Method and device for introducing a joining element into at least one component

Abstract

The invention relates to a method for introducing a joining element (10) into at least one component (11) along a connection axis (14) by means of a joining tool (30, 130) which is designed to guide the joining element (10) in the direction of the connection axis (14). The invention further relates to a device (20) for introducing an engagement element (10) into a component (11), comprising a receiving device (31, 131), on which the engagement element (10) can be received, and a drive device (32, 132) for guiding the engagement element (10) into the component (11).

Description

Technical Field

[0001] The invention relates to a method for introducing a joining element into at least one component along a connecting axis by means of a joining tool, which is designed to guide the joining element in the direction of the connecting axis. Background Art

[0002] In particular, in joining technology, the requirements for process reliability, process guidance and process monitoring are increasing. In order to meet the increased requirements, joining technology devices, for example, devices for introducing joining elements into components, are equipped with a plurality of sensors in order to actively control the process and monitor, in particular visualize, process variables such as rotational speed, torque, axial force, transverse force, bending load and temperature.

[0003] Thus, in many joining methods, forces are applied to the components to be joined and / or the joining elements along the connection axis. In an optimized joining process, the force or connection axis coincides with the component surface normal or the target hole axis at every process time point. Deviations in coincidence include, for example, tilting along a transverse axis (angular offset) or parallel axis displacement (axial offset). Figure 1 Such deviations from the ideal are shown in . Possible consequences of the deviations are, in particular, increased loading of the joining device, the joining elements and the joining parts, tilting of the joining elements, failure to achieve head support, increased process variables when producing the connection, failure to achieve the desired values ​​of the produced connection, insufficient tightness of the connection and / or increased energy and heat input.

[0004] If the joining element is moved out of position during insertion into the component with at least one pre-drilled hole, the connection axis is adapted to the hole axis, which leads to bending of the joining tool and transverse loading of the entire system. If the joining element is moved out of position during introduction into the at least one component without a pre-drilled hole, the connection axis is adapted to the surface normal as the head support is reached, which leads to loading or damage of the joining tool, the joining element and the joining part.

[0005] Particularly in the area of ​​screws forming the flow hole (see manual DVS / EFB 3445-1), this phenomenon leads to known quality defects due to the high process forces. The cause of this problem lies in the unique characteristics of this threaded connection. Screws forming the flow hole differ from other known joining methods in essential aspects. For example, the combination of one-sided accessibility and the resulting inability to hold in reverse and high joining forces causes a partially temporary, partially permanent tilting of the joining element during the joining process.

[0006] Known measures for improving this joining method have not yet resulted in a satisfactory solution for detecting deviations from the joining axis and in particular the tilting of the joining elements during and after the process and thus ensuring the quality of the connection. The measures known so far include, for example, deliberately incorrect positioning of the screw axis before the process, reduction of the process power and / or subsequent destructive quality assurance in the form of macro grinding. Summary of the invention

[0007] Starting from this, the object of the present invention is to provide an improved method for introducing a joining element into at least one component, as well as an improved device and an improved joining tool for introducing a joining element into at least one component.

[0008] This is achieved according to the invention by the teaching of the independent claim. Preferred embodiments of the invention are the subject matter of the dependent claims.

[0009] In order to achieve this object, a method for introducing a joining element into at least one component along a connecting axis by means of a joining tool is proposed in a first aspect, wherein the joining tool is configured to guide the joining element in the direction of the connecting axis. The method comprises the following steps:

[0010] a) receiving the joining element on the joining tool;

[0011] b) positioning a joining tool having a joining element on the component;

[0012] c) introducing the engagement element into the component, wherein:

[0013] c1) detecting data of at least one process variable characterizing a load of a joining element introduced into the component on a joining tool and transmitting the data to a machine controller;

[0014] c2) the machine controller determines the load of the joining element and thereby a possible deviation of the load of the joining element from the desired load using the acquired data of the at least one process variable, thereby enabling a non-destructive assessment of the quality of the connection during and after the introduction of the joining element into the component; and

[0015] d) As soon as the joining element has been introduced into the component, the joining tool is released from the joining element.

[0016] The proposed method for introducing a joining element into at least one component along a connection axis is in particular a joining method for introducing a joining element, such as a screw, a rivet, a bolt, etc., into at least one component. The method here includes all types of joining elements that are introduced into the component along the connection axis, regardless of whether the joining element is embodied in one piece or in multiple pieces. The method is particularly suitable for screws that form flow holes. In addition, the proposed method involves introducing such a joining element into at least one component, for example, in order to connect the joining element to one or more components and / or to connect two or more components to each other via at least one joining element. Therefore, the further description always relates to all such cases.

[0017] At least one component may have a component configuration, such as an opening or a recess, which is provided for engagement with the coupling element and is particularly prepared for this purpose. Similarly, the component at the connection location may not have a configuration particularly provided for the connection process, wherein such a configuration may be formed during the connection process. The connecting tool is configured here to guide the coupling element in the direction of the connection axis, in particular under axial force load, and to introduce the coupling element into at least one component. Here, during the movement of the coupling element in the direction of the connection axis, a rotational movement may also be provided at least temporarily, whereby the coupling element is, for example, screwed into, in particular screwed into, the component. In a particular embodiment, the joining tool is configured to be arranged at a robot workstation.

