Device for determining and / or monitoring at least one property of a rivet element

Abstract

The invention relates to a device for determining and / or monitoring at least one property (3) of a rivet element (4) on a transporting line (5), in particular to a processing machine (1) and / or a riveting unit (7) of a processing machine (1), wherein the device (2) has a transmitting coil (9) and a receiving coil (10), wherein a transmitting signal (12) can be fed into the transmitting coil (9) by means of a signal generator (11) and a receiving signal (13) induced in the receiving coil (10) can be evaluated by means of an evaluation unit (14) for determining and / or monitoring at least one property (3) of the rivet element (4) on the transporting line (5).

Description

[0001] Device for determining and / or controlling at least one property of a rivet element

[0002] The present invention relates to a device for determining and / or checking at least one property of a rivet element, according to claim 1, as well as a processing machine for processing an aircraft structural component according to the preamble of claim 10, and a method for determining and / or checking at least one property of a rivet element on a transport path according to claim 11.

[0003] For the processing, and especially the riveting, of aircraft structural components, it is particularly important that the correct rivet elements are fed to the processing machines in the correct orientation. The rivet elements are usually stored in a rivet storage unit, where they are held in several cassettes. During processing, the rivet elements to be processed are fed via hoses from the rivet storage unit to the processing machine, and in particular to the end effector or the end effector's riveting unit. The supply to the processing machine is usually via one or more hoses using compressed air.

[0004] It can happen that rivet elements with incorrect orientation or of the wrong rivet type are fed into the processing machine. This usually leads to an unintentional interruption of processing.

[0005] Since the correct selection of the rivet element and its correct orientation cannot always be guaranteed, various methods and devices for determining and / or monitoring the properties of a rivet element are known from the prior art. For example, DE 10 2014 106 312 A1 describes a device for measuring a rivet element using an optical sensor. However, optical methods also have disadvantages. For example, the optical resolution of the sensors is sometimes limited. Furthermore, the tubes are usually not completely transparent and can distort the image of the rivet element. Monitoring the material of the rivet element is also sometimes only possible to a limited extent using optical methods.

[0006] In addition, devices for inductive position detection (DE 10 2007 061 803 B3) or for monitoring the rivet element length (DE 202 15 364 U1) are described in the prior art. However, these each have their own specific disadvantages regarding the accuracy and speed of determining or monitoring at least one property of the rivet element.

[0007] It is a challenge to improve the known state of the art.

[0008] The invention is based on the problem of designing and developing the known devices in such a way that a further optimization is achieved with regard to the aforementioned challenge and in particular the determination and / or control of at least one property of the rivet element is improved.

[0009] The above problem is solved by the features of claim 1.

[0010] The fundamental idea is to determine and / or monitor at least one property of a rivet element along a transport path by providing a device with a transmitting coil and a receiving coil. A transmitting signal is fed into the transmitting coil by means of a signal generator, and a receiving signal induced in the receiving coil can be evaluated by an evaluation unit to determine and / or monitor a property of the rivet element along the transport path. The invention thus takes advantage of the fact that at least one property of a rivet element can be determined through its interaction with an electromagnetic field.By providing a transmitting coil, feeding a transmitting signal into it, and evaluating the received signal induced thereby in the receiving coil, a particularly precise and reliable determination and / or monitoring of at least one property of the rivet element is enabled. The accuracy of such an active measurement by feeding a transmitting signal into a transmitting coil is much higher than with a passive measurement, which only measures the change in induction in a receiving coil resulting from the movement of the rivet element relative to the coil.

[0011] According to a further development of the invention according to claim 2, the material of the rivet element and / or the orientation of the rivet element and / or the rivet element length and / or the shank length can be determined and / or controlled as a property of the rivet element. These properties have particularly characteristic interactions with an electromagnetic field and can therefore be easily determined and / or controlled. Additionally or alternatively, a head diameter and / or shank diameter can also be determined and / or controlled.

