[go: up one dir, main page]

EP3145657A1 - Method for joining at least two components and device for carrying out the method - Google Patents

Method for joining at least two components and device for carrying out the method

Info

Publication number
EP3145657A1
EP3145657A1 EP15733620.7A EP15733620A EP3145657A1 EP 3145657 A1 EP3145657 A1 EP 3145657A1 EP 15733620 A EP15733620 A EP 15733620A EP 3145657 A1 EP3145657 A1 EP 3145657A1
Authority
EP
European Patent Office
Prior art keywords
components
nail
industrial robot
joining element
speed
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.)
Granted
Application number
EP15733620.7A
Other languages
German (de)
French (fr)
Other versions
EP3145657B1 (en
Inventor
Daniel Kohl
Holger Schubert
Matthias Wagner
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.)
Mercedes Benz Group AG
Original Assignee
Daimler 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 Daimler AG filed Critical Daimler AG
Publication of EP3145657A1 publication Critical patent/EP3145657A1/en
Application granted granted Critical
Publication of EP3145657B1 publication Critical patent/EP3145657B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B21J15/025—Setting self-piercing rivets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B21J15/285—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups for controlling the rivet upset cycle

Definitions

  • the invention relates to a method for connecting at least two components according to the preamble of patent claim 1 and a device for carrying out such a method according to the preamble of patent claim 5.
  • Apparatus for carrying out such a method are, for example, the
  • the at least two components are connected to one another by means of at least one joining element in the form of a nail, wherein the joining element is introduced into the components at a joint.
  • the nail is driven at a high speed into the components, the speed is between five and three hundred meters per second.
  • DE 10 2006 002 237 A1 also discloses a method for connecting a first component to at least one second component by means of at least one nail, which is introduced into the components at a joint.
  • the nail is driven at a speed in the components, the speed is between ten meters per second and one hundred meters per second.
  • DE 10 2010 006 404 A1 discloses a method for producing a nail connection between at least two non-pre-punched components in one
  • Joining area by means of a setting of a setting device substantially rotation freely introduced into the components nail known. It is provided that the nail is first driven in a first step by means of a sudden movement at high speed in the joining area only partially in the components to an intermediate position. Subsequently, the nail in a second step in the
  • CONFIRMATION COPY Components completely pressed into an end position.
  • the nail is pressed at a speed in the end position, the
  • Speed in the second process step is less than the speed in the first process step.
  • the nail may be formed as a bolt or setting bolt, wherein the known methods are also referred to as a bolt or bolt-fastening method. These methods are also known as Rivtac or Impact.
  • the known methods are also referred to as a bolt or bolt-fastening method. These methods are also known as Rivtac or Impact.
  • Object of the present invention is therefore to provide a method and an apparatus of the type mentioned, by means of which the components can be connected to each other in a particularly cost-effective and low-noise manner.
  • the joining element by means of an industrial robot at a speed of less than five meters per second is pressed into the components.
  • the invention is based on the finding that in the conventional, designed as a high-speed joining process method, the joining element with a very high
  • Speed which is also referred to as setting speed, is driven into the components, which complex and thus particularly costly systems, for example in the form of bolting systems are required.
  • the joining element designed, for example, as a nail at high speed into the components usually cost-intensive bolt guns and / or
  • Stiffness requirements for the components are particularly low.
  • the components can be particularly firmly connected to each other by means of the method according to the invention.
  • the cost of a sensor for monitoring the process compared to conventional methods can be kept low.
  • the invention also includes a device specified in the preamble of claim 5, wherein it is provided according to the invention for the realization of a low-cost and low-noise connection of the components, that the device is adapted to the joining element at a speed of less than five meters per second in to press in the components.
  • the joining element is, for example, a nail or a screw or a rivet, which is pressed into the components, so that the nail or the screw or the rivet penetrates the components.
  • the nail may be a bolt, which is also called a setting bolt.
  • the method is designed, for example, as a bolt-setting method in which the nail (bolt) is pressed into the components at a very low speed of less than five meters per second. This can be excessive
  • Vibrations and vibrations resulting from the vibrations are avoided.
  • a system by means of which the nail is pressed into the components particularly simple and thus be designed inexpensively.
  • Fig. 1 is a schematic and perspective side view of a
  • Industrial robot for carrying out a method for connecting at least two components, in which a joining element in the form of a Nail is pressed into the components by means of the robot at a speed of less than five meters per second;
  • Figure 2 is a schematic and perspective side view of an apparatus in the form of a drop tower for carrying out said method.
  • FIG. 3 in part a further schematic and perspective
  • FIG. 1 shows, in a schematic perspective side view, a device in the form of an industrial robot 10 for carrying out a method, in the context of which a first component having at least one second component, in particular one
  • the components are, for example, body components.
  • the industrial robot 10 has a base 12, via which the industrial robot 10 is fastened to a floor.
  • the base 12 via which the industrial robot 10 is fastened to a floor.
  • Industrial robots 10 include a plurality of robot arms 14, 16, 18 and 20, which are also referred to as axes or robot axes.
  • the industrial robot 10 includes a robot head 22 movably supported on the robot arm 20.
  • the robot arms 14, 16, 18, 20 and the robot head 22 are hinged to each other so as to be movable relative to each other.
  • a device not shown in Fig. 1 is arranged, so that this device can be moved by means of the industrial robot 10 in space around.
  • This makes it possible, for example, by means of the industrial robot 10, the components by means of at least one joining element in the form of a nail to each other, wherein the nail is introduced as part of the process by means of the industrial robot 10 at a joint in the components, that is pressed.
  • the components are arranged, for example, relative to each other, that the components at least in a respective
  • Overlap areas arranged so that the nail penetrates the overlapping areas.
  • the nail is pressed by means of the industrial robot 10 at a speed of less than five meters per second into the components.
  • this low speed which is also referred to as a set speed, excessive vibration of the components and resulting excessive
  • the nail is, for example, a bolt, which also as
  • the method is thus as a bolt or
  • Stud setting method is formed, in which the bolt but at a very low speed, that is driven particularly slowly into the components.
  • the industrial robot 10 represents an electric drive, by means of which the nail, which is also referred to as a tack, is pressed directly and slowly into the components.
  • a holder can be used to push the nail into the components.
  • a holder is a device for holding and separating the nail.
  • the holder has a predeterminable mass, wherein the holder and with this the nail is accelerated to a predeterminable speed of less than five meters per second. This makes it possible to drive the nail into the components, which constitute a composite component. As a result, the nail can be pressed with a particularly high energy in the components.
  • Such a holder can be arranged, for example, on the industrial robot 10, in particular on the robot head 22, so that the holder and the nail can be moved around in the space by means of the industrial robot 10. It can one of the
  • Industrial robot 10 decoupled and effected by the holding device movement of the nail can be realized.
  • the holder on a guide carriage by means of which the nail relative to the industrial robot 10 and thus at least in
  • a pneumatic or hydraulic press For driving the nail, for example, a pneumatic or hydraulic press can be used.
  • a pneumatic or hydraulic press can be used for driving the nail.
  • the use of an automated hammer, a pulse drive or a servo drive for pressing the nail is conceivable.
  • the driving of the joining element into the components can take place by means of at least two different joining devices.
  • the joining element in a first method step, can first be partially pressed into the components as far as an intermediate position by means of an automated hammer and then completely pressed into an end position in a second method step by means of an industrial robot.
  • FIG. 2 shows a device according to another embodiment, by means of which the nail can be driven into the components.
  • FIG. 2 shows one of the components which is designated by 24 in FIG. 2 in order to illustrate the driving in of the nail.
  • the device shown in Fig. 2 is designed as a drop tower 26.
  • the drop tower 26 comprises two guide elements, which in the present case are designed as guide rods 28.
  • the drop tower 26 comprises a guide carriage in the form of a
  • Guide plate 30 which has passage openings 32.
  • the guide rods 28 penetrate the corresponding passage openings 32, so that the guide plate 30 relative to the guide rods 28 translationally along the
  • Guide rods 28 is movable.
  • the joint at which the nail is pressed into the component 24 is designated 34 in FIG.
  • the nail is shown in Fig. 2 is particularly schematically and designated 36.
  • the guide plate 30 along the guide rods 28 of the component 24 moves away.
  • the guide plate 30 has a predeterminable mass.
  • the nail 36 also has a predeterminable mass.
  • the predeterminable mass of the nail 36 and the predeterminable mass of the guide plate 30 form a total mass.
  • the guide plate 30 and with this held on the guide plate 30 nail 36 are moved away from the component 24, that set a predetermined distance between the nail 36 and the component 24. This distance is adjusted such that the nail 36 a
  • the guide plate 30 is released so that the guide plate 30 and nail 36 are accelerated to the adjustable speed of less than five meters per second by gravity only.
  • gravity causes the guide plate 30 to drop with the nail 36, thereby providing the energy for the joining operation.
  • the guide plate 30 has a mass of three kilograms, wherein the specific height or the distance between the component 24 and the nail 36 is set, for example, to one meter.
  • Fig. 3 shows a further device 38 for pressing the nail 36 with a
  • a counter-holder 40 can be seen, on which the component 24 rests.
  • the counter-holder 40 is used so that the component 24 or the components can not escape the nail 36 in its driving direction, but the nail 36 can penetrate the components.
  • the nail 36 is pressed in the driving direction at a speed of less than five meters per second in the components, wherein the driving direction in Fig. 3 by a directional arrow 42nd
  • the device 38 may be formed as a pneumatic device, hydraulic device or electromechanical device.
  • the nail 36 is first on the device 38th
  • Joining element 36 can be used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)