[0018] In a first step a), the joining element is received on the joining tool. In particular, the joining tool has a receiving device, which is arranged in particular at its axial end, on which at least one joining element can be received, in particular in a form-fitting manner. Of course, it can also be provided that the joining element can also be received on the receiving device in a force-fitting manner, for example by magnetic or inductive forces.

[0019] In a second step b), a joining tool with a joining element is positioned on the component. In this case, the joining element is positioned, in particular at its axial end facing the component, at a location of the at least one component at which the joining element is to be introduced into the component, in particular along the connection axis. Furthermore, the joining tool with the joining element is positioned relative to the component in such a way that the joining element is oriented in accordance with the provided connection axis. In this case, the connection axis in particular coincides, i.e. is consistent, with the component surface normal. In particular, the joining element is positioned concentrically with a target or connection hole or opening provided on the at least one component.

[0020] In a third step c), the joining element is guided and thus introduced into at least one component, wherein in substep c1), data of at least one process variable characterizing the load or load state of the joining element guided into the component are detected on the joining tool or in particular directly in the joining tool, in particular during the entire or a part of the process of introducing the joining element into the component, and are sent to the machine controller. The data are detected in particular by means of suitable sensors, which can be arranged on the joining tool or can also be constructed integrally with the joining tool, for example. In particular, these are data of process variables such as rotational speed, torque, axial force, transverse force, bending load, acceleration and / or temperature acting on the joining tool, wherein these process variables can be detected not only by sensors provided for this purpose but also by other devices involved in the introduction of the joining element, such as in particular drives.

[0021] In another sub-step c2), the load of the joining element and the possible deviation of the load of the joining element from the load or load state are determined by a computing device of the machine controller with the help of data of at least one process variable obtained, especially detected on the joining tool and / or in the joining tool. As a result, a non-destructive evaluation of the connection quality can be achieved, especially during the introduction of the joining element into the component and also based on the data detected after the introduction of the joining element into the component. The load that the joining element should have is defined in particular by the data of the process variable that can be detected on the joining tool or the relationship of such process variables in the planned joining process. In particular, when the value of one or more process variables, especially detected on the joining tool, or the relationship of multiple values ​​exceeds or falls below a predetermined expected value or the value of the expected variable is not in a set range, there is a deviation from the expected load or the expected load state. Knowing a certain deviation from the expected load during the guidance of the joining element into the component, in particular a deviation value related to the expected variable or one or more relationships thereof, allows evaluating the quality of the process of guiding or introducing the joining element into at least one component and the quality of the connection produced thereby, in particular the quality of the connection between the joining element and the component or between two components produced with the aid of the joining element.

[0022] In a fourth step d), as soon as the joining element has been introduced into the component, the joining tool is released from the joining element. At this point in time, the connection is established and the process of guiding or introducing the joining element into at least one component is accordingly concluded.

[0023] The proposed method makes it possible to determine a deviation from the expected process of at least one process variable, which already characterizes the loading of the joining element during the introduction of the joining element into the component. Based on the determined deviation, the quality of the introduction process and thus of the resulting connection can be improved. In addition, the lack of a deviation or a deviation within a predefined tolerance value can be used as evidence of the quality of the resulting connection.

[0024] In one embodiment of the method for introducing a joining element into at least one component, the machine controller additionally determines in step c2) a possible deviation of the positioning of the joining tool from the intended positioning. The deviation can be designed, for example, as an axial offset or an angular offset or a combined offset with components of this type of offset. The proposed method can thus also determine deviations from the intended positioning when positioning the joining element, even during the introduction of the joining element into the component.

[0025] In one embodiment of the method for introducing a joining element, in a further step c3), in the event of a determined deviation, in particular of the load of the joining element or of the positioning of the joining tool, the machine controller derives at least one correction value for at least one process variable. The at least one correction value for at least one process variable characterizing the deviation can be derived in particular from at least one value characterizing the deviation, in particular in combination with at least one desired variable of the process variable or, for example, in combination with a relationship of a plurality of desired variables of one or more process variables, in particular detected on the joining tool. The derived at least one correction value can, for example, be used as a basis for improving a joining process that is still ongoing at the time of the detection of the deviation and / or that is later.

[0026] If the determined deviation and the at least one correction value derived therefrom relate to the positioning of the joining tool relative to the component, the correction value can be derived from at least one process variable characterizing the deviation, in particular in combination with at least one desired variable of the position or, for example, in combination with a relationship of a plurality of desired variables of one or more process variables, in particular detected on the joining tool. The at least one correction value derived can in particular serve as a basis for correcting the loading or positioning of the joining tool or the joining element for a joining process still taking place at the time of the identification of the deviation and / or at a later time.

