Device for clinching

Description

State of the art

[0001] For devices such as tools for forming workpieces, clinching or punch riveting tools, or joining tools for setting fasteners or functional elements such as bolts or nuts, different machine concepts are designed for industrial applications. These machine concepts also advantageously relate to the feeding and movement of the workpieces and / or components. Such devices for acting on workpiece sections or for clinching are also generally referred to below as joining tools.

[0002] Functional elements are preferably understood to be press-in elements which, when set on the workpiece, have an additional function to the outside, for example a connecting or fastening section, such as an external thread for connecting the connecting or fastening section to another section.

[0003] For example, the following applications can be distinguished for the arrangements described above: Robot-guided joining tools on a robot, wherein the joining tool is guided to the component by the robot, robot-fed joining tongs, wherein the component is present on the robot and is guided to the joining tool by the robot, manually fed joining tongs, machine-integrated joining tongs, wherein the joining tongs are fixed or can be moved on spatially defined axes of movement, and wherein the component is fed in and / or removed by, for example, a transfer system such as a rotary indexing table or a linear transfer system.

[0004] DE 92 17 181 U1 is cited as the state of the art. Object and advantages of the invention

[0005] The object of the present invention is to improve the devices and joining tongs described in the introduction. In particular, the aim is to easily resolve clearance problems in such devices. Furthermore, disadvantages due to frequently occurring critical cycle times are to be minimized. Critical cycle times are characterized in particular by a comparatively long immersion or approach time of the joining tongs toward the component and / or a comparatively long clearance time of the joining tongs away from the component.

[0006] This problem is solved by the independent claim. The dependent claims address advantageous and expedient developments of the invention.

[0007] The invention is based on a device for clinching a component or for setting a joining element or a functional element on a component, comprising a holding section with which the device can be positioned on a receptacle in the environment, and a base body which is mounted on the holding section via a bearing point, and wherein a die unit with a die element and a stamp unit with a stamp opposite the die unit are received on the base body, wherein a drive unit is provided for moving the stamp and / or the die element, which drive unit reversibly drives a linearly movable actuating element coupled to the stamp or the die element along a joining axis of the device in order to act on the component present between the stamp unit and the die unit.

[0008] In the following, the term "joining pliers" is used instead of the term "device" in an equivalent manner and, in particular, is not restricted to joining.

[0009] The core of the invention lies in the fact that the base body is movable relative to the holding section via the bearing point, and wherein a control device is configured between the actuating element and the holding section such that, depending on the position of the actuating element along the joining axis, the position of the base body relative to the holding section is predetermined due to the driven movement of the actuating element. The control device forms a mechanical coupling via which the actuating element, for example, a working piston of a drive unit with a piston-cylinder unit, is preferably permanently connected to the holding section, such as a holding or machine frame.

[0010] The control device can provide a motion coupling between the driven linear movement of the actuating element and the movement of the base body relative to the holding section. The linear movement of the actuating element preferably occurs relative to a fixed section on which the actuating element is movably mounted. The fixed section is, for example, a housing surrounding the actuating element with a rolling bearing device between the housing and the actuating element.

[0011] Advantageously, a compensating movement, for example, of a section of the device or the base body that is connected to the punch side and / or the die side, can be performed simultaneously with the working stroke of the device or the joining tongs. Advantageously, the compensating movement is achieved by the driven movement of the punch and / or the driven movement of the die element. The compensating movement is, in particular, a movement positively coupled to the drive movement. Preferably, the drive unit is moved along with the base body.

[0012] The proposed device for clinching or for setting functional elements or joining elements, for example in machine-integrated devices or joining tongs, meets the requirement of enabling an optimized movement of the base body, which in particular includes a compensating movement.

[0013] With machine-integrated devices, the requirement regularly arises to enable movement, preferably of the entire joining tongs, in the joining direction or at least approximately in the joining direction. This need regularly arises due to the need to move the joining tongs out of a die on which the workpiece is supported, or due to the need to move the component or component holder free in order to provide clearance for a subsequent transfer movement of the workpiece. This makes it possible to move the die unit and / or the punch unit away from the component, whereby the component is preferably static. Preferably, the entire device is moved free from the component simultaneously with the punch unit moving away from the component and / or the die unit moving away from the component.