Abstract

The invention relates to a method for joining a first component (24) to at least one second component by means of at least one joining element (36) which is inserted at a joining site (34) into the component (24), wherein the joining element (36) is pressed into the component (24) by an industrial robot (10) at a speed of less than five metres per second.

Description

Verfahren zum Verbinden von wenigstens zwei Bauteilen sowie Vorrichtung zum  Method for connecting at least two components and device for

Durchführen eines solchen Verfahrens  Perform such a process

Die Erfindung betrifft ein Verfahren zum Verbinden von wenigstens zwei Bauteilen gemäß dem Oberbegriff von Patentanspruch 1 sowie eine Vorrichtung zum Durchführen eines solchen Verfahrens gemäß dem Oberbegriff von Patentanspruch 5. The invention relates to a method for connecting at least two components according to the preamble of patent claim 1 and a device for carrying out such a method according to the preamble of patent claim 5.

Ein solches Verfahren zum Verbinden von wenigstens zwei Bauteilen sowie eine Such a method for connecting at least two components as well as a

Vorrichtung zum Durchführen eines solchen Verfahrens sind beispielsweise der Apparatus for carrying out such a method are, for example, the

DE 10 2007 033 126 B4 als bekannt zu entnehmen. Bei dem Verfahren werden die wenigstens zwei Bauteile mittels zumindest eines Fügeelements in Form eines Nagels miteinander verbunden, wobei das Fügeelement an einer Fügestelle in die Bauteile eingebracht wird. Hierbei wird der Nagel mit einer hohen Geschwindigkeit in die Bauteile eingetrieben, wobei die Geschwindigkeit zwischen fünf und dreihundert Metern pro Sekunde liegt. DE 10 2007 033 126 B4 as known. In the method, the at least two components are connected to one another by means of at least one joining element in the form of a nail, wherein the joining element is introduced into the components at a joint. Here, the nail is driven at a high speed into the components, the speed is between five and three hundred meters per second.

Auch die DE 10 2006 002 237 A1 offenbart ein Verfahren zum Verbinden eines ersten Bauteils mit wenigstens einem zweiten Bauteil mittels zumindest eines Nagels, welcher an einer Fügestelle in die Bauteile eingebracht wird. Hierbei wird der Nagel mit einer Geschwindigkeit in die Bauteile eingetrieben, wobei die Geschwindigkeit zwischen zehn Metern pro Sekunde und einhundert Metern pro Sekunde liegt. DE 10 2006 002 237 A1 also discloses a method for connecting a first component to at least one second component by means of at least one nail, which is introduced into the components at a joint. Here, the nail is driven at a speed in the components, the speed is between ten meters per second and one hundred meters per second.

Schließlich ist aus der DE 10 2010 006 404 A1 ein Verfahren zur Herstellung einer Nagelverbindung zwischen wenigstens zwei nicht vorgelochten Bauteilen in einem Finally, from DE 10 2010 006 404 A1 discloses a method for producing a nail connection between at least two non-pre-punched components in one

Fügebereich mittels eines von einem Setzgerät im Wesentlichen drehungsfrei in die Bauteile eingebrachten Nagels bekannt. Dabei ist vorgesehen, dass der Nagel in einem ersten Verfahrensschritt zunächst mittels einer schlagartigen Bewegung mit hoher Geschwindigkeit im Fügebereich nur teilweise in die Bauteile bis in eine Zwischenstellung eingetrieben wird. Anschließend wird der Nagel in einem zweiten Verfahrensschritt in die Joining area by means of a setting of a setting device substantially rotation freely introduced into the components nail known. It is provided that the nail is first driven in a first step by means of a sudden movement at high speed in the joining area only partially in the components to an intermediate position. Subsequently, the nail in a second step in the

BESTÄTIGUNGSKOPIE Bauteile vollständig in eine Endstellung eingedrückt. Im zweiten Verfahrensschritt wird der Nagel mit einer Geschwindigkeit in die Endstellung eingedrückt, wobei die CONFIRMATION COPY Components completely pressed into an end position. In the second step, the nail is pressed at a speed in the end position, the

Geschwindigkeit im zweiten Verfahrensschritt geringer als die Geschwindigkeit im ersten Verfahrensschritt ist. Speed in the second process step is less than the speed in the first process step.

