Method for connecting at least two components and device for carrying out such a method

Abstract

A method for connecting a first component to at least one second component by at least one joining element which is introduced into the components at a joining point. The joining element is pushed into the components by an industrial robot at a speed of less than five meters per second.

Claims

1. A method for preventing evasion of a nail while connecting a first component to a second component by the nail, the nail being introduced into the first and second components at a joining point, comprising the steps of: supporting the first and second components on a counter holder; and pushing the nail into the first and second components in a multi-step joining procedure while supporting the first and second components on a surface of the counter holder facing the nail, wherein in a first step of the multi-step joining procedure the nail is pushed by a first joining device toward the surface of the counter holder and only partially into the first and second components up to an intermediate point only at a speed of less than five meters per second and in a second step of the multi-step joining procedure the nail is pushed by a second joining device toward the surface of the counter holder and from the intermediate point completely into an end position in the first and second components only at the speed of less than five meters per second.

2. The method according to claim 1, wherein the speed is 0.01 meters per second to 2 meters per second.

3. The method according to claim 1, wherein the first joining device is an industrial robot.

4. The method according to claim 3, wherein the industrial robot has a base, a plurality of arms, and a head, wherein the head and the plurality of arms are movable relative to one another.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a schematic and perspective side view of an 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 pushed into the components by means of the robot at a speed of less than five meters per second;

(2) FIG. 2 is a schematic and perspective side view of a device in the form of a drop tower for carrying out the method referred to; and

(3) FIG. 3 is a further schematic and perspective side view of a further device for carrying out the method, in which the joining element in the form of the nail is pushed into the components at a speed of less than five meters per second.

DETAILED DESCRIPTION OF THE DRAWINGS

(4) In the Figures, identical or functionally identical elements are provided with the same reference numerals.

(5) 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 scope of which a first component is connected to at least one second component, in particular of a motor vehicle. The components are, for example, vehicle body parts. The industrial robot 10 has a base 12, via which the industrial robot 10 is fastened to the floor. Additionally, the industrial robot 10 has a plurality of robot arms 14, 16, 18 and 20 which are also referred to as axes or robot axes.

(6) Additionally, the industrial robot 10 comprises a robot head 22 held in a moveable manner on the robot arm 20. The robot arms 14, 16, 18, 20 and the robot head 22 are connected to each other flexibly, such that these can be moved relative to one another.

(7) A device which is not depicted in FIG. 1 is arranged on the robot head 22, such that this device can be moved around in space by means of the industrial robot 10. It is thereby possible, for example, by means of the industrial robot 10, to connect the components to each other by means of at least one joining element in the form of a nail, wherein, in the scope of the method, the nail is introduced, i.e., is pushed, into the components at a joining point by means of the industrial robot 10.

(8) Before the introduction of the nail, the components are arranged, for example, relative to each other in such a way that the components overlap each other at least in a respective overlapping region. Here, the joining point is arranged in the overlapping regions such that the nail penetrates the overlapping regions.

(9) In order to now connect the components to each other in a particularly cost-effective and low-noise manner, it is provided that the nail is pushed into the components by means of the industrial robot 10 at a speed of less than five meters per second. The structure of the industrial robot 10 as well as the control thereof can hereby be kept particularly simple. Additionally, excessive vibrations of the components and excessive noise resulting therefrom can also be prevented by this low speed which is also referred to as a setting speed.

(10) The nail is, for example, a bolt which is also referred to as a setting bolt. The method is therefore formed as bolt setting or a bolt setting method, in which the bolt is driven into the components at an only very low speed, i.e., particularly slowly. The industrial robot 10 here represents an electrical drive, by means of which the nail, which is also referred to as a tack, is pushed into the components directly and slowly.

(11) Alternatively to the industrial robot 10, it is also conceivable to use another electromechanical device, by means of which the nail is pushed into the components. Furthermore, it is possible to push the nail (joining element) into the components by means of a pneumatic device or a hydraulic device, or to push the nail (joining element) into the components by means of an accelerated mass.

(12) Additionally, a holder can be used for pushing the nail into the components. Such a holder is a device for holding and for isolating 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. It is thereby possible to drive the nail into the components, which represent a component composite. The nail can hereby be pushed into the components with particularly high energy.

