Effector and method for plasticizing plastic components

Abstract

Effector (100, 200, 318, 410, 416, 514) for plasticizing plastic components (300, 302, 400, 402, 500, 502) at a common joining contact surface (304, 404, 504) using an electrically contactable resistance heating layer (306, 406, 508) to join the plastic components (300, 302, 400, 402, 500, 502) together in a material-bonded manner, wherein the resistance heating layer serves for the arrangement between common joining contact surfaces of plastic components to be joined or joined together and is at least partially permeable to plasticized plastic, the effector (100, 200, 318, 410, 416, 514) having an effector base (108), electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512) for electrically contacting the resistance heating layer (306, 406, 508) and a pressure module (110,322) with a flat first pressure section (122) for applying a pressure force over a surface and a curved second pressure section (124) for applying a pressure force along a line.

Description

[0001] The invention relates to an effector for plasticizing plastic components at a common joining contact surface using an electrically contactable resistance heating layer in order to bond the plastic components to one another. The resistance heating layer is arranged between common joining contact surfaces of plastic components to be bonded or connected to one another and is permeable to plasticized plastic at least in sections. The effector comprises an effector base and electrodes for electrically contacting the resistance heating layer. Furthermore, the invention relates to a method for plasticizing plastic components at a common joining contact surface using an electrically contactable resistance heating layer in order to bond the plastic components to one another.

[0002] From document DE 10 2017 105 185 A1, an effector for an industrial robot is known for the material-to-material connection of fiber composite parts with a thermoplastic matrix using a connecting element. The connecting element comprises a metal conductor layer with a contact side and a rear side, a first fiber composite layer arranged on the contact side, a second fiber composite layer arranged on the rear side, a first thermoplastic layer arranged on the first fiber composite layer, and a second thermoplastic layer arranged on the second fiber composite layer. The metal conductor layer has at least two contact sections on the contact side for electrical application in a resistance welding process.The effector may comprise at least one gripping module for gripping a fiber composite part and / or the connecting element and / or at least one pressing module for pressing fiber composite parts together.

[0003] From the document DE 102019 106 212 A1, an electrical resistance heating layer is known for plasticizing plastic components at common joining contact surfaces in order to bond the plastic components together, wherein the resistance heating layer has a heating power distribution individually adapted to the joining contact surfaces.

[0004] From the document DE 10 2018 119 348 A1 a device is known for plasticizing plastic components at common joining contact surfaces with the aid of an electrically contactable resistance heating layer in order to connect the plastic components to one another in a materially bonded manner, wherein the device has at least one electrode module with a first electrode and a second electrode, wherein the first electrode has / has a plurality of first electrode sections which can be electrically acted upon separately from one another and / or the second electrode has / has a plurality of second electrode sections which can be electrically acted upon separately from one another.

[0005] Document WO 2020 / 016514 A1 relates to a method for welding rigid parts comprising a thermoplastic material and having respective welding surfaces. According to document WO 2020 / 016514 A1, an insert is placed between the welding surfaces of the two parts and heat is supplied through the insert, for example by a resistance effect. The insert moves relative to the welding parts in a welding direction during welding. The surfaces of the two parts to be welded are then brought into contact by applying pressure upstream and / or downstream of the position of the insert with respect to the welding direction.

[0006] Document JP S59-115592 A relates to a method for manufacturing an electromagnetic shield. For this purpose, a sheet-like thermoplastic resin is brought into contact with a surface of a mesh conductor, energy is applied to the conductor from its opposite end using roller electrodes, and the conductor and the thermoplastic resin are pressed against each other while the conductor is heated by the energy supply. Further relevant prior art can be found in DE 102017110667 A1 and GB 989369 A.

[0007] The invention is based on the object of structurally and / or functionally improving an effector mentioned above. Furthermore, the invention is based on the object of improving a method mentioned above.

[0008] The object is achieved by an effector having the features of claim 1. Furthermore, the object is achieved by a method having the features of claim 12. Advantageous embodiments and / or further developments are the subject of the subclaims.

[0009] The effector can be used with an industrial robot. The effector can be mounted on a manipulator of an industrial robot. The effector can serve as an end effector. The effector can have a modular design. The effector can have a vertical axis, a longitudinal axis, and a transverse axis. The vertical axis, the longitudinal axis, and the transverse axis can be arranged at right angles to each other.