[0014] The holding section or the holding or machine frame is preferably an integral part of an overall machine, such as the entire device.

[0015] With the device according to the invention, frequently occurring requirements can also be met in combination, for example, the single immersion of the joining tongs into a component and / or in or on the component. The execution of multiple joining operations with a comparatively short retraction stroke between individual processing steps and / or the extension or removal of the joining tongs from the component and / or a transfer operation to the next component can also be advantageously achieved in combination.

[0016] Furthermore, the invention preferably allows a defined movement of the device or joining tongs relative to the component during the joining process. This is particularly advantageous or necessary when the joining direction is inverted by exchanging the punch unit and die unit as far as the drive is concerned. It is preferred or necessary that the component remains spatially motionless during the joining process. For this purpose, it is preferably the case that during the joining process the joining tongs are moved in a synchronized manner in the opposite direction to the distance that the punch or rivet, the functional element or the joining element penetrates into the component. The opposite movement is synchronized in particular in direction and / or amount.

[0017] The invention provides the following advantages in particular: Minimal to no time loss due to simultaneous movements of the punch or die element on the one hand and the base body or other sections on the other; less or no control effort required for compensating movements or for moving the base body; no significant or practically relevant additional energy requirement or consumption; further time advantage or shorter cycle time, since the cycle time can be further optimized or shortened by, for example, partially opening the joining tongs compared to a larger opening or complete opening; partial or partial strokes of both the punch and the base body take place with the coupled movement or with the compensating movement or with the movement of the part that moves coupled with the drive movement; technically and structurally simple and space-saving or compact solution; economically advantageous or cost-effective, comparatively low susceptibility to errors.

[0018] The holding section can be fixed, for example, attached to a section of a building. Alternatively, the holding section can be movable, for example, on a robot arm. The component, e.g., a plate-like workpiece, can be single-layered or multi-layered, or can consist of several layers of material.

[0019] The actuating element is preferably a linear motion element, such as a part of a piston-cylinder drive, such as a working piston of the device or the joining tongs. The drive unit is optionally a hydropneumatic, pneumatic, hydraulic, and / or electric drive unit. The electric drive unit preferably comprises an electric motor, preferably an electric spindle drive.

[0020] Advantageously, the control device comprises a guide track and a guide member movable along the guide track, preferably a guide member displaceably movable along the guide track. The guide track can provide a guide curve for the curved guide member. The preferably curved or track-guiding control device couples the driven movement of the actuating element or the punch or die element to the holding section. This preferably predetermines the movement or position, in particular of the base body, relative to the holding section, depending on the movement of the actuating element. This allows a compensating movement of the base body to be set up, in particular depending on the travel distance traveled by the punch or die element and thus depending on the distance between a driven, movable free end of the punch and / or die element and the component.

[0021] This makes it possible, in particular, to advantageously predetermine a compensating movement associated with the movement of the base body, for example a pivoting movement of the base body around its bearing point on the holding section, and thus of the punch and / or die unit, before and / or after the actual deformation of the component. The compensating movement is particularly coordinated with the driven movement of the punch and / or die element. A movement path and a movement position of the base body can preferably be set up in a precisely spatially and temporally repeatable manner and, in particular, can be calibrated with a drive movement. The calibrating preferably takes place in both opposite directions along the guide track. It is also possible for the control device to be designed such that during the movement of the actuating element, i.e. when the drive unit is running, there is a phase in which no movement of the base body relative to the holding section takes place.Then only a relative movement occurs between, for example, the punch and the component, corresponding to a usual joining process with a stationary die unit and a stationary hold-down device surrounding the punch.

[0022] One advantage is that the guideway is formed on the holding section. In principle, the holding section can be one-, two-, or multi-part, preferably one-part. For example, a section of the holding section facing the drive unit with the actuating element can have the guideway. The section of the holding section with the guideway is, for example, facing away from a section of the holding section that is fixed to a fixed device or, for example, a spatially movable robot arm.