Der Nagel kann als Bolzen oder Setzbolzen ausgebildet sein, wobei die bekannten Verfahren auch als Bolzensetzen oder als Bolzensetzverfahren bezeichnet werden. Diese Verfahren sind auch unter der Bezeichnung Rivtac oder Impact bekannt. Die The nail may be formed as a bolt or setting bolt, wherein the known methods are also referred to as a bolt or bolt-fastening method. These methods are also known as Rivtac or Impact. The

herkömmlichen Verfahren sind sehr kosten- und geräuschintensiv. conventional methods are very cost and noise intensive.

Aufgabe der vorliegenden Erfindung ist es daher, ein Verfahren und eine Vorrichtung der eingangs genannten Art zu schaffen, mittels welchen die Bauteile auf besonders kostengünstige und geräuscharme Weise miteinander verbunden werden können. Object of the present invention is therefore to provide a method and an apparatus of the type mentioned, by means of which the components can be connected to each other in a particularly cost-effective and low-noise manner.

Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Patentanspruchs 1 sowie durch eine Vorrichtung mit den Merkmalen des Patentanspruchs 5 gelöst. This object is achieved by a method having the features of patent claim 1 and by a device having the features of patent claim 5.

Vorteilhafte Ausgestaltungen mit zweckmäßigen und nicht-trivialen Weiterbildungen der Erfindung sind in den übrigen Ansprüchen angegeben. Advantageous embodiments with expedient and non-trivial developments of the invention are specified in the remaining claims.

Um ein Verfahren der im Oberbegriff des Patentanspruchs 1 angegebenen Art zu schaffen, mittels welchem die Bauteile auf besonders kostengünstige und geräuscharme Weise miteinander verbunden werden können, ist es erfindungsgemäß vorgesehen, dass das Fügeelement mittels eines Industrieroboters mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird. Der Erfindung liegt die Erkenntnis zugrunde, dass bei den herkömmlichen, als Hochgeschwindigkeits- Fügeverfahren ausgebildeten Verfahren das Fügeelement mit einer sehr hohen In order to provide a method specified in the preamble of claim 1 way, by means of which the components can be connected to each other in a particularly cost-effective and low-noise manner, it is provided according to the invention that the joining element by means of an industrial robot at a speed of less than five meters per second is pressed into the components. The invention is based on the finding that in the conventional, designed as a high-speed joining process method, the joining element with a very high

Geschwindigkeit, welche auch als Setzgeschwindigkeit bezeichnet wird, in die Bauteile eingetrieben wird, wobei hierzu komplexe und somit besonders kostenintensive Anlagen beispielsweise in Form von Bolzensetzanlagen erforderlich sind. Um das beispielsweise als Nagel ausgebildete Fügeelement mit der hohen Geschwindigkeit in die Bauteile einzutreiben, sind üblicherweise kostenintensive Bolzenschussgeräte und/oder Speed, which is also referred to as setting speed, is driven into the components, which complex and thus particularly costly systems, for example in the form of bolting systems are required. In order to drive the joining element designed, for example, as a nail at high speed into the components, usually cost-intensive bolt guns and / or

pulverkraftbetriebene Kartuschen erforderlich. Ferner kommt es aufgrund der hohen Geschwindigkeit üblicherweise zu Lautstärken von über 130 Dezibel. Diese hohe powder-powered cartridges required. Furthermore, due to the high speed usually comes to volumes above 130 decibels. This high

Lautstärke wird durch Schwingungen erzeugt, die aus hohen Setzgeschwindigkeiten resultieren, mit denen das Fügeelement üblicherweise auf die Bauteile auftrifft. Aufgrund dieser hohen Lautstärken kommen üblicherweise kostenintensive und unflexible Volume is generated by vibrations resulting from high setting speeds with which the joining element usually impinges on the components. Because of these high volumes usually come costly and inflexible

Schallschutzkabinen zum Einsatz. Da bei dem erfindungsgemäßen Verfahren die Geschwindigkeit, das heißt die Soundproof cabins are used. As in the method according to the invention, the speed, that is the

Setzgeschwindigkeit des Fügeelements besonders gering ist, ist der Einsatz von kostenintensiven Anlagen und Schallschutzkabinen nicht erforderlich. Setting speed of the joining element is particularly low, the use of costly equipment and soundproof booths is not required.

Darüber hinaus wurde herausgefunden, dass trotz des Einsatzes der nur sehr geringen Geschwindigkeit, mit der das Fügeelement in die Bauteile eingedrückt wird, die In addition, it has been found that, despite the use of the very low speed with which the joining element is pressed into the components, the

Steifigkeitsanforderungen an die Bauteile besonders gering sind. Somit können die Bauteile mittels des erfindungsgemäßen Verfahrens besonders fest miteinander verbunden werden. Darüber hinaus kann der Aufwand einer Sensorik zum Überwachen des Verfahrens im Vergleich zu herkömmlichen Verfahren geringgehalten werden. Stiffness requirements for the components are particularly low. Thus, the components can be particularly firmly connected to each other by means of the method according to the invention. In addition, the cost of a sensor for monitoring the process compared to conventional methods can be kept low.

Zur Erfindung gehört auch eine Vorrichtung der im Oberbegriff des Patentanspruchs 5 angegebenen Art, wobei es zur Realisierung einer kostengünstigen und geräuscharmen Verbindung der Bauteile erfindungsgemäß vorgesehen ist, dass die Vorrichtung dazu ausgebildet ist, das Fügeelement mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile einzudrücken. Vorteilhafte Ausgestaltungen des The invention also includes a device specified in the preamble of claim 5, wherein it is provided according to the invention for the realization of a low-cost and low-noise connection of the components, that the device is adapted to the joining element at a speed of less than five meters per second in to press in the components. Advantageous embodiments of the

erfindungsgemäßen Verfahrens sind als vorteilhafte Ausgestaltungen der inventive method are advantageous embodiments of the

erfindungsgemäßen Vorrichtung anzusehen und umgekehrt. View device according to the invention and vice versa.

Bei dem Fügeelement handelt es sich beispielsweise um einen Nagel oder um eine Schraube oder um einen Niet, welche(r) in die Bauteile eingedrückt wird, so dass der Nagel oder die Schraube oder der Niet die Bauteile durchdringt. Bei dem Nagel kann es sich um einen Bolzen handeln, welcher auch als Setzbolzen bezeichnet wird. Somit ist das Verfahren beispielsweise als ein Bolzensetzverfahren ausgebildet, bei welchem der Nagel (Bolzen) mit einer nur sehr geringen Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird. Dadurch können übermäßige The joining element is, for example, a nail or a screw or a rivet, which is pressed into the components, so that the nail or the screw or the rivet penetrates the components. The nail may be a bolt, which is also called a setting bolt. Thus, the method is designed, for example, as a bolt-setting method in which the nail (bolt) is pressed into the components at a very low speed of less than five meters per second. This can be excessive

Schwingungen und aus den Schwingungen resultierende Geräusche vermieden werden. Darüber hinaus kann eine Anlage, mittels welcher der Nagel in die Bauteile eingedrückt wird, besonders einfach und somit kostengünstig ausgestaltet werden. Vibrations and vibrations resulting from the vibrations are avoided. In addition, a system by means of which the nail is pressed into the components, particularly simple and thus be designed inexpensively.

Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnungen; diese zeigen in: Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings; these show in:

Fig. 1 eine schematische und perspektivische Seitenansicht auf einen Fig. 1 is a schematic and perspective side view of a

Industrieroboter zum Durchführen eines Verfahrens zum Verbinden von wenigstens zwei Bauteilen, bei welchem ein Fügeelement in Form eines Nagels mittels des Roboters mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird; Industrial robot for carrying out a method for connecting at least two components, in which a joining element in the form of a Nail is pressed into the components by means of the robot at a speed of less than five meters per second;

Fig. 2 eine schematische und perspektivische Seitenansicht auf eine Vorrichtung in Form eines Fallturms zum Durchführen des genannten Verfahrens; und Figure 2 is a schematic and perspective side view of an apparatus in the form of a drop tower for carrying out said method. and

Fig. 3 ausschnittsweise eine weitere schematische und perspektivische Fig. 3 in part a further schematic and perspective

Seitenansicht auf eine weitere Vorrichtung zum Durchführen des  Side view of another device for performing the

Verfahrens, bei welchem das Fügeelement in Form des Nagels mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird.  Method in which the joining element in the form of the nail is pressed into the components at a speed of less than five meters per second.

In den Fig. sind gleiche oder funktionsgleiche Elemente mit gleichen Bezugszeichen versehen. In the figures, the same or functionally identical elements are provided with the same reference numerals.

Fig. 1 zeigt in einer schematischen perspektivischen Seitenansicht eine Vorrichtung in Form eines Industrieroboters 10 zum Durchführen eines Verfahrens, in dessen Rahmen ein erstes Bauteil mit wenigstens einem zweiten Bauteil, insbesondere eines 1 shows, in a schematic perspective side view, a device in the form of an industrial robot 10 for carrying out a method, in the context of which a first component having at least one second component, in particular one

Kraftwagens, verbunden wird. Bei den Bauteilen handelt es sich beispielsweise um Karosseriebauteile. Der Industrieroboter 10 weist eine Basis 12 auf, über welche der Industrieroboter 10 an einem Boden befestigt wird. Darüber hinaus weist der Motor vehicle, is connected. The components are, for example, body components. The industrial robot 10 has a base 12, via which the industrial robot 10 is fastened to a floor. In addition, the

Industrieroboter 10 eine Mehrzahl von Roboterarmen 14, 16, 18 und 20 auf, welche auch als Achsen oder Roboterachsen bezeichnet werden. Industrial robots 10 include a plurality of robot arms 14, 16, 18 and 20, which are also referred to as axes or robot axes.

Darüber hinaus umfasst der Industrieroboter 10 einen am Roboterarm 20 bewegbar gehaltenen Roboterkopf 22. Die Roboterarme 14, 16, 18, 20 und der Roboterkopf 22 sind gelenkig miteinander verbunden, so dass diese relativ zueinander bewegbar sind. In addition, the industrial robot 10 includes a robot head 22 movably supported on the robot arm 20. The robot arms 14, 16, 18, 20 and the robot head 22 are hinged to each other so as to be movable relative to each other.

Am Roboterkopf 22 wird eine in Fig. 1 nicht dargestellte Vorrichtung angeordnet, so dass diese Vorrichtung mittels des Industrieroboters 10 im Raum umher bewegt werden kann. Dadurch ist es beispielsweise möglich, mittels des Industrieroboters 10 die Bauteile mittels wenigstens eines Fügeelements in Form eines Nagels miteinander zu verbinden, wobei der Nagel im Rahmen des Verfahrens mittels des Industrieroboters 10 an einer Fügestelle in die Bauteile eingebracht, das heißt eingedrückt wird. Vor dem Einbringen des Nagels werden die Bauteile beispielsweise derart relativ zueinander angeordnet, dass sich die Bauteile zumindest in einem jeweiligen On the robot head 22, a device not shown in Fig. 1 is arranged, so that this device can be moved by means of the industrial robot 10 in space around. This makes it possible, for example, by means of the industrial robot 10, the components by means of at least one joining element in the form of a nail to each other, wherein the nail is introduced as part of the process by means of the industrial robot 10 at a joint in the components, that is pressed. Before the introduction of the nail, the components are arranged, for example, relative to each other, that the components at least in a respective

Überlappungsbereich gegenseitig überlappen. Dabei ist die Fügestelle in den  Overlap overlap each other. The joint is in the

Überlappungsbereichen angeordnet, so dass der Nagel die Überlappungsbereiche durchdringt.  Overlap areas arranged so that the nail penetrates the overlapping areas.

Um nun die Bauteile auf besonders kostengünstige und geräuscharme Weise To now the components in a particularly cost-effective and low-noise manner

miteinander zu verbinden, ist es vorgesehen, dass der Nagel mittels des Industrieroboters 10 mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt wird. Hierdurch können der Aufbau des Industrieroboters 10 sowie dessen Ansteuerung besonders einfach gehalten werden. Darüber hinaus können durch diese geringe Geschwindigkeit, welche auch als Setzgeschwindigkeit bezeichnet wird, übermäßige Schwingungen der Bauteile und daraus resultierende übermäßige connect to each other, it is provided that the nail is pressed by means of the industrial robot 10 at a speed of less than five meters per second into the components. As a result, the structure of the industrial robot 10 and its control can be kept very simple. In addition, this low speed, which is also referred to as a set speed, excessive vibration of the components and resulting excessive

Geräusche vermieden werden. Noises are avoided.

Bei dem Nagel handelt es sich beispielsweise um einen Bolzen, welcher auch als The nail is, for example, a bolt, which also as

Setzbolzen bezeichnet wird. Das Verfahren ist somit als Bolzensetzen oder Set bolt is called. The method is thus as a bolt or

Bolzensetzverfahren ausgebildet, bei welchem der Bolzen jedoch mit einer nur sehr geringen Geschwindigkeit, das heißt besonders langsam in die Bauteile eingetrieben wird. Der Industrieroboter 10 stellt dabei einen elektrischen Antrieb dar, mittels welchem der Nagel, welcher auch als Tack bezeichnet wird, direkt und langsam in die Bauteile eingedrückt wird. Stud setting method is formed, in which the bolt but at a very low speed, that is driven particularly slowly into the components. The industrial robot 10 represents an electric drive, by means of which the nail, which is also referred to as a tack, is pressed directly and slowly into the components.