[0027] In one embodiment of the method for introducing a joining element, in a further step c4), at least one process variable is corrected with the aid of at least one correction value for the at least one process variable derived in step c3). Here, at least one process variable can be corrected already during the currently ongoing introduction of the joining element into the component and the quality of the currently produced connection can be improved. Likewise, the correction of at least one process variable can be used for process improvement. Here, the correction of at least one process variable is carried out after the current introduction process is completed and takes effect during the subsequent execution of the method for introducing the joining element into the component, so that, for example, continuous process improvement can be achieved. Likewise, in an apparatus configured to apply the method, during a learning or teaching process of the method for introducing a joining element, in particular after determining deviations and deriving correction values, the correction of at least one process variable can be repeatedly performed.

[0028] In one embodiment of the method for introducing a joining element, the joining tool can be positioned relative to the component not only in a plane perpendicular to the connection axis but also at least one angle with the component surface and thereby with the original connection axis by means of a positioning device. In particular, the joining tool can be freely positioned relative to the component or component surface space by means of a positioning device. In this embodiment, in step c4), the positioning device can correct the positioning of the joining tool relative to the component based on at least one correction value derived. Here, the correction of the joining tool and thus the joining element's positioning can be performed before or after and / or during the introduction of the joining element into the component. The correction of the positioning can be performed here not only in a plane perpendicular to the connection axis but also at least one angle with the component surface and relative to the component or component surface or the original connection axis, in particular, freely in space. In particular, the correction of the positioning is performed so that the identified deviation is compensated, and the identified deviation is also at least partially overcompensated according to the type of deviation. Therefore, the quality of the connection produced can be significantly improved during and after the joining process.

[0029] In one embodiment of the method for introducing a joining element, in a further step e), at least one correction value derived in step c3) is used for positioning the joining tool when performing step b) of positioning the joining tool with the joining element on the component. In particular, step e) is performed during a subsequent joining process and here during a subsequent execution of the method for introducing a joining element. In this way, the proposed method can be improved during multiple executions, in particular with regard to the quality of the produced connection. This method step can be used particularly advantageously in a learning or teaching process of the method for introducing a joining element.

[0030] In one embodiment of the method for introducing a joining element, data of at least one process variable detected on the joining tool in step c1) are suitable for determining the transverse force acting on the joining tool and / or the joining element. The transverse force acting on the joining tool during the joining process is suitable as a characteristic variable for the component load and thus for monitoring the quality of the connection produced. In particular, the value of this characteristic variable also constitutes a measure of the possible deviation of the positioning of the joining tool from its proper positioning. Therefore, by monitoring the transverse force already during the introduction of the joining element, the possible deviation of the component load from the proper load can be determined and at least one correction value for the process variable when the joining element is introduced into the component is derived. In addition, the transverse force also constitutes a characteristic variable, with the help of which the deviation of the positioning of the joining tool can be determined and at least one correction value for the positioning of the joining tool can be derived. Therefore, the transverse force acting on the component and thus also acting on the joining element or the joining tool causes a tilting moment at at least one bearing position of the joining tool. Based on an analysis of the component rigidities of the components of the device for the joining method and involved in the joining method, in conjunction with the transverse forces detected during the method, intersections of pressure ellipses in rolling element bearings and / or other components of the joining tool can be monitored and / or prevented.

[0031] In a second aspect, in order to achieve this task, a device for introducing a joining element into at least one component along a connecting axis is proposed. In order to introduce the joining element, the device has a joining tool that is configured to guide the joining element in the direction of the connecting axis. The joining tool has a receiving device, on which the joining element can be received on the joining tool, and a drive device, which is used to guide the joining element into the component. A sensor device is arranged on the joining tool of the device or directly in the joining tool for detecting data related to at least one process variable that characterizes the load of the joining element introduced into the component. In addition, the device has a machine controller, which is configured to determine a possible deviation of the load of the joining element from the load that should be with the help of data of at least one process variable detected.

[0032] The proposed device is particularly suitable for carrying out one or more steps of the previously proposed method for introducing a joining element into at least one component. In particular, the device enables a non-destructive assessment of the quality of the connection during and after the introduction of the joining element into the component. Aspects of the method that influence the configuration of the elements of the device or the elements to be connected and their relationship to one another can be understood analogously to the previous description and are therefore not explained separately in conjunction with the proposed device.

[0033] The joining tool of the device is designed to guide the joining element in the direction of the connection axis, in particular under axial force load, and introduce the joining element into at least one component. In order to receive the joining element, the joining tool has a receiving device, which is arranged on its axial end facing the component, and on which the at least one joining element can be received, in particular in a form-fitting manner. In addition, the receiving device can also be designed so that the joining element can be received on the receiving device in a non-positive manner, for example by means of magnetic or inductive forces, in addition to the form-fitting reception.

[0034] The joining tool has a drive or is connected to a drive in order to guide the joining element received on the receiving part, in particular under force loading and in particular in a longitudinal movement, in the direction of the connecting axis. Here, the drive can be provided to at least temporarily, in particular in addition to the axial loading, also to drive the joining element rotationally, thereby, for example, screwing the joining element, in particular screwing it into the component.