[0023] The guideway is suitably matched, for example as a particularly elongated single or double or multiple curved track, so that a guide element matched to the guideway, for example a pin, a roller or a bolt, is continuously guided in the guideway, sliding smoothly or moving evenly and without jerking.

[0024] Advantageously, the control device comprises a slotted guide. The slotted guide preferably comprises a slotted control with a gear element. The slotted guide, comprising, for example, a guide track on the holding section and a gear element guided and movable along the guide track, is easy to provide, space-saving, stable, and advantageous for reliably guided movement. The track-guided gear element is preferably a guide member on the actuating element. A guide track is preferably a recess, for example in the manner of an elongated hole, straight and / or curved and / or with an angled profile, e.g., in a thin, flat material such as a sheet metal section.Preferably, corresponding aligned sections of the guideway are formed in two opposite, preferably parallel aligned sheet metal sections, in particular in exactly two sheet metal sections which are spaced apart in the direction of a normal of a sheet metal section and have a free intermediate region therebetween.

[0025] The guideway is, at least in sections, discontinuously and / or continuously curved.

[0026] For example, the guideway, for example the link guideway, is adjusted in such a way that a movement of the base body or a movement of the punch and / or die unit or a die element of the die unit relative to the component during the joining or setting process is avoided or almost avoided.

[0027] Another advantage arises when the control device is designed according to the toggle lever principle. This allows lever forces and moments to be advantageously provided. This advantageously provides the motion coupling between the actuating element and the base body. Preferably, the motion coupling provided by the control device between the driven linear movement of the actuating element and the movement of the base body relative to the holding section is designed according to the toggle lever coupling principle.

[0028] It is furthermore advantageous that the control device comprises a guide member connected to the actuating element. The guide member is preferably firmly and preferably rigidly connected to the actuating element. The guide member, which is preferably spherical or convex on the outside, such as a pin, a roller, a pinion, a friction wheel or a bolt, runs along a guide track, such as the track of a slotted guide. The guide track has, for example, flat or contoured sections, such as tooth profile-shaped sections, which come into operative contact with the outside of the guide member. Depending on the actuating element movement, preferably a linear movement, the guide member is linearly movable with the drive unit or moves in a fixedly coupled manner with the actuating element.

[0029] According to the invention, the bearing point comprises a pivot bearing. A pivot bearing is easy to install, space-saving, and stable.

[0030] The axis of rotation formed with the pivot bearing is preferably perpendicular to the joining axis or perpendicular to the direction of movement of the linearly movable actuating element. The pivot bearing comprises, for example, an elongated bearing pin which, for example, releasably engages through openings in the base body and / or holding section, or engages through, for example, a bearing opening matching the bearing pin or preferably through two or more spaced-apart matching bearing openings. The at least one bearing opening is preferably provided in the holding section. The pivot bearing is preferably designed as a plain bearing or as a rolling element bearing. For example, the pivot bearing comprises, as a bearing pin, a screw which can be axially pushed through and axially secured through aligned openings, for example with a screwable nut.

[0031] Since the adjusting element is moved along with the pivoting movement of the base body at the bearing point to the holding section during the driven punch and / or die movement, movement phases in which the spatial orientation or the inclination of the joining axis changes cannot be excluded.

[0032] According to an advantageous variant, the bearing point comprises an axial bearing. The bearing point between the holding section, such as a holding or machine frame, and the base body, such as the counterforce frame, is preferably an axial bearing comprising, for example, a linearly movable carriage. A linear movement, for example, oblique to a spatially fixed axis, can be specified at the bearing point of the base body on the holding section. An axial bearing is also referred to as a longitudinal bearing, thrust bearing, or track bearing.

[0033] According to a modification of the invention, a relief device is provided for mechanically relieving the load on the control device. This reduces forces and / or moments acting on or on the components of the control device, such as a guide track and / or the guide element movable along the guide track, to a non-critical level, so that only tolerable friction effects and / or no permanent or plastic deformation of parts of the control device occur.