[0010] The effector may have an interface assembly. The interface assembly may be used to connect the effector to an industrial robot. The interface assembly may have a mechanical interface, an electrical power interface, and / or an electrical signal interface. The mechanical interface may have a connection surface. The connection surface may be arranged perpendicular to the vertical axis. The mechanical interface may be arranged on the effector base.

[0011] The effector base can be designed as a support and / or a housing. The effector base can have a base plate and support arms. The base plate can be arranged at right angles to the vertical axis. The base plate and support arms can define a receiving space. The support arms can be arranged at right angles to the base plate.

[0012] The pressure module can be arranged on the effector base. The pressure module can be arranged on the support arms. The pressure module can be arranged in the receiving space. The pressure module can be displaceable relative to the effector base. The pressure module can be displaceable in the direction of extension of the vertical axis.

[0013] The effector can have at least one linear guide. The at least one linear guide can act between the effector base and the pressure module. The at least one linear guide can serve to guide in the direction of extension of the vertical axis and absorb forces in the direction of extension of the longitudinal axis and / or the transverse axis. The effector can have at least one working element. The at least one working element can act between the effector base and the pressure module. The at least one working element can be designed as a working cylinder, in particular as a pneumatic cylinder.

[0014] The pressure module can have a first end and a second end in the direction of extension of the longitudinal axis. The first pressure section can be arranged at the first end. The second pressure section can be arranged at the second end. The first pressure section serves to apply a contact force over a large area. The first pressure section can be plate-like or block-like. The second pressure section serves to apply a contact force in a linear manner. The second pressure section can be roller-like or edge-like.

[0015] The pressure module can have a continuously rotating pressure belt. The pressure belt can be flexible. The pressure belt can be made of an elastic material. The pressure belt can be made of an elastomeric plastic. The pressure belt can have a carcass. The pressure module can have support rollers, deflection rollers, and / or sliding surfaces. The support rollers and / or deflection rollers can have axes of rotation and can be arranged with their axes of rotation parallel to the transverse axis. At least one support roller and / or deflection roller can be drivable. The first pressure section and / or the second pressure section can have a sliding surface for the pressure belt.

[0016] The effector can have an electrode carrier. The effector can have a first electrode and a second electrode. The electrodes can be arranged on the pressure module. The electrodes can be arranged on the electrode carrier. The electrode carrier and / or the electrodes can each be displaceable relative to the pressure module. The electrode carrier and / or the electrodes can each be displaceable in the extension direction of the vertical axis and / or the longitudinal axis. The electrodes can serve to apply electrical current to the resistance heating layer. “Electrically apply” in this case means in particular that electrical power is introduced. The electrical power can be determined by a voltage and / or a current. The electrodes can serve to apply mechanical current to the resistance heating layer, in particular to apply a contact force.

[0017] The effector can have at least one linear guide acting between the pressure module on the one hand and the electrode carrier and / or the electrodes on the other. The at least one linear guide can serve for guidance in the direction of extension of the vertical axis and / or the longitudinal axis and absorb forces in the direction of extension of the transverse axis. The effector can have at least one working element acting between the pressure module on the one hand and the electrode carrier and / or the electrodes on the other. The at least one working element can be designed as a working cylinder, in particular as a pneumatic cylinder. The electrodes can be designed as rollers or block-like. The effector can have electrically insulating spacer elements. The spacer elements can be arranged on the electrodes. The spacer elements can be disc-shaped or ring-shaped.The spacers can be used to insulate between the electrodes and the plastic components.

[0018] The effector may include a temperature monitoring device. The temperature monitoring device may include a pyrometer.

[0019] The plastic components can be made of a thermoplastic material. The plastic components can be fiber-reinforced plastic composite components. The plastic components can be vehicle components. The vehicle can be a land vehicle, motor vehicle, aircraft, watercraft, or spacecraft. The plastic components can be fuselage parts of an aircraft. The plastic components can be wing parts of an aircraft.