[0035] A sensor device is arranged on the joining tool of the proposed device or directly in the joining tool for detecting data of at least one process variable of the load of the joining element that characterizes the effect. "Being arranged on the joining tool" should be understood as at least one sensor device being arranged on the device so that the process variable acting on the joining tool can be detected by means of the sensor device. Therefore, the sensor device can be directly constructed on the joining tool itself, adjacent to the joining tool or integrated with the joining tool. Here, the sensor device is installed in the hole or groove of the element that transmits the force flow when the joining element is introduced, which can be understood as being directly arranged in the joining tool. The sensor device can have one or more sensors or sensor elements arranged on the joining tool here, so that one or more process variables can be detected by means of one or more sensor elements. The sensor element is particularly configured so that these sensor elements utilize one or more physical effects to detect at least one process variable.

[0036] In addition, the device has at least one machine controller, which is configured to determine a possible deviation from the expected load with the help of data of at least one detected process variable. As already explained, the expected load is particularly defined as a process variable or a relationship of these process variables that can be detected on the joining tool during the planned joining process. In particular, there is a deviation from the expected load when the value or the relationship of the values ​​of one or more process variables, especially detected on the joining tool, exceeds or falls below a predetermined expected variable. Knowing the determined deviation from the expected load, in particular knowing the deviation value related to the expected load during the introduction of the joining element into the component, in particular the deviation value related to the expected variable or one or more relationships, allows for a particularly non-destructive evaluation of the quality of the connection of the process of guiding or introducing the joining element into at least one component and thus also a particularly non-destructive evaluation of the quality of the connection produced, in particular between the joining element and the component or between two components by means of the joining element.

[0037] The proposed device enables the determination of deviations in the load of the coupling element, in particular during the introduction or introduction of the coupling element into the component, using data from at least one detected process variable. Based on the determined deviations in the load of the coupling element from the expected load, a particularly non-destructive assessment of the quality of the connection can be made during and after the introduction of the coupling element into the component. This also enables the expected process of the device to be adapted, so that the introduction process and the quality of the connection produced with the device are improved. In addition, the fact that the load of the coupling element does not deviate or that the deviation is within a predetermined tolerance value can constitute evidence for the quality of the produced connection.

[0038] In one embodiment of the device, the machine controller is configured to determine a possible deviation of the actual position of the joining tool from the desired position using the data of the at least one detected process variable. The deviation can be, for example, an axial offset or an angular offset or a combined offset, in particular with components of this type of offset. The device is particularly designed so that the deviation of the actual position of the joining element from the desired position can be determined even during the introduction or introduction of the joining element into the component.

[0039] One embodiment of the device has a positioning device for supporting and positioning the joining tool on the component. The joining tool can be positioned relative to the component not only in a plane perpendicular to the connection axis but also at an angle to the component surface by means of the positioning device. In particular, the positioning device is designed to position the joining tool spatially freely relative to the component or the component surface.

[0040] In one embodiment of the device, the positioning device is arranged to correct the positioning of the joining tool relative to the component. In particular, the positioning device is configured so that the positioning or position correction of the joining tool or the joining element arranged thereon can be performed at least partially before, during and / or after the joining element is introduced into the component.

[0041] In one embodiment of the device, the sensor device is configured to detect at least one process variable selected from the group consisting of the process variables rotational speed, torque, axial force, transverse force, bending load, acceleration and temperature. Of course, the group can include further process variables that can be detected by means of the sensor device of the device and by means of which at least one process variable can be detected, from the value of which or in combination with the value of the process variable or the value of at least one further process variable, a possible deviation of the component load from the desired load and / or a possible deviation from the desired positioning of the coupling element can be determined.

[0042] In one embodiment of the device, the machine controller is configured to determine at least one reaction variable such as a transverse force, a normal force and / or a torque acting on the joining tool from the data of at least one detected process variable. The corresponding reaction variable used here can be directly detected or can be determined based on the relationship between the values ​​of at least two process variables. For example, the transverse force acting on the joining tool can be determined based on the (bending) normal stress sensor element.

[0043] In a third aspect, in order to achieve this object, a joining tool for introducing a joining element into at least one component along a connecting axis is proposed, the joining tool being designed to guide the joining element in the direction of the connecting axis, wherein the joining tool has a receiving device on which the joining element can be received on the joining tool. The proposed joining tool has at least one sensor device for detecting data of at least one process variable that can be detected on the joining tool, the sensor device being designed to be integrated with the joining tool. In particular, the joining tool is designed to be used when carrying out the above-mentioned method, in particular also in combination with the above-mentioned device.

[0044] In the case of an integrated design of the sensor device and the joining tool, the sensor device forms a functional unit with the joining tool. In particular, an element of the joining tool also serves to realize at least one function of the sensor device that is integrated with the joining tool, for example, to transmit a temperature or a force or a deformation to at least one measuring element of the sensor device or also to shield the sensor element from the surrounding environment.