[0034] The relief preferably comprises an additional element, which in particular counteracts the effects of gravity. Such an element provides forces and / or moments and comprises, for example, a spring or a pneumatic device with a pneumatic cylinder and a pneumatic piston and / or a hydraulic device. Due to the convex shape, the guide element can be formed in a simple and stable manner. Furthermore, the guide element is advantageously designed with regard to frictional influences between the guide element and sections of the guideway. Tilting, jerking, or blocking of the guide element in the guideway during movement in the guideway can advantageously be minimized or avoided.

[0035] The guide element is preferably spherical on the outside, for example, circular, elliptical, or cylindrical in cross-section. The guide element is designed, for example, as a roller, cylinder, bolt, or pin.

[0036] The control device is advantageously designed such that the position of the base body relative to the holding section remains unchanged during a clinching process or during a setting process. Accordingly, this is generally only the case in phases or not for the entire time the driven punch or actuating element is moving. This allows for the desired operational control to be optimized. In particular, phases in which the base body remains stationary are also possible during the driven movement of the punch or die element, for example, to continuously fix and / or support the component.

[0037] It is also advantageous if the control device is designed such that, during a clinching process or during a setting process, the direction and amount of movement of the die unit are opposite to the direction and amount of movement of the punch. This applies, for example, if the die unit is located on the active side of the drive unit or the working piston, or if the drive is provided or driven on the die unit side. The die unit is then located on the side of the actuating element, or the actuating element is connected to the driven die part.

[0038] The time-displacement motion profile of the die unit during the joining or setting process corresponds at least nearly to the opposing motion profile of the punch. This ensures, for example, that the component remains at least nearly at rest relative to the holding section or machine frame and the base body or counterforce frame.

[0039] Finally, it is advantageous that the device is designed as a joining tong with a C-frame. This also applies to all other devices of the invention. This arrangement is a proven design. The C-frame joining tong can be wall-mounted, for example, or attached to a robot arm and spatially movable. The C-frame forms at least essentially the base body. Character description

[0040] Further features and advantages of the invention are explained in more detail using a highly schematic embodiment. In detail: Fig. 1 a side view of a device for clinching or setting an element, Fig. 2 the device according to Fig. 1 in a partially opened state, Fig. 3 the device according to Fig. 1 in an open state, Fig. 4 a section of a component with a part of a die unit of the device according to Fig. 1 , Fig. 5 the section according to Fig. 4 with die unit and with a part of a stamp unit of the device according to Fig. 1 at the end of a clinching process of the component with the formed component, Fig. 6 the section according to Fig. 5 , with the part of the stamp unit being moved away, Fig. 7 the section according to Fig. 6 , wherein the part of the die unit is moved away from the component, Fig. 8 the opened device according to Fig. 1 with a component positioned ready for processing when moving towards the component, Fig. 9 the arrangement according to Fig. 8with the device closed during forming of the component and Fig. 10 the arrangement according to Fig. 9 oblique perspective with three components whose transfer movement relative to the device is indicated.

[0041] Fig. 1 shows a fully retracted or closed device 1 for clinching a component B or for placing a joining, functional, or connecting element on the component B. The device 1 is designed, for example, as a joining, clinching, or punching tool. In the specific embodiment, the device 1 with a joining axis S is designed as a clinching tool or a tool for clinching or clinching.

[0042] The device 1 comprises a holding section 2, with which the device 1 can be positioned on a receptacle 3 (indicated by dashed lines), such as a robot arm or a wall in the surrounding area. The holding section 2 serves as a holding frame or machine frame. Furthermore, the device 1 has a base body 4, which is mounted on the holding section 2 via a bearing point 5. The bearing point 5 is designed such that the base body 4 has at least one open spatial degree of freedom. The bearing point 5 here is, for example, a pivot bearing with a rotation axis D transverse to the joining axis S.

[0043] The base body 4 is preferably designed as a C-frame or C-bracket and serves as a counterforce frame to the holding section 2.

[0044] A die unit 6 and a punch unit 7 with a punch 8, which is opposite the die unit 6, are mounted on the base body 4. For the reversible movement of the punch 8, a drive unit 9 is provided, which reversibly drives a linearly movable actuating element 10 coupled to the punch 8 along the joining axis S of the device 1 in order to act on a component B present between the punch unit 7 and the die unit 6 (see Fig. 4-10 ).