[0020] The fiber-reinforced plastic composite components can comprise organic fibers such as aramid fibers, carbon fibers, polyester fibers, nylon fibers, polyethylene fibers, polymethyl methacrylate fibers, and / or inorganic fibers such as basalt fibers, boron fibers, glass fibers, ceramic fibers, and silica fibers. The fibers can be woven, knitted, braided, or stitch-bonded. The fibers can be textiles. The fibers can be single-layer or multi-layer. The fibers can comprise a thermoplastic matrix material. The matrix material can comprise polyetheretherketone (PEEK), polyphenylene sulfide (PPS), polysulfone (PSU), polyetherimide (PEI), and / or polytetrafluoroethylene (PTFE). The fibers can be embedded in the matrix material.

[0021] The plastic components can be electrically conductive or electrically insulating. The plastic components can each have at least one joining contact surface. The at least one joining contact surface can be flat. The at least one joining contact surface can be curved once or multiple times. The common joining contact surface can be arranged in a simple overlap or in a simple lashing. The resistance heating layer is used for arrangement between common joining contact surfaces of plastic components to be joined or connected to one another. The resistance heating layer can be used to plasticize the plastic of the plastic components or the matrix material of the fiber-plastic composite components. The resistance heating layer is permeable to plasticized plastic, at least in sections. The resistance heating layer can be permeable to plasticized matrix material, at least in sections.The resistance heating layer can have at least one electrical contact section. The at least one contact section can be arranged outside the joining contact surfaces. The resistance heating layer can be implemented using a metallic or carbon-based electrical conductor.

[0022] The joining contact surface can be subjected to a predetermined contact pressure and / or for a predetermined period of time using a pressure module. The joining contact surface can be subjected to rolling pressure using a pressure belt. The resistance heating layer can be subjected to a predetermined voltage, a predetermined current, a predetermined contact pressure, and / or for a predetermined period of time using the electrodes. The resistance heating layer can be subjected to rolling, sliding, or holding pressure using the electrodes.

[0023] The plastic components can be arranged in a simple overlap or a simple lashing to form the common joining contact surface. The effector can be moved along the joining contact surface to create a weld seam. The effector can be moved continuously and / or discontinuously along the joining contact surface. The effector can be moved at a predetermined speed along the joining contact surface. The effector can be moved along a joining path. The joining path can be straight and / or curved, at least in sections. When the effector is moved along a joining path that is curved with respect to the transverse axis, the electrodes can be displaced in the extension direction of the longitudinal axis towards the second end of the pressure module. In this case, the instantaneous poles of the pressure module and the electrodes can be approached concentrically.When the effector is moved along a joining path, the electrodes can be moved in the direction of extension of the longitudinal axis in synchronism or counter-rotation to the direction of movement.

[0024] In summary, and in other words, the invention thus provides, among other things, a device or end effector for continuous resistance welding. Using the end effector, a continuous joint can be created between two thermoplastic-based components. The components can be unfilled or fiber reinforced. The fiber reinforcement of the components to be welded can be electrically insulating or electrically conductive.

[0025] The end effector can have a flexible, circumferential pressure piece, which, thanks to its elasticity, makes it possible to evenly distribute consolidation pressure across the organic sheets to be welded and to compensate for local and global unevenness. Heating of the components during the welding process also leads to local expansion and consolidation processes, which can also be compensated for by the flexible pressure piece, thus ensuring homogeneous pressure conditions in the joining zone. With the help of pneumatic cylinders, deviations between a programmed robot path and the component (e.g., production-related component deviations) can be flexibly compensated, and a constant consolidation pressure can be ensured in the joining zone. Two linear units can ensure accurate guidance of a lower end effector section and absorb transverse forces introduced by the process during movement.The consolidation pressure applied by the pneumatic cylinders can be applied to the organic sheets to be welded via a solid structure, a consolidation slide and the flexible pressure piece.

[0026] By changing the angle of the end effector relative to the organic sheets, a transition from a flat force application via the underside of the consolidation slide to a linear load on a front radius of the consolidation slide can be achieved. This also makes it possible to model ramps and component curvatures. For this purpose, it is also advantageous to move a contact roller over the contact slide toward a consolidation edge using a linear unit. For this purpose, the instantaneous poles of the contact unit and the consolidation edge can be approached concentrically.