[0045] Therefore, at least one sensor device of the joining tool, which is constructed integrally with the joining tool, is particularly configured to act together with at least one element of the joining tool in order to detect various process parameters. To this end, the sensor device can be arranged in a cavity constructed inside the joining tool. Therefore, for example, a strain gauge arranged inside the joining tool and connected to the structural element of the joining tool in a material-locked manner can directly detect the force acting on the joining tool during the joining process or the strain caused. In addition, a motion sensor can be arranged inside the joining tool or at least partially constituted by the joining tool, which motion sensor detects the movement of the joining tool, such as its rotational speed or its axial force and / or rotational force or acceleration. In the same way, a plurality of other sensor elements suitable for detecting one or more process parameters to determine possible deviations from the expected process can be constructed integrally with the joining tool.

[0046] In particular, the joining tool has a drive device or is connected to a drive device in order to guide the joining element received on the receiving part, in particular under force and in particular in a longitudinal movement in the direction of the connecting axis. Here, the drive device can also be designed to exert a rotational movement on the joining tool in order to rotationally drive the joining element, in particular during the movement of the joining element in the direction of the connecting axis, at least temporarily, so that the joining element can be screwed or screwed into the component by means of the joining tool.

[0047] In order to receive the joining element, the joining tool has a receiving device, which is arranged in particular on its axial end facing the component, on which at least one joining element can be received in particular in a form-fitting manner. Here, the receiving device can also be designed so that the joining element can be received on the receiving device in particular in addition to the form-fitting manner, also at least partially in a force-fitting manner, for example by means of magnetic or inductive forces.

[0048] In order to detect the process variables required for determining the deviation from the intended process, a suitable design of the joining tool is required, in particular in terms of its geometry, material properties and geometric resistance. To this end, the joining tool must be adapted to the boundary conditions of the intended joining task, thereby in particular also being able to detect multiple measurement variables at one location of the component.

[0049] The proposed joining tool can realize the deviation of at least one process parameter from the expected process already determined during the introduction of the joining element into the component. Based on the determined deviation, the component load during the introduction process can be detected according to the proposed method, and the quality of the connection produced can be evaluated and improved accordingly. In addition, the deviation without deviation or within the predetermined tolerance value of the component load can be used as evidence for the quality of the connection produced. The features and characteristics of the proposed joining tool, in particular, should be understood in a manner similar to the previously described device for introducing the joining element in combination with the joining element into the component, and in combination with the device, the embodiments of the joining tool described herein can be used to introduce the joining element into the component. The various aspects of the configuration of the elements of the device or the elements to be connected and their relationship to each other that affect the method and characteristics of the device should be understood similarly to the previous description and are therefore not separately described for this special embodiment of the joining tool.

[0050] One embodiment of the joining tool has an interface for supplying energy and / or data to at least one sensor device which is integrally formed with the joining tool. A preferred embodiment has only such an interface, although at least one further interface may be necessary in embodiments in which the energy and / or data supply of at least one sensor device is incompatible with the energy and / or data supply of at least one further sensor device. In particular, for devices with a screwdriver stroke in which energy supply and data transmission must be ensured in the axial region, the number of required connection points can be reduced, thereby facilitating the routing of cables to the joining tool.

[0051] In one embodiment of the joining tool, the data transmission of at least one sensor device integrally formed with the joining tool takes place via a wireless connection. For example, data transmission over greater distances can also take place here, in particular, via Bluetooth, WLAN, IWLAN or Li-Fi. This embodiment is particularly advantageous when using so-called smart sensor devices.

[0052] In one embodiment of the joining tool, the energy supply is provided via an energy storage device, such as a battery or an accumulator, to at least one sensor device integrally formed with the joining tool. In this embodiment, advantageously no cable guide or device for inductive energy transmission is required.

[0053] In one embodiment of the joining tool, at least one sensor device, which is integrally formed with the joining tool, supplies energy and / or data inductively. In this case, an induction coil can be used for the energy and / or data supply, which in particular extends over a sufficient stroke length of the joining tool. In this embodiment, a cable guide for the energy and / or data supply can be advantageously omitted.

[0054] In one embodiment of the joining tool, the receiving device and at least one integrated sensor device are arranged in front of the support of the joining tool in the direction of the connection axis. When the sensor device is arranged in front of the support of the joining tool, it is especially arranged at a short distance relative to the screw position or in the vicinity of the screw position. The process variables should be detected as undistorted as possible. Therefore, the torque and force sensors are especially preferably arranged in the vicinity of the process-related parts and thus in front of the first support part of the joining tool. As the sensor device approaches the screw position, the quality of the measurement results that can be detected by means of the sensor device and thus the quality of the recognition of deviations of the connection process from the expected process is improved.

[0055] In one embodiment of the joining tool, the sensor device is configured to detect at least one process variable selected from the group consisting of the process variables rotational speed, torque, axial force, transverse force, bending load, vibration, acceleration and temperature. From the data of these process variables, at least one reaction variable acting on the joining tool, such as transverse force, normal force and / or torque, can be determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Further advantages, features and possible applications of the invention are apparent from the following description in conjunction with the drawings.