[0045] The drive unit 9, for example a press drive, drives the adjusting element 10, which in the exemplary embodiment is formed by a working piston 11 that can be moved linearly along the joining axis S by the drive unit 9. The adjusting element 10 or the working piston 11 is connected to the punch 8 at the front.

[0046] The joining axis S is a movement axis or coincides with the central longitudinal axis of the actuating element 10 or the working piston 11 and the punch 8 and passes through the die unit 6 (see Fig. 1 ).

[0047] The base body 4 is movable relative to the holding section 2 via the bearing point 5 or pivotable back and forth about the rotation axis D. Furthermore, a mechanical coupling is provided, which is designed as a control device 12 between the actuating element 10 and the holding section 2. The control device 12 specifies that, depending on the position of the actuating element 10 along the joining axis S, the position of the base body 4 relative to the holding section 2 is predetermined due to the driven movement of the actuating element 10.

[0048] Furthermore, an additional element is provided as a relief device 13 in order to provide mechanical relief of elements of the control device 12, in particular with regard to dynamic and static loads or gravitational influences.

[0049] The control device 12 comprises a guide track 14 and a guide member 15 that is movable or displaceable along the guide track 14. The guide track 14 is, for example, a slotted track of a slotted guide and is formed on exactly one or two opposite sheet metal sections of the holding section 2 in an area that reaches the drive unit 9 with the actuating element 10. The guide track 14 has, for example, a straight track section that is aligned obliquely to the joining axis S, which transitions via a curved track section into a shorter, further straight track section. The shorter track section is aligned in the direction of the joining axis S.

[0050] The guide member 15 is, for example, a bolt connected to the actuating element 10 or to the working piston 11. A longitudinal axis of the bolt is aligned transversely to the longitudinal axis of the working piston 11.

[0051] The Fig. 2 and 3 illustrate the relationship between the movement or position of the working piston 11 or the actuating element 10 and the orientation of the base body 4 and thus of the device parts mounted thereon, such as the die unit 6, punch unit 7 and drive unit 9, relative to the holding section 2.

[0052] In a Fig. 2In the partially opened device 1, the actuating element 10 or the working piston 11 or the punch 8 is extended comparatively far in the joining or linear movement direction R1 or towards the die unit 6. For example, a free end face 8a of the punch 8 is slightly spaced from an opposite support face 6a of the die unit 6. The distance is preferably just large enough during the partial opening that, according to a regularly variable respective height of the component B, the latter can just be inserted between the end face 8a and the support face 6a without collision. The joining tongs can then be closed in a comparatively short cycle time, with the actual machining of the component beginning immediately after closing.

[0053] Before and after the actual machining process on component B, the Fig. 3The open position of the device 1 shown is assumed when the actuating element 10 or the working piston 11 or the punch 8 is partially or completely retracted in the direction of movement R2. This can be the case, for example, when a robot arm 3 with the device 1 is moved towards the component B. The open position is controlled or automatic depending on the position of the actuating element 10. The component B has sufficient space between the punch unit 7 and the die unit 6 to be inserted or placed, i.e. to be moved laterally back and forth, which Fig. 8 for example, for moving component B in the direction P1 (see Fig. 10 ) between punch unit 7 and die unit 6. Figure 7 illustrates that the finished component B is transported or transferred in the direction P2, away from the area between the punch unit 7 and die unit 6, which are sufficiently spaced apart from each other.

[0054] Fig. 10 illustrates that in a synchronized processing of a plurality of components B', B'', B‴ one after the other, the processing of individual components takes place by transporting the not yet processed component B' in the direction P1 towards the device, the component B" is currently being processed and the component B‴ has already been processed and is transported away in the direction P2 (see also Fig. 7 ).

[0055] According to the machining position with the device 1 closed from Figs. 5 and 9 the joining axis S is preferably perpendicular to a surface to be machined on component B.

[0056] According to Fig. 8 the punch 7 and die unit 6 are moved apart, the device 1 or the joining tongs are opened, and the joining axis S is inclined to the surface of the moved component B to be machined on the component B.

[0057] The Fig. 4 to 7show successive steps on component B during its processing with device 1. In the Figures 8-10 the respective position of the device 1 in the corresponding processing step of component B is shown in perspective.

