21 ) has a central slim support element, which is arranged around a rotation axis ( 22 ) and a controllable rotary drive ( 23 ) is applied, the z. B. at the end-side support plate of the frame ( 12 ) arranged is. The processing device ( 14 ) and the setting device ( 18 ) can be connected to the turntable ( 21 ), in particular on the support element, arranged to be longitudinally movable and provided with a controllable feed drive. The axis of rotation ( 22 ) can in the lower arm or in the support arm of the pressing device ( 16 ) and aligned with the aforementioned delivery axis or at least parallel to this.

The processing device ( 14 ), the setting device ( 18 ) and the control device ( 20 ), in particular the measuring camera ( 27 ), are with their axes of action in the manner of a revolver at the same radial distance about the axis of rotation ( 22 ) and distributed in the circumferential direction. By a controlled rotation of the turntable ( 21 ) these facilities ( 14 . 18 . 20 ) between a rest position and an operating position reciprocates, in which its axis of action with the receiving opening ( 15 ) and the joining axis ( 28 ) flees.

5 clarifies another possible use for the measuring camera ( 27 ) after insertion of the receiving opening ( 15 ). The camera ( 27 ) looks through the passage opening ( 31 ) and the receiving opening ( 15 ) and detects one on the other side of the workpiece from the other end effector ( 11 ) positioned connector element or counterpart ( 8th ). If this is not correct for the joining axis ( 28 ) and to the passage opening ( 15 ), this detects the measuring camera ( 27 ), z. B. by a contour offset or an elliptical deformation of a normally circular reference contour of the counterpart ( 8th ). The measuring signals and possibly evaluation results of the measuring camera ( 27 ) can a positioning ( 51 ) for the counterpart ( 8th ) are supplied, the z. At the other end effector ( 11 ) and with which the position of the counterpart ( 8th ) can be corrected accordingly.

Furthermore, the measuring camera ( 27 ) the shape and size of the receiving opening ( 15 ) before setting the connecting element ( 6 ) and compare with a specification and tolerance. The shapes and dimensions of the element holder ( 43 ) presented connecting element ( 6 ) are also known, for. B. from a default or from an element survey. When the receiving opening ( 15 ) and the connecting element ( 6 ) match not default together because z. B. the receiving opening ( 15 ) Has excess, the possibly already provided with sealant connection element ( 6 ) through the disposal facility ( 42 ) are removed. To solve the problem can be fed and joined from a carried magazine or the like. A better matching other connecting element or the joint is marked, z. B. for a later manual addition.

Also for the aforementioned additional functions of the measuring camera ( 27 ) or another measuring and detecting element of the control device ( 20 ) can be a signal and / or tax technical connection to the robot controller or another control of the joining device ( 1 ) be provided.

6 and 7 clarify the training of in a multi-part fastener ( 6 ) any further end effector ( 11 ). This one has a frame ( 44 ) with a rear connection ( 13 ) on. In the frame ( 44 ) is a pressing device ( 45 ) arranged rigidly or possibly axially, which in the operating position on the other workpiece ( 3 ) opposite the pressure bushing ( 29 ) is pressed.

The end effector ( 11 ) further comprises a feeder ( 50 ) for an element part ( 8th ), in particular a counterpart in the form of a nut or nut or a closing ring or crimp collar, wherein in the feed device ( 50 ) a positioning device ( 51 ) can be installed to change the counterpart position. In the frame ( 44 ) is also an actuator ( 46 ) for the counterpart ( 8th ) arranged. This can be z. B. a screw unit ( 47 ), which has a controllable motor ( 48 ) and a transmission ( 49 ) and to which of the facilities ( 50 . 51 ) held in position counterpart ( 8th ) acts. The actuating device ( 46 ) the counterpart ( 8th ) on the projecting end of the bolt part ( 7 ), on the workpieces ( 2 . 3 ) and fix in a suitable manner, for. B. by squeezing a deformable collar on the counterpart ( 8th ). Here, the aforementioned positive connection between counterpart ( 8th ) and the shank of the bolt part ( 7 ) closed.

The end effector ( 11 ) in the area of the control device ( 46 ) also the aforementioned anti-rotation device ( 52 ) exhibit. As 9 to 11 clarify, the anti-rotation device ( 52 ) z. B. have a hexagon bolt in the frontal opening ( 53 ) is introduced and which is arranged rotationally fixed, wherein the rear of the setting head ( 40 ) pressed on bolt part ( 7 ) rotatably holds.

9 to 11 illustrate the three joining steps, where according to 9 first the counterpart ( 8th ) with respect to the through the receiving opening ( 17 ) projecting shaft of the bolt part ( 7 ) is positioned, wherein the pressing device ( 45 ) against the workpiece ( 3 ) presses. The other workpiece ( 2 ) is pressed by the pressing device ( 16 ) or, if appropriate, after their withdrawal by the advanced setting head ( 40 ) and the conical bolt head. In 10 is the joining position when pushing on and if necessary unscrewing the counterpart ( 8th ) is shown on the shaft end. 11 clarifies the withdrawal position at the end of the joining process, with closing the end-effectors ( 10 . 11 ) are removed from the joint and repositioned at the next joint.