[0027] The contact rollers can be separated from the consolidation carriage and the organic sheet / component to be welded by means of electrically insulating spacer rings. This prevents direct coupling of electrical current into the potentially electrically conductive component. The two contact rollers can compensate for deviations in component thickness and local unevenness using separate pneumatic cylinders. This ensures a uniform contact pressure. Contact can be made by linear contact between the contact and the electrical conductor of the welding element. Thanks to the modular design of the end effector, the contact roller can be replaced by a contact block, which results in a widening of the welding zone (surface contact).

[0028] As an alternative to rolling contact with the welding conductor, contact can be made using contact blocks. This makes it possible to make the welding zone wider than with rolling contact. The end effector can still move continuously if the contact blocks can be moved in the same direction as the contact carriage and in the opposite direction. For example, the end effector can move continuously, with the contact blocks being able to move in opposite directions so that they remain in place until a predetermined process temperature is reached. The current flow between the contact blocks can then be interrupted. The contact blocks can then move in the same direction as the welding direction and be placed tangentially or overlappingly on the previous welding section. The current flow can then be restored.Due to the modular design of the end effector, the rolling contact unit can easily be replaced with a contact block.

[0029] The invention enables automated, process-reliable, reproducible, and / or traceable continuous welding of plastic components. The welding process is simplified. Flexibility is increased. The tools required for the process are brought to the end effector level. This flexibility allows edge effects on adjacent welding areas to be avoided and ensures consistent, homogeneous weld seam quality. Tolerances, such as surface irregularities that exist on real components, can be compensated for by the flexibility of the end effector.

[0030] In the following, embodiments of the invention are described in more detail with reference to figures, which show schematically and by way of example: Fig. 1 an effector for plasticizing plastic components at a common joining contact surface using an electrically contactable resistance heating layer with roller-shaped electrodes, Fig. 2 an effector for plasticizing plastic components at a common joining contact surface using an electrically contactable resistance heating layer with block-shaped electrodes, Fig. 3 plasticising of plastic components on a single overlapping common joining contact surface using an electrically contactable resistance heating layer with one-sided accessibility, Fig. 4 plasticizing of plastic components on a single overlapping common joining contact surface using an electrically contactable resistance heating layer with two-sided accessibility and Fig. 5 a plasticizing of plastic components on a simply bonded common joining contact surface using an electrically contactable resistance heating layer.

[0031] Fig. Figure 1 shows an effector 100 for plasticizing plastic components at a common joining contact surface using an electrically contactable resistance heating layer to bond the plastic components together. The effector 100 serves as an end effector for use with an industrial robot. The effector 100 has a vertical axis 102, a longitudinal axis 104, and a transverse axis 106. The effector has an effector base 108, a pressure module 110, and electrodes 112, 114.

[0032] The effector base 108 is designed like a support and has a base plate 116 arranged at right angles to the vertical axis 102 with a connection surface for connection to an industrial robot and support arms, such as 118, arranged parallel to the vertical axis 102.

[0033] The pressure module 110 is arranged on the support arms 118 and is displaceable relative to the effector base 108 in the direction of extension of the vertical axis 102. The pressure module 110 is guided on the support arms 118 by means of linear guides in the direction of extension of the vertical axis 102, wherein the linear guides can absorb forces in the direction of extension of the longitudinal axis 104 and / or the transverse axis 106.

[0034] A working element 120, designed as a pneumatic cylinder, operates between the effector base 108 and the pressure module 110. Using the working element 120, the pressure module 110 can be subjected to a predetermined contact force in the direction of extension of the vertical axis 102.

[0035] The pressure module has a first end and a second end in the direction of extension of the longitudinal axis 104. The pressure module 110 has a flat first pressure section 122 and a curved second pressure section 124. The first pressure section 122 is arranged at the first end, is plate-like or block-like, and serves to apply a pressure force over a large area. The second pressure section 124 is arranged at the second end, is roller-like or edge-like, and serves to apply a pressure force in a linear manner. The pressure module 110 has an endlessly circulating, flexible pressure belt 126 guided around deflection rollers and sliding sections.

[0036] An electrode carrier 128 is arranged on the pressure module 110 and is displaceable relative to the pressure module 110 in the extension direction of the longitudinal axis 104. The electrode carrier 128 is guided on the pressure module 110 in the extension direction of the longitudinal axis 104 by means of linear guides, wherein the linear guides can absorb forces in the extension direction of the vertical axis 102 and / or the transverse axis 106.