[0058] According to Fig. 4 the component B to be machined is placed on the support side 6a of the die unit 6 with the clinching pliers or device 1 partially opened. The punch 8 is still away from component B.

[0059] According to Fig. 5 the punch 8, designed as a double punch, plunges into the component under a movement of the punch 8 and deforms it in a double clinch point C on the component B. The actuating element 10 or the working piston 11 is driven in the direction R1 (see Fig. 5, 9 After forming, the punch 8 moves back in direction R2, away from component B.

[0060] In this case, coupled via the control device 12, the base body 4 pivots in the direction R3 away from the component B with further movement of the actuating element 10 in the direction R2 (see Fig. 3 ). The die unit 6 moves away from the component B in the direction M, which is achieved by pivoting the base body 4 and the elements of the device 1 present thereon in the clockwise direction in the direction R3 (see Fig. 3 ) around the bearing point 5. The component B is free from the punch and die unit and is moved further in the transfer direction P2 relative to the die unit 6, which can be done, for example, by a transfer device (not shown). List of reference symbols

[0061] 1 Device 2 Holding section 3 Mounting 4 Base body 5 Bearing point 6 Die unit 6a Support side 7 Punch unit 8 Punch 8a Front side 9 Drive unit 10 Actuating element 11 Working piston 12 Control device 13 Relief device 14 Guideway 15 Guide element

Claims

1. Apparatus (1) for clinching a component or for setting a joining element or a functional element on a component, comprising a retention portion (2), with which the apparatus (1) can be positioned on a receiving member (3) in the environment, and a base member (4) which is supported via a bearing location (5) on the retention portion (2), and wherein a bottom die unit (6) having a bottom die element is received on the base member (4) and a stamp unit (7) which is opposite the bottom die unit (6) and which has a stamp (8) is received, wherein there is provided in order to move the stamp (8) and / or the bottom die element a drive unit (9) which reversibly drives a linearly movable actuation element (10), which is coupled to the stamp (8) or the bottom die element, along a joining axis of the apparatus (1) in order to act on the component which is present between the stamp unit (7) and the bottom die unit (6), wherein the base member (4) is movable via the bearing location (5) relative to the retention portion (2) and wherein a control device (12) is constructed between the actuation element (10) and the retention portion (2) in such a manner that the position of the base member (4) relative to the retention portion (2) is predetermined in accordance with the position of the actuation element (10) along the joining axis as a result of the driven movement of the actuation element (10), characterized in that the bearing location (5) comprises a rotary bearing.

2. Apparatus according to Claim 1, characterized in that the control device (12) comprises a guide path (14) and a guide member (15) which can be moved along the guide path (14).

3. Apparatus according to Claim 1 or Claim 2, characterized in that the guide path (14) is constructed on the retention portion (2).

4. Apparatus according to one of the preceding claims, characterized in that the control device (12) comprises a slotted guide member.

5. Apparatus according to one of the preceding claims, characterized in that the control device (12) is configured in accordance with the knuckle-lever principle.

6. Apparatus according to one of the preceding claims, characterized in that the control device (12) comprises a guide member (15) which is connected to the actuation element (10).

7. Apparatus according to one of the preceding claims, characterized in that the bearing location (5) comprises an axial bearing.

8. Apparatus according to one of the preceding claims, characterized in that a pressure-reduction device (13) is provided in order to mechanically reduce the pressure on the control device (12).

9. Apparatus according to one of the preceding claims, characterized in that the guide member (15) is externally formed in a convex manner.

10. Apparatus according to one of the preceding claims, characterized in that the control device (12) is constructed in such a manner that the position of the base member (4) relative to the retention portion (2) remains unchanged during a clinching operation or during a setting operation.

11. Apparatus according to one of the preceding claims, characterized in that the control device (12) is constructed in such a manner that during a clinching operation or during a setting operation the direction and the amount of the movement of the bottom die unit (6) are counter to the direction and amount of the movement of the stamp (8).

12. Apparatus according to one of the preceding claims, characterized in that the apparatus (1) is in the form of a set of joining tongs with a C-shaped bracket.