Variations of the embodiments shown and described are possible in various ways. The illustrated and described components of an end effector ( 10 . 11 ) or the joining device ( 1 ) can be interchanged or combined as required. The above-described components also individually have an inventive significance and can be used in a modification of the embodiments with conventional effectors, joining tools or joining devices.

The setting device ( 18 ) may be formed in one piece and in the manner described above with the processing device ( 14 ) and the control facility ( 20 ) on the turntable ( 21 ) be combined. The setting device ( 18 ) can alternatively rigid and with the elimination of the turntable ( 21 ) in the frame ( 12 ) can be arranged. Instead of a common turntable ( 21 ) are also other, z. B. individual feed devices, such as pivoting devices and / or linear feed devices, for said devices ( 14 . 18 . 20 ) possible. The facilities ( 14 . 18 . 20 ) may be designed differently in their structural details. The setting device ( 18 ) can z. B. a magazine for several different fasteners ( 6 ). Also on the other end effector ( 11 ), such a magazine for one type or for several different counterparts ( 8th ) be present internally and / or externally. The other end effector ( 11 ) can in a further modification, only a Gegehalter or a striking or pressing unit for spreading the front shaft end on the bolt part ( 7 ) and to form a second rivet head. The other end effector ( 11 ) can also be omitted and the joining tool ( 9 ) be formed in one piece.

1

joining device

2

Workpiece, Shell, outer skin

3

Workpiece, Carrier, frame

4

Handling device, robot

5

Handling device, robot

6

Connecting element, rivet

7

Bolt part, rivet bolts

8th

Counterpart Nut, nut, squeeze ring

9

joining tool

10

Tool part, end effector

11

Tool part, end effector

12

frame from end effector

13

Connection, robot connection

14

processing device

15

Receiving opening, drilling

16

pressing device

17

positioning

18

setting means

19

applicator for sealants

20

control device

21

rotary unit

22

axis of rotation

23

rotary drive

24

drilling unit

25

bridge

26

advancing

27

Camera, measuring camera

28

Visual axis, Jointing axis, camera axis

29

Plunger socket

30

Pivot bearing, dome

31

Through opening

32

base unit for setting device

33

Setting unit, rivet-setting

34

frame from setting unit

35

suspension

36

docking

37

change coupling

38

Supply terminal hose connection

39

supply

40

setting head

41

Joining aid, vibrating unit

42

waste facility

43

Element holder, Rivet

44

frame

45

pressing device

46

actuator

47

screw unit

48

engine

49

transmission

50

feeding

51

positioning

52

rotation

53

end opening

54

tensioning device

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 69001202 T2 [0002]
• - US 4885836 A [0003]
• - US 4762261 A [0004]
• - DE 3535761 C1 [0004]

Claims (33)