[0057] The accompanying drawings show:

[0058] Figure 1 : Schematic diagram of an example of incorrect positioning of a joining element compared to an optimized positioning;

[0059] Figure 2 : An exemplary embodiment of the device according to the invention for introducing a joining element into at least one component;

[0060] Figure 3 : An exemplary embodiment of a joining tool according to the invention for introducing a joining element into at least one component;

[0061] Figure 4 : a joining tool with an integrated sensor element; and

[0062] Figure 5 : Schematic representation of a flow chart of an exemplary method according to the invention for introducing a joining element into at least one component. DETAILED DESCRIPTION

[0063] Figure 1Various situations are shown when positioning the joining element 10 for introduction into the component 11. In the upper row, the joining element 10 is shown from above during the process of introduction into the component 11. Here, the left-hand diagram shows the ideal positioning that can then be joined without deviation and in particular without transverse forces. The middle diagram shows the axial positioning error that is usually caused by manufacturing tolerances of the prefabricated hole 12 of the component 11 or inaccurate positioning of the joining tool. In order to be able to introduce the joining element 10 into the component 11 in the case of axial positioning errors, not only the joining element 10 but also the component 11 can be provided with chamfers 10a, 11a. As a result, the joining element 10 can be introduced into the component 11 even with an offset a caused by the axial joining force F. If the position of the joining element 10 and thus the position of the force introduction is not corrected, an increased load or an increased load state of the joining element 10 occurs when the joining element 10 is introduced into the component 11. The two diagrams on the far right show angular offset errors. Here, the inclined connection axis 14' has an angle β with respect to the component surface 11b and an angle α with respect to the provided connection axis 14. Here, the inclination of the joining tool 30 does not coincide with the component surface normal or, in the case of a guide hole 12, with the hole axis. If the joining element 10 is still introduced into the component 11 under this condition, the joining axis 14 is adapted to the axis of the guide hole 12 during the introduction process. This leads to bending loads of the joining tool 30 and of the joining element 10, which are also reflected in the lateral load of the entire device 20.

[0064] Figure 2 An exemplary embodiment of a device 20 according to the invention for introducing a joining element 12 into a component 11 along a connection axis 14 by means of a joining tool 30 is shown. The joining tool 30 is designed for guiding the joining element 10 in the direction of the connection axis 14 and has a receiving device 31 for receiving the joining element 10 on the joining tool 30. In addition, the device 20 has a drive device 32 for guiding the joining element 10 into the component 11. A sensor device 33 for detecting data of at least one process variable is arranged on the joining tool 10. The sensor device 33 is provided for detecting at least one process variable, such as an axial force F applied by the joining tool 30, a torque applied by the joining tool 30 and / or a rotational speed or a force acting on the joining tool 30, such as a transverse force, a bending load, an acceleration or a temperature of the joining tool 30 at a predetermined position.

[0065] For example, Figure 2The device 20 shown in the figure also has a positioning device 35 for supporting and positioning the joining tool 30 and thus the joining element 10 on the component 11. The joining tool 10 can be positioned relative to the component 11 by means of the positioning device 35 not only in a plane perpendicular to the connection axis 11, but also at an angle β to the surface 11b of the component 11, in particular facing the joining element 10. The exemplary positioning device 35, here a multi-axis robot, is provided for correcting the positioning of the joining tool 10 relative to the component 11.

[0066] Furthermore, the device 20 has a machine control 40 for controlling the device 20. The machine control 40 is also configured to determine a possible deviation from the desired process using data of at least one process variable detected by the at least one sensor device 33. Furthermore, the machine control 40 can be configured to determine at least one reaction variable, such as a transverse force, a normal force and / or a torque, acting on the joining tool 30 from the data of the at least one detected process variable.

[0067] Figure 3 An exemplary embodiment of a joining tool 30 according to the invention for introducing a joining element 10 into at least one component 11 is shown on the right. Figure 3 The left side view of FIG. 1 shows a bonding tool 130 according to the prior art, on which a plurality of sensor devices 133 are arranged. A drive device 132 is used to drive the bonding tool 130. The process variable should be detected as undistorted as possible, so the sensor device 133 is mounted on the bonding tool 130 as close as possible to the receiving part 131 of the bonding element 10. As can be seen from Figure 3 As can be seen from the left-hand illustration in , this cannot be achieved without problems, especially with a separate dimension sensor 133. In addition, no support 134 can be provided in the installation space for the sensor device 133, which ensures a greater distance and thus a higher leverage. The structural size of the sensor 133 also has a direct impact on the overall structural length of the joining tool 130, which is disadvantageous primarily in robot-guided applications.

[0068] exist Figure 3 The right-hand diagram in FIG. 1 shows an exemplary joining tool 30 according to the present invention for introducing a joining element 10 into at least one component 11 along a connection axis 14. The joining tool 30 has a receiving device 31, on which the joining element 10 can be received on the joining tool 30. In the exemplary joining tool 30 according to the present invention, at least one sensor device 33 for detecting data of at least one process variable that can be detected on the joining tool 30 is integrally constructed with the joining tool 30. The receiving device 31 and the at least one integrated sensor device 33 are arranged in front of a support 34 of the joining tool 30 in the direction of the connection axis 14. The joining tool 30 is also connected to a drive device 32.