[0037] The electrodes 112, 114 are designed as rollers for rolling action on the resistance heating layer in line contact and are each displaceable relative to the electrode carrier 128 in the direction of extension of the vertical axis 102. The electrodes 112, 114 are each guided on the electrode carrier 128 in the direction of extension of the vertical axis 102 by means of linear guides, wherein the linear guides can absorb forces in the direction of extension of the longitudinal axis 104 and / or the transverse axis 106.

[0038] A working element, designed as a pneumatic cylinder, is arranged between each of the electrodes 112, 114 and the electrode carrier 128. Using the working elements, a predetermined contact force can be applied to each of the electrodes 112, 114 in the direction of extension of the vertical axis 102. Annular spacer elements, such as 130, made of an electrically insulating material are arranged on the electrodes 112, 114.

[0039] Fig. Figure 2 shows an effector 200 for plasticizing plastic components at a common joining contact surface using an electrically contactable resistance heating layer with electrodes, such as 202. The electrodes 202 are block-shaped for sliding or holding the resistance heating layer in surface contact. Furthermore, reference is made in particular to Fig. 1 and the corresponding description.

[0040] Fig. 3 shows a plasticizing of plastic components 300, 302 on a simply overlapping common joining contact surface 304 using an electrically contactable resistance heating layer 306 with one-sided accessibility.

[0041] The plastic components 300, 302 are fiber-plastic composite components, for example, fuselage parts or wing parts of an aircraft, and comprise carbon reinforcing fibers embedded in a thermoplastic matrix material, for example, polyetheretherketone (PEEK). The resistive heating layer 306 is electrically conductive, permeable to the plasticized matrix material, and has electrical contact sections 308, 310 located outside the joining contact surface 304.

[0042] The plastic components 300, 302 are arranged in a simple overlap with an intermediate resistance heating layer 306 on an electrically conductive tool table 312. On the tool table side, the resistance heating layer 306 is contacted by means of at least one contact element 314. On the upper side, the resistance heating layer 306 is contacted by means of an electrode 316 ( Fig. 1: 112) of the effector 318 ( Fig. 1: 100), while the other electrode 320 ( Fig. 1: 114) of the effector 318 is electrically ineffective.

[0043] In order to bond the plastic components 300, 302 together, the plastic components 300, 302 are plasticized at the common joining contact surface 304 using the electrically contactable resistance heating layer 306 by closing an electrical circuit via the contact element 314 and the electrode 316 of the effector 318. The joining contact surface 304 is thereby pressed together using the pressure module 322 ( Fig. 1: 110) is applied with a predetermined contact pressure for a predetermined period of time. In order to improve contact via the contact element 314, a contact pressure is generated using the electrode 320. A weld seam is created by moving the effector 318 continuously along the joining contact surface 304 at a predetermined speed. Furthermore, particular reference is made to Fig. 1 and the corresponding description.

[0044] Fig. Figure 4 shows the plasticizing of plastic components 400, 402 at a single overlapping common joining contact surface 404 using an electrically contactable resistance heating layer 406 with two-sided accessibility. On the upper side, the resistance heating layer 406 is connected to the contact surface 404 using an electrode 408 ( Fig. 1: 112) of a first effector 410 ( Fig. 1: 100), while the other electrode 412 ( Fig. 1: 114) of the first effector 410 is electrically ineffective. On the underside, the resistance heating layer 406 is contacted by means of an electrode 414 of a second effector 416 corresponding to the first effector 410, while the other electrode 418 of the second effector 416 is electrically ineffective. To close an electrical circuit, an electrical circuit is closed via the electrode 408 of the first effector 410 and the electrode 414 of the second effector 416. To improve contact, a contact pressure is generated using the electrically inactive electrodes 412, 418. Furthermore, particular attention is drawn to Fig. 1 and Fig. 3 and the corresponding description.

[0045] Fig. Figure 5 shows the plasticizing of plastic components 500, 502 on a simply tabbed common joining contact surface 504 using an electrically contactable resistance heating layer 506. The plastic components 500, 502 are arranged abutting against one another, and the joint is covered with a tab 506 made of the same material as the plastic components 500, 502. The resistance heating layer 508 is arranged between the plastic components 500, 502 and the tab 506. On the tab side, the resistance heating layer 508 is applied using electrodes 510, 512 ( Fig. 1: 112, 114) of the effector 514 ( Fig. 1: 100). In addition, particular attention is drawn to Fig. 1 and Fig. 3 and the corresponding description.