End effector ( 10 ) for joining fasteners ( 6 ), in particular rivets, wherein the end effector ( 10 ) a frame ( 12 ) with a processing device ( 14 ) and a setting device ( 18 ) for fasteners ( 6 ), characterized in that the setting device ( 18 ) to different types of fasteners ( 6 ) adaptable and exchangeable on the frame ( 12 ) is arranged. End effector according to claim 1, characterized in that the setting device ( 18 ) one with the frame ( 12 ) connected base unit ( 32 ) and a changeable, type-specific setting unit ( 33 ) having. End effector according to claim 1 or 2, characterized in that the setting device ( 18 ) a docking unit ( 36 ) and an exchangeable coupling ( 37 ) for detachable connection of base unit ( 32 ) and setting unit ( 33 ) having. End effector according to claim 1, 2 or 3, characterized in that the base unit ( 32 ) with an internal or external supply device ( 39 ) for fasteners ( 6 ) connected is. End effector according to one of the preceding claims, characterized in that the base unit ( 32 ) an application device ( 19 ) for a sealant. End effector according to one of the preceding claims, characterized in that the setting unit ( 33 ) an element holder ( 43 ) and a setting head ( 40 ) for fasteners ( 6 ) having. End effector according to one of the preceding claims, characterized in that the setting unit ( 33 ) a joining aid ( 41 ) for fasteners ( 6 ) having. End effector according to one of the preceding claims, characterized in that the setting unit ( 33 ) a disposal facility ( 42 ) for auszusondernende fasteners ( 6 ) having. End effector according to one of the preceding claims, characterized in that the setting unit ( 33 ) a suspension ( 35 ) having. End effector according to one of the preceding claims, characterized in that the end effector ( 10 ) a connection ( 13 ) for fixed or detachable connection with a handling device ( 4 . 5 ) having. End effector according to one of the preceding claims, characterized in that the base unit ( 32 ) on a turntable ( 21 ) in the frame ( 12 ) is arranged. End effector according to one of the preceding claims, characterized in that on the turntable ( 21 ) the processing device ( 14 ) and a control device ( 20 ) are arranged distributed in the circumferential direction. End effector according to one of the preceding claims, characterized in that the end effector ( 10 ) a pressing device ( 16 ) with a movable bridge ( 25 ) and a delivery device ( 26 ) having. End effector according to one of the preceding claims, characterized in that the rotary unit ( 21 ) with the bridge ( 25 ) connected is. End effector according to one of the preceding claims, characterized in that the rotary unit ( 21 ) one on the frame ( 12 ) arranged rotary drive ( 23 ) and a rotation axis ( 22 ) which is parallel or in alignment with a positioning axis of the feed device ( 26 ) is arranged. End effector according to one of the preceding claims, characterized in that at the bridge ( 25 ) a pivotally mounted ( 30 ) Pressure Piston Bushing ( 29 ) with a passage opening ( 31 ) is arranged. End effector according to one of the preceding claims, characterized in that the active axes of the processing device ( 14 ), the setting device ( 18 ) and the control facility ( 20 ) in operating position with the passage opening ( 31 ) are aligned. End effector according to one of the preceding claims, characterized in that the processing device ( 14 ) an undeliverable drilling unit ( 24 ) having. End effector according to one of the preceding claims, characterized in that the control device ( 20 ) a measuring camera ( 27 ) with one to the bridge ( 25 ) and in the operating position to the passage opening ( 31 ) directed viewing axis ( 28 ) having. End effector according to one of the preceding claims, characterized in that the measuring camera ( 27 ) for detecting the normal orientation of the end effector ( 10 ) against a workpiece ( 2 ) is trained. End effector according to one of the preceding claims, characterized in that the measurement camera ( 27 ) for measuring a receiving opening ( 15 ) in a workpiece ( 2 . 3 ) for the connecting element ( 6 ) is trained. End effector according to one of the preceding claims, characterized in that the measuring camera ( 27 ) for detecting the position of a behind the receiving opening ( 15 ) arranged counterpart ( 8th ) of a multi-part connecting element ( 6 ) is trained. End effector according to one of the preceding claims, characterized in that the control device ( 20 ) with at least one positioning device ( 17 . 51 ) for at least one end effector ( 10 . 11 ) and / or for a counterpart ( 8th ) is connectable. End effector ( 11 ) for joining multipart connecting elements ( 6 ), in particular rivets, wherein the end effector ( 11 ) a frame ( 44 ) with a pressing device ( 45 ) and with an actuating device ( 46 ) for an element part ( 8th ), in particular a hollow counterpart, of the connecting element ( 6 ), characterized in that the actuating device ( 46 ) a screw unit ( 47 ) for rotating and possibly fixing, in particular squeezing, the counterpart ( 8th ) having. End effector according to claim 24, characterized in that the actuating device ( 46 ) a feeder ( 51 ) for the element part ( 8th ) having. End effector according to claim 24 or 25, characterized in that the screw unit ( 47 ) an engine ( 48 ) and a transmission ( 49 ) having. End effector according to claim 24, 25 or 26, characterized in that the actuating device ( 46 ) a rotation lock ( 51 ) for the other element part ( 7 ) having. End effector according to one of claims 24 to 27, characterized in that the feed device ( 51 ) a positioning device ( 51 ) for the counterpart ( 8th ) having. Joining tool with several end-effectors ( 10 . 11 ) for joining multipart connecting elements ( 6 ), in particular rivets, wherein an end effector ( 10 ) for setting a first part ( 7 ), in particular a bolt part, of the connecting element ( 6 ) and another end effector ( 11 ) for attaching another part ( 8th ), in particular a hollow counterpart, is provided and formed, characterized in that the end effectors ( 10 . 11 ) are formed according to at least one of claims 1 to 28. Joining device for joining fasteners ( 6 ), in particular rivets, on workpieces ( 2 . 3 ) wherein the joining device ( 1 ) at least one handling device ( 4 . 5 ) with at least one end effector ( 10 . 11 ), characterized in that the end effector ( 10 . 11 ) is formed according to at least one of claims 1 to 28. Joining device according to claim 30, characterized in that the handling device ( 4 . 5 ) is designed as a multi-axis manipulator. Joining device according to claim 30 or 31, characterized in that two manipulators ( 4 . 5 ) with end-effectors ( 10 . 11 ) on both sides of the workpieces to be joined ( 2 . 3 ) are arranged and designed as a cooperating master-slave robot. Joining device according to claim 30, 31 or 32, characterized in that a manipulator ( 4 . 5 ) a supply device ( 39 ) for several different types of fasteners ( 6 ) or parts thereof ( 7 . 8th ) wearing.