[0069] The joining tool 30 further comprises an interface 36 for supplying energy and / or data to at least one sensor device 33 formed integrally with the joining tool 30 , wherein data transmission of the at least one sensor device 33 formed integrally with the joining tool 30 can take place via a wireless connection.

[0070] At least one sensor device 33 embodied integrally with the exemplary joining tool 30 according to the present invention is supplied with energy via an energy storage device 37 , wherein the supply of energy and / or data to the at least one sensor device 33 embodied integrally with the joining tool 30 can also take place inductively.

[0071] Figure 4 A joining tool 30 is shown with an integrated sensor device 33 in the form of a transverse force sensor 33a. A joining element 10, for example, configured as a screw forming a flow hole and a thread, is arranged on a receiving device 31 of the joining tool, which is guided into a component 11 in the form of a sheet metal. An embedding element, for example, configured as a screw bit, is arranged on the receiving device 31, which is located in an embedding feature of the head of the joining element 10. During the introduction of the joining element 10 into the component 11 by the joining tool 30, the transverse force sensor 33 detects the transverse force F acting on the joining tool 30. The data of the detected transverse force F constitute the data of a process variable, which characterizes the load of the joining element 10 and is sent to the machine controller.

[0072] exist Figure 4 In the exemplary embodiment shown, a transverse force F caused by the introduction process acts on the connection between the receiving device 31 and the head of the joining element 10, from which the loading of the joining element 10 can be derived. The induced transverse force F leads to a measurable bending load of the joining tool 30 and simultaneously to a bending load of the joining element 10. In the exemplary embodiment, the detected transverse force F thus constitutes a process variable, which characterizes the loading of the joining element 10 and whose data are transmitted to the machine controller.

[0073] The machine controller determines the load of the joining element 10 with the aid of this data. In the embodiment, this is achieved by taking into account the distance a between the lateral force sensor 33a and the surface of the component 11 into which the joining element 10 is to be introduced, and the distance s between the joining element 10 and the surface of the component 11. The lateral force sensor 33a is calibrated taking into account these distances. Therefore, the load of the joining element 10 caused by the lateral force F acting on the joining element 10 can be determined according to at least one process variable detected in the joining tool 30. In addition, the bending load of the joining element during the joining process can also be calculated by knowing the distances a and s. Therefore, the possible deviation of the load of the joining element 10 from the load (in the embodiment, the load is defined in particular by the lateral force or the bending load) can be determined. Therefore, the quality of the connection can already be evaluated during the introduction of the joining element 10 into the component 11. In addition, the quality of the connection can also be evaluated at a later point in time in combination with the data of at least one process variable detected during the introduction.

[0074] Figure 5 A schematic diagram of a flow chart of an exemplary method according to the invention for introducing a joining element 10 into at least one component 11 along a connection axis 14 by means of a joining tool 30, which is designed to guide the joining element 10 in the direction of the connection axis 14. In a first step a), the joining element 10 is received on the joining tool 30. In a second step b), the joining tool 30 with the joining element 10 is positioned on the component 11 and guided into the component 11 in a step c). In this case, in a sub-step c1), data of at least one process variable characterizing the load of the joining element 10 during its introduction into the component 11 are detected on the joining tool 30 and sent to a machine controller 40, wherein in a further sub-step c2), the machine controller 40 determines a possible deviation of the load of the joining element 10 from the desired load using the data of the at least one process variable obtained, so that a non-destructive assessment of the quality of the connection can be achieved during and after the introduction of the joining element 10 into the component 11. If the joining element 10 is introduced into the component 11, in step d), the joining tool 30 is released from the joining element 10. The data of the at least one process variable characterizing the load of the acting joining element 10 detected on the joining tool 30 in step c1) are particularly suitable for determining the load of the joining element 10 by the transverse forces acting on the joining element 10.

[0075] Optionally, in step c2), the machine controller 40 can determine a possible deviation of the positioning of the joining tool 30 from the intended positioning. Also optionally, in step c), a further sub-step c3) can be performed, in which the machine controller 40 derives at least one correction value for at least one process variable in the event of a determined deviation of the load of the joining element 10 and / or the positioning of the joining tool 30.

[0076] In a further optional sub-step c4), the at least one process variable is corrected by means of at least one correction value for the at least one process variable derived in step c3). In this case, in an embodiment of the device 20 in which the joining tool 30 can be positioned relative to the component 11 by means of a positioning device 35 both in a plane perpendicular to the connection axis 14 and at least at an angle β to the component surface 11b, the positioning of the joining tool 30 relative to the component 11 is corrected based on the at least one derived correction value.

[0077] In a further optional step e), during the subsequent execution of the method for introducing joining element 10 , during step b), positioning joining tool 30 with joining element 10 on component 11 , at least one correction value for the positioning of joining tool 30 derived in step c3) is used.