Alternativ zum Industrieroboter 10 ist es denkbar, eine andere elektromechanische Vorrichtung zu verwenden, mittels welcher der Nagel in die Bauteile eingedrückt wird. Ferner ist es möglich, den Nagel (Fügeelement) mittels einer pneumatischen Vorrichtung oder einer hydraulischen Vorrichtung in die Bauteile einzudrücken oder den Nagel (Fügeelement) mittels einer beschleunigten Masse in die Bauteile einzudrücken. As an alternative to the industrial robot 10, it is conceivable to use another electromechanical device by means of which the nail is pressed into the components. Furthermore, it is possible to press the nail (joining element) by means of a pneumatic device or a hydraulic device into the components or to press the nail (joining element) by means of an accelerated mass in the components.

Darüber hinaus kann zum Eindrücken des Nagels in die Bauteile eine Halterung verwendet werden. Bei einer solchen Halterung handelt es sich um eine Vorrichtung zum Halten und zum Vereinzeln des Nagels. Die Halterung weist eine vorgebbare Masse auf, wobei die Halterung und mit dieser der Nagel auf eine vorgebbare Geschwindigkeit von weniger als fünf Metern pro Sekunde beschleunigt wird. Dadurch ist es möglich, den Nagel in die Bauteile, welche einen Bauteilverbund darstellen, einzutreiben. Hierdurch kann der Nagel mit einer besonders hohen Energie in die Bauteile eingedrückt werden. Eine solche Halterung kann beispielsweise am Industrieroboter 10, insbesondere am Roboterkopf 22, angeordnet sein, so dass die Halterung und der Nagel mittels des Industrieroboters 10 im Raum umher bewegbar sind. Dabei kann eine vom In addition, a holder can be used to push the nail into the components. Such a holder is a device for holding and separating the nail. The holder has a predeterminable mass, wherein the holder and with this the nail is accelerated to a predeterminable speed of less than five meters per second. This makes it possible to drive the nail into the components, which constitute a composite component. As a result, the nail can be pressed with a particularly high energy in the components. Such a holder can be arranged, for example, on the industrial robot 10, in particular on the robot head 22, so that the holder and the nail can be moved around in the space by means of the industrial robot 10. It can one of the

Industrieroboter 10 entkoppelte und durch die Haltevorrichtung bewirkbare Bewegung des Nagels realisiert werden. Beispielsweise weist die Halterung einen Führungsschlitten auf, mittels welchem der Nagel relativ zum Industrieroboter 10 und somit zumindest im Industrial robot 10 decoupled and effected by the holding device movement of the nail can be realized. For example, the holder on a guide carriage, by means of which the nail relative to the industrial robot 10 and thus at least in

Wesentlichen unabhängig von diesem bewegt werden kann. Dadurch kann Essentially independent of this can be moved. This can

beispielsweise realisiert werden, dass eine auf den Nagel beim Eintreiben dieses wirkende Kraft nicht auf den Industrieroboter 10 übertragen wird. For example, be realized that a force acting on the nail when driving this force is not transmitted to the industrial robot 10.

Zum Eintreiben des Nagels kann beispielsweise eine pneumatische oder hydraulische Presse verwendet werden. Darüber hinaus ist die Verwendung eines automatisierten Hammers, eines Impulsantriebs oder eines Servoantriebs zum Eindrücken des Nagels denkbar. For driving the nail, for example, a pneumatic or hydraulic press can be used. In addition, the use of an automated hammer, a pulse drive or a servo drive for pressing the nail is conceivable.

Das Eintreiben des Fügeelements in die Bauteile kann beispielsweise in einem The driving of the joining element in the components, for example, in a

mehrstufigen Fügevorgang erfolgen. Zudem kann das Eintreiben des Fügeelements in die Bauteile mittels wenigstens zwei verschiedener Fügevorrichtungen erfolgen. multi-stage joining process done. In addition, the driving of the joining element into the components can take place by means of at least two different joining devices.

Beispielsweise kann das Fügeelement in einem ersten Verfahrensschritt zunächst mittels eines automatisierten Hammers nur teilweise in die Bauteile bis in eine Zwischenstellung eingedrückt werden und anschließend in einem zweiten Verfahrensschritt mittels eines Industrieroboters vollständig in eine Endstellung eingedrückt werden. For example, in a first method step, the joining element can first be partially pressed into the components as far as an intermediate position by means of an automated hammer and then completely pressed into an end position in a second method step by means of an industrial robot.

Fig. 2 zeigt eine Vorrichtung gemäß einer weiteren Ausführungsform, mittels welcher der Nagel in die Bauteile eingetrieben werden kann. In Fig. 2 ist zur Veranschaulichung des Eintreibens des Nagels eines der Bauteile dargestellt, welches in Fig. 2 mit 24 bezeichnet ist. Die in Fig. 2 gezeigte Vorrichtung ist als Fallturm 26 ausgebildet. Der Fallturm 26 umfasst zwei Führungselemente, welche vorliegend als Führungsstangen 28 ausgebildet sind. Ferner umfasst der Fallturm 26 einen Führungsschlitten in Form einer Fig. 2 shows a device according to another embodiment, by means of which the nail can be driven into the components. FIG. 2 shows one of the components which is designated by 24 in FIG. 2 in order to illustrate the driving in of the nail. The device shown in Fig. 2 is designed as a drop tower 26. The drop tower 26 comprises two guide elements, which in the present case are designed as guide rods 28. Furthermore, the drop tower 26 comprises a guide carriage in the form of a

Führungsplatte 30, welche Durchgangsöffnungen 32 aufweist. Dabei durchdringen die Führungsstangen 28 die korrespondierenden Durchgangsöffnungen 32, so dass die Führungsplatte 30 relativ zu den Führungsstangen 28 translatorisch entlang der Guide plate 30, which has passage openings 32. In this case, the guide rods 28 penetrate the corresponding passage openings 32, so that the guide plate 30 relative to the guide rods 28 translationally along the

Führungsstangen 28 bewegbar ist. Guide rods 28 is movable.

Die Fügestelle, an welcher der Nagel in das Bauteil 24 eingedrückt wird, ist in Fig. 2 mit 34 bezeichnet. Darüber hinaus ist der Nagel in Fig. 2 besonders schematisch dargestellt und mit 36 bezeichnet. Um den Nagel 36 an der Fügestelle 34 in das Bauteil 24 einzudrücken, wird die The joint at which the nail is pressed into the component 24 is designated 34 in FIG. In addition, the nail is shown in Fig. 2 is particularly schematically and designated 36. To press the nail 36 at the joint 34 in the component 24, the

Führungsplatte 30 entlang der Führungsstangen 28 vom Bauteil 24 weg bewegt. Die Führungsplatte 30 weist eine vorgebbare Masse auf. Auch der Nagel 36 weist eine vorgebbare Masse auf. Die vorgebbare Masse des Nagels 36 und die vorgebbare Masse der Führungsplatte 30 bilden eine Gesamtmasse. Die Führungsplatte 30 und mit dieser der an der Führungsplatte 30 gehaltene Nagel 36 werden derart vom Bauteil 24 weg bewegt, dass ein vorgebbarer Abstand zwischen dem Nagel 36 und dem Bauteil 24 eingestellt. Dieser Abstand wird dabei derart eingestellt, dass der Nagel 36 eine Guide plate 30 along the guide rods 28 of the component 24 moves away. The guide plate 30 has a predeterminable mass. The nail 36 also has a predeterminable mass. The predeterminable mass of the nail 36 and the predeterminable mass of the guide plate 30 form a total mass. The guide plate 30 and with this held on the guide plate 30 nail 36 are moved away from the component 24, that set a predetermined distance between the nail 36 and the component 24. This distance is adjusted such that the nail 36 a

Geschwindigkeit von weniger als fünf Metern pro Sekunde aufweist, wenn er auf das Bauteil 24 auftrifft und dieses durchdringt. Speed of less than five meters per second when it hits the component 24 and penetrates.

