Mounting device

Abstract

Method for fixing a leather cover (35) to a vehicle part (30) using staples (41-44) applied by a robot (1), wherein the robot (1) has a fastening device with a stapling device (10) attached to one end of a robot arm (2) of the robot (1) and with which the staples (41-44) are automatically placed into the leather cover (35), where, after setting the staples (41-44) as setting parameters, it is first automatically checked whether a staple (41-44) has been set, where, if it is determined that no staple has been set at a location, in a subsequent process step, another setting operation is carried out at the same location with the robot, furthermore, an additional setting parameter is automatically recorded as a protrusion of the set staple (41-44), and if the protrusion of a set staple (41-44) exceeds a desired limit, the set staple is removed and renewed in a further setting process.

Description

[0001] The invention relates to a method for fixing a leather cover to a vehicle part using staples applied by a robot.

[0002] From DE 10 2008 024 117 A1 a vehicle seat device is known, comprising a foam part, a cover and at least one staple, wherein the cover is firmly connected to the foam part by means of the at least one staple, wherein the fastening of the cover by means of staples can be carried out manually by tacking / stapling, but in particular also automatically by a robot.

[0003] From WO 2015 / 155 300 A1, a robot workstation is known, comprising a robot with a robot controller and a manipulator arm having several joints and links connecting the joints, wherein the robot workstation includes at least one hand tool which has at least one manual actuating means for triggering a tool function of the hand tool, wherein a gripper is designed for universally holding several different hand tools and the robot workstation includes at least one automatic actuating device.

[0004] Further prior art is known from DE 44 05 661 A1, from DE 10 2013 018 320 A1, from DE 2015 005 759 A1 and from DE 10 2010 006 402 A1.

[0005] DE 10 2006 002 237 A1 discloses a method for monitoring a bolt joining process.

[0006] DE 10 2009 050 200 B3 discloses a method for monitoring a high-speed joining process using bolts, punch rivets or by clinching.

[0007] The object of the invention is to simplify and improve the fixing of a leather cover to a vehicle part using staples applied by a robot.

[0008] The problem is solved by a method according to claim 1.

[0009] The setting parameters are automatically recorded using suitable sensors.

[0010] After the staple setting process, the system first checks whether a staple has been set. If the check reveals that no staple has been set, the robot can perform another staple setting operation at the same location in a subsequent process step.

[0011] Furthermore, the protrusion of the inserted staple is detected. If the protrusion exceeds a desired limit, the inserted staple can be removed and replaced in a subsequent insertion process.

[0012] Another preferred embodiment of the method is characterized by checking the position of the inserted staple. This check determines in a simple way whether and how precisely the inserted staple is positioned as desired. This significantly improves the quality of the staple setting process.

[0013] The invention further relates to a computer program product comprising program code for carrying out a previously described method. The computer program is preferably executed in a robot controller of the robot.

[0014] The invention further relates to a robot control system with a previously described computer program. The robot control system is integrated into the robot in a known manner.

[0015] Further advantages, features, and details of the invention will become apparent from the following description, in which various exemplary embodiments are described in detail with reference to the drawing. The drawing shows: Fig. 1 a simplified perspective view of a robot with a stapler attached to one end of a robot arm of the robot; Fig. 2 an enlarged view of the stapler at the end of the robot arm Fig. 1; and Fig. 3 a vehicle part to which a total of four staples are fixed using the stapler.

[0016] In the Fig. 1 and Fig. Figure 2 shows a simplified perspective representation of robot 1. Robot 1 comprises a robot arm 2, which includes several segments arranged sequentially and rotatably connected to one another via joints. Movements of robot arm 2 during robot 1 operation are controlled by a robot controller 3.

[0017] The robot controller 3 of robot 1 is used to execute a robot program that allows the joints of robot arm 2 to be adjusted or rotated automatically or manually. For this purpose, the robot controller 3 is connected to appropriately controllable electric drives that move or adjust the joints of robot arm 2 of robot 1.

[0018] A stapler 10, also referred to as a stapler head, is attached to a free end of the robot arm 2. The stapler 10, or stapler head 10, comprises a magazine of staples which can be positioned and placed very precisely by means of corresponding movements of the robot arm 2 by the robot 1 or the robot controller 3, for example to fix a cover to a vehicle part.

[0019] The robot 1 with the stapler 10 enables the staples, also known as tacker staples, to be set very accurately and precisely. This significantly improves the quality of vehicle parts that are covered with the appropriate material.

[0020] In Fig. Figure 3 shows a simplified perspective view of a vehicle part 30 with a cutout 32. The vehicle part 30 is an instrument panel of a motor vehicle. The instrument panel 30 of the motor vehicle is covered with a cover 35.

[0021] The cover 35 is preferably a leather cover 40. The leather cover 40 is fixed to the vehicle part 30 by means of staples 41 to 44. The staples 41 to 44 are set, as indicated by an arrow 50 on the staple 44, using a stapler 10, which is Fig. 2 is shown.

[0022] The stapling device 10 at the end of the robot arm 2 of the robot 1 enables very tight tolerances to be maintained when setting the staples 41 to 44, both in their position and their insertion depth. This ensures a high and consistent component quality of the vehicle part 30 with the leather covering 40 in a simple manner.

[0023] Furthermore, the use of the stapling device 10 at the end of the robot arm 2 advantageously prevents undesirable damage to the leather surface of the leather garment 40. This ensures optimal effectiveness of the staples 41 to 44 in a simple manner. Moreover, the number of staples 41 to 44 can be reduced due to the high setting quality.

[0024] After the staples 41 to 44 have been set, the following parameters are advantageously checked for each staple. First, it is checked whether a staple is present after the setting process. If a staple is present, then the position of the set staples 41 to 44 on the vehicle part 30 is checked. Finally, the protrusion of the set staples 41 to 44 is checked. The protrusion of the staples 41 to 44 corresponds to the insertion depth.

Claims

[1] Method for fixing a leather cover (35) to a vehicle part (30) using staples (41-44) applied by a robot (1), wherein the robot (1) has a fastening device with a stapling device (10) attached to one end of a robot arm (2) of the robot (1) and with which the staples (41-44) are automatically placed into the leather cover (35), where, after setting the staples (41-44) as setting parameters, it is first automatically checked whether a staple (41-44) has been set, where, if it is determined that no staple has been set at a location, in a subsequent process step, another setting operation is carried out at the same location with the robot, furthermore, an additional setting parameter is automatically recorded as a protrusion of the set staple (41-44), and if the protrusion of a set staple (41-44) exceeds a desired limit, the set staple is removed and renewed in a further setting process. [2] Method according to claim 1, characterized by , that furthermore, the position of the set staple (41-44) is checked as a setting parameter. [3] Computer program product comprising program code for performing a method according to claim 1 or 2. [4] Robot control (3) with a computer program product according to claim 3.

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