(13) Such a holder can, for example, be arranged on the industrial robot 10, in particular on the robot head 22, such that the holder and the nail are able to be moved around in space by means of the industrial robot 10. Here, a movement of the nail which is decoupled from the industrial robot 10 and is able to be caused by the holding device can be achieved. For example, the holder has a guide carriage, by means of which the nail can be moved relative to the industrial robot 10 and therefore at least substantially independently of this. It can thereby, for example, be achieved that a force acting on the nail during the driving in thereof is not transferred to the industrial robot 10.

(14) A pneumatic or hydraulic press can be used, for example, for driving in the nail. Additionally, the use of an automated hammer, a pulse drive or a servo drive is conceivable for pushing in the nail.

(15) The driving of the joining element into the components can, for example, occur in a multi-step joining procedure. Additionally, the driving of the joining element into the components can occur by means of at least two different joining devices. For example, the joining element can firstly be pushed only partially into the components up to an intermediate point by means of an automated hammer and then, in a second method step, can be pushed completely into an end position by means of an industrial robot.

(16) FIG. 2 shows a device according to a further embodiment, by means of which the nail can be driven into the components. In FIG. 2, one of the components, which is referred to in FIG. 2 by 24, is depicted to illustrate the driving in of the nail. The device shown in FIG. 2 is formed as a drop tower 26. The drop tower 26 comprises two guide elements which are presently formed as guide rods 28. Furthermore, the drop tower 26 comprises a guide carriage in the form of a guide plate 30 which has through-openings 32. Here, the guide rods 28 penetrate the corresponding through-openings 32 such that the guide plate 30 is able to move relative to the guide rods 28 in a translational manner along the guide rods 28.

(17) The joining point at which the nail is pushed into the component 24 is referred to in FIG. 2 by 34. Additionally, the nail is depicted particularly schematically in FIG. 2 and referred to by 36.

(18) In order to push the nail 36 into the component 24 at the joining point 34, the guide plate 30 is moved away from the component 24 along the guide rods 28. 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 the nail 36 held on the guide plate 30 are moved away from the component 24 in such a way that a predeterminable distance is set between the nail 36 and the component 24. This distance is here set in such a way that the nail 36 has a speed of less than five meters per second when it strikes the component 24 and penetrates this.

(19) After the distance has been set, the guide plate 30 is released such that the guide plate 30 and the nail 36 are accelerated only due to gravity to the settable speed of less than five meters per second. In other words, in the case of the drop tower 26, the guide plate 30 is allowed to fall with the nail 36 via gravity, whereby the energy for the joining procedure is provided. For example, the guide plate 30 has a mass of three kilograms, wherein the determined height or the distance between the component 24 and the nail 36 is set, for example, to one meter.

(20) FIG. 3 shows a further device 38 for pushing in the nail 36 at a speed of less than five meters per second. In FIGS. 2 and 3, a counter holder 40 is also recognizable on which the component 24 is supported. The counter holder 40 is used so that the component 24 or the components cannot evade the nail 36 in the driving-in direction thereof, but rather the nail 36 can penetrate the components. By means of the device 38, the nail 36 is pushed into the components in the driving-in direction at a speed of less than five meters per second, wherein the driving-in direction is illustrated in FIG. 3 by a directional arrow 42. The device 38 can be formed as a pneumatic device, hydraulic device or electromechanical device.

(21) In the scope of the method, the nail 36 is firstly arranged and held on the device 38. Then, the nail 36 is pushed into the components in the driving-in direction by means of the device 38, wherein the component referred to with 24 is recognizable from the components in FIG. 3. Since, due to the low setting speed, excessive vibrations and noise are prevented, the use of cost-intensive and inflexible sound-insulating walls and sound-insulating cabins can be dispensed with. As a consequence, a particularly low cycle time can also be achieved, which is usually lengthened by doors of the sound-insulating cabins having to be opened and/or turntables having to be rotated or component feeds having to be moved. This can now be prevented such that, for example, in the scope of mass production, a particularly high number of components can be connected to one another in a particularly short time.

(22) In addition to the joining procedure shown in the exemplary embodiments, in which a first component 24 is connected to at least one second component by means of at least one joining element 36 which is introduced into the components 24 at a joining point 34, wherein the joining element 36 is pushed into the components 24 by means of an industrial robot 10 at a speed of less than five meters per second, the method and the device 10, 26, 38 can also be used only for post-processing a head protrusion or a joining element 36 which is not completely pushed into the components 24.