Claims

1. A method for introducing a joining element (10) into at least one component (11) along a connecting axis (14) by means of a joining tool (30, 130), the joining tool being configured to guide the joining element (10) in the direction of the connecting axis (14), the method comprising the following steps: a) receiving the joining element (10) on the joining tool (30, 130); b) positioning a joining tool (30, 130) having the joining element (10) on the component (11); c) guiding the engagement element (10) into the component (11), wherein: c1) detecting data of at least one process variable characterizing a load of a joining element (10) introduced into the component (11) on the joining tool (30, 130) and transmitting the data to a machine controller (40); c2) the machine controller (40) determines the load of the joining element and thereby a possible deviation of the load of the joining element from a desired load using the acquired data of the at least one process variable, thereby enabling a non-destructive assessment of the quality of the connection during and after the introduction of the joining element (10) into the component (11); and d) As soon as the joining element (10) has been introduced into the component (11), the joining tool (30, 130) is released from the joining element (10).

2. The method for introducing a joining element (10) according to claim 1, characterized in that In step c2), the machine control (40) additionally determines a possible deviation of the positioning of the joining tool (30, 130) from a desired positioning.

3. Method for introducing a joining element (10) according to any one of the preceding claims, characterized in that Includes additional steps: c3) The machine controller (40) derives at least one correction value for at least one process variable when the deviation is determined.

4. Method for introducing a joining element (10) according to claim 3, characterized in that Includes additional steps: c4) Correcting the at least one process variable by means of the at least one correction value for the at least one process variable derived in step c3).

5. Method for introducing a joining element (10) according to claim 4, wherein: The joining tool (30, 130) can be positioned relative to the component (11) not only in a plane perpendicular to the connection axis (14) but also at least one angle (β) relative to the component surface (11b) by means of a positioning device (35), characterized in that in step c4), the positioning device (35) corrects the positioning of the joining tool (30, 130) relative to the component (11) based on the at least one correction value derived.

6. Method for introducing a joining element (10) according to at least one of claims 3 to 5, characterized in that Includes additional steps: e) when subsequently carrying out the method for introducing a joining element (10), using at least one correction value for the positioning of the joining tool (30, 130) derived in step c3) when carrying out step b) of positioning a joining tool (30, 130) having the joining element (10) on the component (11).

7. Method for introducing a joining element (10) according to at least one of the preceding claims, characterized in that The data of the at least one process variable detected on the joining tool (30, 130) in step c1) are suitable for determining a transverse force acting on the joining tool (30, 130) and / or the joining element (10).

8. A device (20) for introducing a joining element (10) into at least one component (11) along a connection axis (14) by means of a joining tool (30, 130), the joining tool being configured to guide the joining element (10) in the direction of the connection axis (14), the device comprising a receiving device (31, 131) on which the joining element (10) can be received on the joining tool (30, 130) and a drive device (32, 132) for guiding the joining element (10) into the component (11), characterized in that A sensor device (33, 133) arranged on the joining tool (30, 130) and a machine controller (40) are provided, wherein the sensor device is used to detect data of at least one process variable characterizing the load of the active joining element (10), and the machine controller is configured to determine a possible deviation from the load that the joining element (10) should have with the aid of the detected data of the at least one process variable.

9. Device for introducing a joining element (10) into at least one component (11) according to claim 8, characterized in that The machine controller (40) is configured to determine a possible deviation of an actual position of the joining tool (30, 130) from a desired position using the detected data of the at least one process variable.

10. Device for introducing a joining element (10) into at least one component (11) according to claim 9, characterized in that A positioning device (35) is provided for supporting and positioning the joining tool (30, 130) on the component (11), wherein the joining tool (30, 130) can be positioned relative to the component (11) not only in a plane perpendicular to the connection axis (14) but also at an angle (β) relative to a component surface (11b) by means of the positioning device (35).

11. Device for introducing a joining element (10) into at least one component (11) according to claim 10, characterized in that The positioning device (35) is provided for correcting the positioning of the joining tool (30, 130) relative to the component (11).

12. Device for introducing a joining element (10) into at least one component (11) according to at least one of claims 8 to 11, characterized in that The sensor device (33, 133) is provided for detecting at least one process variable which is selected from the group consisting of the process variables rotational speed, torque, axial force, transverse force, bending load, acceleration and temperature.

13. Device for introducing a joining element (10) into at least one component (11) according to at least one of claims 8 to 12, characterized in that The machine controller (40) is configured to determine at least one reaction variable, such as a transverse force, a normal force and / or a torque, acting on the joining tool (30) from the detected data of the at least one process variable.

14. A joining tool (30) for introducing a joining element (10) into at least one component (11) along a connecting axis (14), in particular for carrying out a method for introducing a joining element (10) into at least one component (11) according to at least one of claims 1 to 7, the joining tool being configured to guide the joining element (10) in the direction of the connecting axis (14), the joining tool having a receiving device (31) on which the joining element (10) can be received on the joining tool (30), characterized in that At least one sensor device (33) is designed integrally with the joining tool (30) and is used to detect data of at least one process variable detectable on the joining tool (30).

15. The bonding tool according to claim 14, characterized in that The receiving device (31) and at least one integrated sensor device (33) are arranged in the direction of the connection axis (14) upstream of a support element (34) of the joining tool (30).

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