Nachdem der Abstand eingestellt wurde, wird die Führungsplatte 30 losgelassen, so dass die Führungsplatte 30 und der Nagel 36 lediglich schwerkraftbedingt auf die einstellbare Geschwindigkeit von weniger als fünf Metern pro Sekunde beschleunigt werden. Mit anderen Worten wird bei dem Fallturm 26 über die Schwerkraft die Führungsplatte 30 mit dem Nagel 36 fallen gelassen, wodurch die Energie für den Fügevorgang bereitgestellt wird. Beispielsweise weist die Führungsplatte 30 eine Masse von drei Kilogramm auf, wobei die bestimmte Höhe beziehungsweise der Abstand zwischen dem Bauteil 24 und dem Nagel 36 beispielsweise auf einen Meter eingestellt wird. After the clearance has been adjusted, the guide plate 30 is released so that the guide plate 30 and nail 36 are accelerated to the adjustable speed of less than five meters per second by gravity only. In other words, in the drop tower 26, gravity causes the guide plate 30 to drop with the nail 36, thereby providing the energy for the joining operation. For example, the guide plate 30 has a mass of three kilograms, wherein the specific height or the distance between the component 24 and the nail 36 is set, for example, to one meter.

Fig. 3 zeigt eine weitere Vorrichtung 38 zum Eindrücken des Nagels 36 mit einer Fig. 3 shows a further device 38 for pressing the nail 36 with a

Geschwindigkeit von weniger als fünf Metern pro Sekunde. In Fig. 2 und 3 ist auch eine Gegenhalter 40 erkennbar, auf welchem das Bauteil 24 aufliegt. Der Gegenhalter 40 wird verwendet, damit das Bauteil 24 beziehungsweise die Bauteile nicht dem Nagel 36 in dessen Eintreibrichtung ausweichen können, sondern der Nagel 36 die Bauteile durchdringen kann. Mittels der Vorrichtung 38 wird der Nagel 36 in der Eintreibrichtung mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile eingedrückt, wobei die Eintreibrichtung in Fig. 3 durch einen Richtungspfeil 42 Speed of less than five meters per second. In Fig. 2 and 3, a counter-holder 40 can be seen, on which the component 24 rests. The counter-holder 40 is used so that the component 24 or the components can not escape the nail 36 in its driving direction, but the nail 36 can penetrate the components. By means of the device 38, the nail 36 is pressed in the driving direction at a speed of less than five meters per second in the components, wherein the driving direction in Fig. 3 by a directional arrow 42nd

veranschaulicht ist. Die Vorrichtung 38 kann als pneumatische Vorrichtung, hydraulische Vorrichtung oder elektromechanische Vorrichtung ausgebildet sein. is illustrated. The device 38 may be formed as a pneumatic device, hydraulic device or electromechanical device.

Im Rahmen des Verfahrens wird der Nagel 36 zunächst an der Vorrichtung 38 As part of the process, the nail 36 is first on the device 38th

angeordnet und gehalten. Anschließend wird der Nagel 36 mittels der Vorrichtung 38 in der Eintreibrichtung in die Bauteile eingedrückt, wobei von den Bauteilen in Fig. 3 das mit 24 bezeichnete Bauteil erkennbar ist. Da aufgrund der geringen Setzgeschwindigkeit übermäßige Schwingungen und Geräusche vermieden werden, kann auch auf den Einsatz von kostenintensiven und unflexiblen Schallschutzwänden und Schallschutzkabinen verzichtet werden. In der Folge lässt sich auch eine besonders geringe Taktzeit realisieren, welche üblicherweise dadurch verlängert wird, dass Türen der Schallschutzkabinen geöffnet und/oder Drehtische gedreht oder Bauteilzuführungen bewegt werden müssen. Dies kann nun vermieden werden, so dass beispielsweise im Rahmen einer Massenproduktion in besonders kurzer Zeit eine besonders hohe Anzahl an Bauteilen miteinander verbunden werden können. arranged and held. Subsequently, the nail 36 is pressed by means of the device 38 in the driving direction in the components, wherein of the components in Fig. 3, the designated component 24 can be seen. As a result of the low setting speed, excessive vibrations and noises can be avoided, and the use of cost-intensive and inflexible soundproof walls and walls can also be avoided Noise protection cabins are dispensed with. As a result, a particularly short cycle time can be realized, which is usually extended by the fact that doors of the soundproof booths open and / or rotated turntables or component feeds must be moved. This can now be avoided, so that, for example, in the context of mass production in a very short time, a particularly high number of components can be interconnected.

Neben dem in den Ausführungsbeispielen gezeigten Fügevorgang, bei dem ein erstes Bauteils 24 mit wenigstens einem zweiten Bauteil mittels zumindest eines Fügeelements 36, welches an einer Fügestelle 34 in die Bauteile 24 eingebracht wird, verbunden wird, wobei das Fügeelement 36 mittels eines Industrieroboters 10 mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile 24 eingedrückt wird, können das Verfahren und die Vorrichtung 10, 26, 38 auch lediglich zum Nacharbeiten eines In addition to the joining process shown in the embodiments, in which a first component 24 with at least one second component by means of at least one joining element 36, which is introduced at a joint 34 in the components 24, is connected, wherein the joining element 36 by means of an industrial robot 10 with a Speed of less than five meters per second is pressed into the components 24, the method and the apparatus 10, 26, 38 also only for reworking a

Kopfüberstands bzw. eines nicht vollständig in die Bauteile 24 eingedrückten Head protrusion or not fully pressed into the components 24

Fügeelements 36 verwendet werden. Joining element 36 can be used.