[0046] "May" refers in particular to optional features of the invention. Accordingly, there are also further developments and / or embodiments of the invention that additionally or alternatively comprise the respective feature(s). Reference symbol 100 Effector 102 vertical axis 104 Longitudinal axis 106 Transverse axis 108 Effector base 110 pressure module 112 Electrode 114 Electrode 116 Base plate 118 Support arm 120 work element 122 first pressing section 124 second pressing section 126 pressure belt 128 electrode carriers 130 spacer element 200 Effector 202 Electrode 300 plastic components 302 plastic component 304 joining contact surface 306 resistance heating layer 308 Contact section 310 Contact section 312 tool table 314 Contact element 316 Electrode 318 Effectors 320 Electrode 322 pressure module 400 plastic components 402 plastic component 404 joining contact surface 406 resistance heating layer 408 Electrode 410 first effector 412 Electrode 414 Electrode 416 second effector 418 Electrode 500 plastic components 502 plastic component 504 joining contact surface 506 tab 508 resistance heating layer 510 electrode 512 Electrode 514 Effector

Claims

[1] Effector (100, 200, 318, 410, 416, 514) for plasticizing plastic components (300, 302, 400, 402, 500, 502) at a common joining contact surface (304, 404, 504) with the aid of an electrically contactable resistance heating layer (306, 406, 508) in order to connect the plastic components (300, 302, 400, 402, 500, 502) to one another in a materially bonded manner, wherein the resistance heating layer is used for the arrangement between common joining contact surfaces of plastic components to be connected or joined to one another and is permeable to plasticized plastic at least in sections, the effector (100, 200, 318, 410, 416, 514) having a Effector base (108), electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512) for electrically contacting the resistance heating layer (306, 406, 508) and a pressure module (110,322) with a flat first pressing section (122) for applying a pressing force over a surface and a curved second pressing section (124) for applying a pressing force in a line. [2] Effector (100, 200, 318, 410, 416, 514) according to claim 1, characterized by that the pressure module (110, 322) is displaceable relative to the effector base (108). [3] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the effector (100, 200, 318, 410, 416, 514) has at least one working element (120) acting between the effector base (108) and the pressing module (110, 322). [4] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the effector (100, 200, 318, 410, 416, 514) has at least one linear guide acting between the effector base (108) and the pressure module (110, 322). [5] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the pressure module (110, 322) has an endlessly circulating pressure belt (126). [6] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512) are arranged on the pressure module (110, 322). [7] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512) are each displaceable relative to the pressure module (110, 322). [8] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized bythat the effector (100, 200, 318, 410, 416, 514) has at least one working element acting between the pressure module (110, 322) and the electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512). [9] Effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the effector (100, 200, 318, 410, 416, 514) has at least one linear guide acting between the pressure module (110, 322) and the electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512). [10] Effector (100, 318, 410, 416, 514) according to at least one of the preceding claims, characterized by that the electrodes (112, 114, 316, 318, 408, 412, 414, 418, 510, 512) are designed as rollers. [11] Effector (200) according to at least one of the preceding claims, characterized by that the electrodes (202) are block-shaped. [12] Method for plasticising plastic components on a common joining contact surface (304, 404, 504) using an electrically contactable resistance heating layer (306, 406, 508) in order to bond the plastic components (300, 302, 400, 402, 500, 502) together, characterized by that the joining contact surface (304, 404, 504) is subjected to a contact pressure with the aid of a pressure module (110, 322) of an effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims, and the resistance heating layer (306, 406, 508) is electrically acted upon with the aid of electrodes (112, 114, 202, 316, 318, 408, 412, 414, 418, 510, 512) of an effector (100, 200, 318, 410, 416, 514) according to at least one of the preceding claims. [13] Method according to claim 12, characterized by that the effector (100, 200, 318, 410, 416, 514) is moved along the joining contact surface (304, 404, 504) to produce a weld seam. [14] Method according to at least one of claims 12 to 13, characterized by that the plastic components (300, 302, 400, 402, 500, 502) are arranged in a simple overlap or in a simple lashing in order to form the common joining contact surface (304, 404, 504).

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