Claims

Patentansprüche claims Verfahren zum Verbinden eines ersten Bauteils (24) mit wenigstens einem zweiten Bauteil mittels zumindest eines Fügeelements (36), welches an einer Fügestelle (34) in die Bauteile (24) eingebracht wird, Method for connecting a first component (24) to at least one second component by means of at least one joining element (36) which is introduced into the components (24) at a joint (34), dadurch gekennzeichnet, dass characterized in that das Fügeelement (36) mittels eines Industrieroboters (10) mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile (24) eingedrückt wird. the joining element (36) is pressed into the components (24) by means of an industrial robot (10) at a speed of less than five meters per second. Verfahren nach Anspruch 1 , Method according to claim 1, dadurch gekennzeichnet, dass characterized in that das Fügeelement (36) mittels des Industrieroboters (10) vorzugsweise mit einer Geschwindigkeit von 0,01 Metern pro Sekunde bis 2 Metern pro Sekunde in die Bauteile (24) eingedrückt wird. the joining element (36) is pressed into the components (24) by means of the industrial robot (10), preferably at a speed of 0.01 meters per second to 2 meters per second. Verfahren nach Anspruch 1 oder 2, Method according to claim 1 or 2, dadurch gekennzeichnet, dass characterized in that das Fügeelement (36) in einem mehrstufigen Fügevorgang in die Bauteile (24) eingedrückt wird. the joining element (36) is pressed into the components (24) in a multi-stage joining process. Verfahren nach einem der vorhergehenden Ansprüche, Method according to one of the preceding claims, dadurch gekennzeichnet, dass characterized in that das Fügeelement (36) in einem mehrstufigen Fügevorgang mittels wenigstens zwei verschiedener Fügevorrichtungen in die Bauteile (24) eingedrückt wird. the joining element (36) is pressed into the components (24) in a multi-stage joining process by means of at least two different joining devices. 5. Industrieroboter (10) zum Verbinden eines ersten Bauteils (24) mit wenigstens einem zweiten Bauteil mittels zumindest eines Fügeelements (36), welches mittels des Industrieroboters (10) an einer Fügestelle (34) in die Bauteile (24) einbringbar ist, 5. industrial robot (10) for connecting a first component (24) to at least one second component by means of at least one joining element (36) which can be introduced into the components (24) by means of the industrial robot (10) at a joint (34), dadurch gekennzeichnet, dass  characterized in that der Industrieroboter (10) dazu ausgebildet ist, das Fügeelement (36) mit einer Geschwindigkeit von weniger als fünf Metern pro Sekunde in die Bauteile (24) einzudrücken.  the industrial robot (10) is designed to press the joining element (36) into the components (24) at a speed of less than five meters per second. 6. Industrieroboter (10) nach Anspruch 5, 6. industrial robot (10) according to claim 5, dadurch gekennzeichnet, dass  characterized in that der Industrieroboter (10) als eine pneumatische Vorrichtung oder eine hydraulische Vorrichtung oder eine elektromechanische Vorrichtung ausgeführt ist.  the industrial robot (10) is designed as a pneumatic device or a hydraulic device or an electromechanical device. 7. Industrieroboter (10) nach Anspruch 5, 7. industrial robot (10) according to claim 5, dadurch gekennzeichnet, dass  characterized in that der Industrieroboter (10) als ein Impulsantrieb oder ein Servoantrieb ausgeführt ist.  the industrial robot (10) is designed as a pulse drive or a servo drive. 8. Industrieroboter (10) nach einem der Ansprüche 5 bis 7, 8. industrial robot (10) according to one of claims 5 to 7, dadurch gekennzeichnet, dass  characterized in that zum Eindrücken des Fügeelements (36) in die Bauteile (24) eine Halterung vorgesehen ist.  for pressing the joining element (36) into the components (24) a holder is provided. 9. Industrieroboter (10) nach Anspruch 8, 9. industrial robot (10) according to claim 8, dadurch gekennzeichnet, dass  characterized in that die Halterung als eine Vorrichtung zum Halten und zum Vereinzeln des  the holder as a device for holding and separating the Fügeelements (36) ausgeführt ist.  Joining element (36) is executed. 10. Industrieroboter (10) nach Anspruch 8 oder 9, 10. industrial robot (10) according to claim 8 or 9, dadurch gekennzeichnet, dass  characterized in that die Halterung einen Führungsschlitten aufweist.  the holder has a guide carriage.
EP15733620.7A 2014-05-22 2015-05-21 Method for joining at least two components Active EP3145657B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014007553.2A DE102014007553B4 (en) 2014-05-22 2014-05-22 Method for connecting at least two components and device for carrying out such a method
PCT/EP2015/001033 WO2015176819A1 (en) 2014-05-22 2015-05-21 Method for joining at least two components and device for carrying out the method

Publications (2)

Publication Number Publication Date
EP3145657A1 true EP3145657A1 (en) 2017-03-29
EP3145657B1 EP3145657B1 (en) 2020-04-29

Family

ID=53502604

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15733620.7A Active EP3145657B1 (en) 2014-05-22 2015-05-21 Method for joining at least two components

Country Status (6)

Country Link
US (1) US10940524B2 (en)
EP (1) EP3145657B1 (en)
CN (1) CN106457359B (en)
DE (1) DE102014007553B4 (en)
ES (1) ES2809449T3 (en)
WO (1) WO2015176819A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017009192B4 (en) 2017-10-02 2019-11-28 Daimler Ag Method and joining device for joining at least two components
EP3943264B1 (en) * 2020-07-21 2022-11-16 Böllhoff Verbindungstechnik GmbH Stud setting method of a nail-shaped bolt as well as a setting tool with an electronic control unit for implementing the stud replacement method

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2739794B1 (en) * 1995-10-11 1997-12-26 Dassault Aviat SHOCK OPERATING RIVET APPARATUS AND METHOD FOR IMPLEMENTING THE APPARATUS
US9015920B2 (en) * 1997-07-21 2015-04-28 Newfrey Llc Riveting system and process for forming a riveted joint
US6789309B2 (en) * 2000-02-22 2004-09-14 Newfrey Llc Self-piercing robotic rivet setting system
JP3543267B2 (en) * 2000-05-31 2004-07-14 福井鋲螺株式会社 Aluminum driven rivets
JP3488201B2 (en) * 2000-12-26 2004-01-19 東洋ゴム工業株式会社 Bolt press-fitting equipment
GB0111265D0 (en) * 2001-05-05 2001-06-27 Henrob Ltd Fastener insertion apparatus and method
US7313852B2 (en) * 2003-12-23 2008-01-01 Magna Structural Systems, Inc. Method of forming a rivet using a riveting apparatus
US8196794B2 (en) * 2004-08-24 2012-06-12 Ford Motor Company Riveting system and multi-piece self pierce die for improved die life
US7555833B2 (en) * 2005-04-14 2009-07-07 Gm Global Technology Operations, Inc. System for programmable self-piercing riveting
DE102006002237B4 (en) * 2006-01-17 2012-09-20 Böllhoff Verbindungstechnik GmbH Method and device for monitoring a joining process for connecting at least two components by means of a setting bolt
DE102006007706A1 (en) 2006-02-12 2007-08-23 Adolf Würth GmbH & Co. KG Gun rivet, has rivet body with collar, which has plain lower surface and access area for tool on front side opposite to lower surface and rivet tip is provided to drill hole in component
DE102006022237B3 (en) 2006-05-12 2007-11-08 Thomas Neuf Construction in body of water on which superstructure is arranged has buoyancy body, supporting platform joined by components that allow translational movement, mechanical traction mechanism for transferring translational displacement
ES2343987B1 (en) * 2007-04-10 2011-06-13 Airbus Operations, S.L. A DYNAMIC VERIFICATION METHOD OF A RIVING PROCESS WITH BLIND RIVETS CARRIED OUT WITH AN AUTOMATIC RIVING DEVICE, AND A VERIFICATOR DEVICE TO PERFORM THE VERIFICATION.
DE102007033126B4 (en) 2007-07-16 2011-06-09 Böllhoff Verbindungstechnik GmbH Process for making a nail bond and nail therefor
US8434215B2 (en) * 2008-08-05 2013-05-07 Newfrey Llc Self-piercing rivet setting machine
DE102009009112A1 (en) 2009-02-16 2010-11-04 Benteler Automobiltechnik Gmbh Structural component for motor vehicle, particularly B-column, side sill, or bumper cross beam, comprises base body made of sheet metal, and is partially provided with reinforcement element
DE102009050200B3 (en) 2009-10-21 2011-03-31 Böllhoff Verbindungstechnik GmbH Process monitoring for high-speed joining
DE102010006404A1 (en) 2010-02-01 2011-08-04 Audi Ag, 85057 Method for forming nail connection between two non-prepunched components in automobile industry, involves driving nail in two non-prepunched components in intermediate position, and completely pressing nail in components in end position
CN101934337B (en) * 2010-09-21 2012-11-21 上海交通大学 Ring-shaped electro-plastic self-piercing riveting system
US9339899B2 (en) * 2010-11-10 2016-05-17 Henrob Limited Fastening method and apparatus
DE102012013325A1 (en) 2012-07-06 2014-10-30 Volkswagen Aktiengesellschaft Joining of components made of different materials by means of a joining aid
US10005120B2 (en) * 2012-07-16 2018-06-26 Henrob Limited Method for forming a joint using a self-piercing rivet
DE102012018866A1 (en) * 2012-09-25 2014-03-27 Böllhoff Verbindungstechnik GmbH A welding auxiliary joining part and method for joining components to this welding auxiliary joining part
DE102012021817B4 (en) * 2012-11-07 2021-06-10 Audi Ag Welding device, in particular for body construction, and a method
EP2754512B1 (en) * 2013-01-11 2015-09-16 Volkswagen Aktiengesellschaft Joining device and method for joining components without predrilled holes by means of a joining element which is subjected to pulsed forces
CN103600016B (en) * 2013-11-25 2015-09-30 吉林大学 Between ultrahigh-strength steel plates or with the clinching method of aluminium alloy plate

Also Published As

Publication number Publication date
CN106457359A (en) 2017-02-22
EP3145657B1 (en) 2020-04-29
CN106457359B (en) 2021-12-14
DE102014007553B4 (en) 2019-08-22
ES2809449T3 (en) 2021-03-04
DE102014007553A1 (en) 2015-11-26
US20170189954A1 (en) 2017-07-06
US10940524B2 (en) 2021-03-09
WO2015176819A1 (en) 2015-11-26

Similar Documents

Publication Publication Date Title
DE102014103796A1 (en) System for elastically averaged alignment
DE102013114181B4 (en) spot welding device
WO2014169999A1 (en) Punch for punching polymeric motor vehicle components
DE102010006404A1 (en) Method for forming nail connection between two non-prepunched components in automobile industry, involves driving nail in two non-prepunched components in intermediate position, and completely pressing nail in components in end position
DE102014014042B4 (en) Multi-axis forging press and method for operating a multi-axis forging press
DE102015007295B3 (en) setting device
DE102014007553B4 (en) Method for connecting at least two components and device for carrying out such a method
DE602004012063T2 (en) Control device for two separate bar feeders
DE102018008703A1 (en) Device and method for reinforcing structures made in 3D concrete printing
DE10354680B4 (en) Method for connecting at least partially overlapping components
DE102011014911A1 (en) Method for automatic assembling of attachment member for e.g. roof luggage support, of motor car, involves arranging position of attachment member such that threaded portions are arranged at appropriate through-holes of car body region
WO2004054738A1 (en) Wobble joining device
EP3381581B1 (en) Punch rivet device and method for operating the same
DE102015215823A1 (en) Combination of flow forming and resistance welding technology for a two-stage joining process
DE102016005850B4 (en) Method and device for joining at least two components, in particular for a motor vehicle
DE102013005176A1 (en) Apparatus and method for the production of components made of fiber composite materials
EP3546084B1 (en) Method for connecting at least two workpieces by means of a punch rivet device and punch rivet device
DE102010050149A1 (en) Device for processing a large-sized workpiece
DE102013111337A1 (en) Robot punching cell
DE102015014625A1 (en) Method for machining at least one structural element for a motor vehicle
DE102010006401B4 (en) Method of making a draft
DE10310093A1 (en) Producing connections between overlapping workpieces, involves using shaping die to form bent section on metal sheet placed on hollow component, and form flange that serve as joint section of metal sheet and hollow component
DE102018132966A1 (en) Method and device for inserting a nail into at least one component
DE102008007284A1 (en) A method for generating a break-through in a body portion of a vehicle as needed
EP3388165B1 (en) Self-piercing rivet setting device and production device

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

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

Free format text: ORIGINAL CODE: 0009012

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20161019

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20180709

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: DAIMLER AG

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20191205

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1262541

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200515

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502015012439

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200429

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200730

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200829

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200831

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200729

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502015012439

Country of ref document: DE

Owner name: MERCEDES-BENZ GROUP AG, DE

Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 502015012439

Country of ref document: DE

Representative=s name: JENSEN & SON, GB

Ref country code: DE

Ref legal event code: R081

Ref document number: 502015012439

Country of ref document: DE

Owner name: DAIMLER AG, DE

Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 502015012439

Country of ref document: DE

Representative=s name: JENSENS IP LIMITED, IE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200531

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200531

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502015012439

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2809449

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20210304

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502015012439

Country of ref document: DE

Representative=s name: JENSENS IP LIMITED, IE

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20200531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200521

26N No opposition filed

Effective date: 20210201

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200521

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200531

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1262541

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200521

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200521

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502015012439

Country of ref document: DE

Owner name: MERCEDES-BENZ GROUP AG, DE

Free format text: FORMER OWNER: DAIMLER AG, STUTTGART, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 502015012439

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200429

REG Reference to a national code

Ref country code: ES

Ref legal event code: PC2A

Owner name: MERCEDES-BENZ GROUP AG

Effective date: 20220819

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20250528

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20250520

Year of fee payment: 11

Ref country code: ES

Payment date: 20250612

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250522

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250526

Year of fee payment: 11