[0012] The further development according to claim 3 enables a particularly rapid determination or monitoring of a property of a rivet element on the transport path. Preferably, the determination and / or monitoring takes place while the rivet element is still on the transport path, in particular before it reaches the processing machine.

[0013] The features of claim 4 describe a particularly simple design of the transport path and enable a particularly precise guidance of the rivet element relative to the device.

[0014] Claims 5 and 6 describe a particularly preferred arrangement of the transmitting coil and / or the receiving coil relative to each other and to the transport path, which enables particularly reliable determination and / or monitoring of at least one property of the rivet element. The interaction with the electromagnetic field is particularly characteristic and easily measurable in this arrangement.

[0015] The development according to claim 7 provides an additional transmitting coil and / or an additional receiving coil. It enables validation of the determination with the transmitting coil and the receiving coil and / or a more precise determination of at least one property, in particular the rivet element length and / or the shank length.

[0016] The developments according to claims 8 and 9 describe a preferred embodiment of the evaluation unit or its connection, which enables a particularly simple and reliable determination and / or control of the at least one property.

[0017] According to a further teaching according to claim 10, which has independent significance, a processing machine for processing an aircraft structural component is claimed. It is essential that the processing machine has a device for determining and / or monitoring at least one property of a rivet element of the type described above.

[0018] Reference is made to all statements regarding the proposed device. In particular, the device is also designed and constructed to carry out the method described here.

[0019] According to a further teaching according to claim 11, which also has independent significance, a method is claimed for determining and / or controlling at least one property of a rivet element on a transport path, preferably by means of a device of the type described above, wherein a transmission signal is fed into a transmission coil by means of a signal generator and a reception signal induced in a receiver coil is evaluated by means of an evaluation unit and the at least one property of the rivet element is determined.

[0020] Reference may be made to all statements relating to the proposed device and the proposed processing machine.

[0021] Preferably, the determination and / or monitoring of the at least one property, as described in claim 12, is based on a movement of the rivet element along the device and / or through the device. A particularly continuous movement of the rivet element relative to the device ensures an influence on the magnetic field in addition to the transmission signal, which enables a particularly simple and rapid determination and / or monitoring of the property of the rivet element.

[0022] According to the further development according to claim 13, a preferred sampling rate is described which enables a particularly precise determination and / or control of the at least one property.

[0023] Preferred evaluations for determining the at least one property are described in claims 14 and 15. The invention is explained in more detail below with reference to a drawing which merely illustrates exemplary embodiments. The drawing shows

[0024] Fig. 1 a) an embodiment of a proposed processing machine with a proposed device and b) a proposed device,

[0025] Fig. 2 shows the proposed device from Fig. 1 in a schematic representation,

[0026] Fig. 3 is a schematic representation of a further embodiment of a proposed device,

[0027] Fig. 4 is a schematic representation of a further embodiment of a proposed device,

[0028] Fig. 5 a) an example in a schematic representation of the transmission signal and the reception signal of a proposed device without influence by a rivet element, b) an example in a schematic representation of the transmission signal and the reception signal of a proposed device while a rivet element is conveyed past or through it, c) a pictorial representation for the evaluation of the transmission signal to determine a property of the rivet element and

[0029] Fig. 6 a) an exemplary representation of the maxima of the received signal over time for determining the orientation of the rivet element and b) a representation of the maxima of the received signals over time of a device according to the further embodiment according to Fig. 3.

[0030] Fig. 1 shows a proposed processing machine 1 with a proposed device 2 for determining at least one property 3 of a rivet element 4 on a transport path 5 and / or for checking at least one property 3 of a rivet element 4 on a transport path 5. The transport path 5 leads here, in particular from a rivet storage 6, to the processing machine 1 and / or a riveting unit 7 of the processing machine 1. A plurality of rivet cassettes 8 for storing a plurality of rivet elements 4 can be provided in the rivet storage 6. Preferably, rivet elements 4 of the same rivet type are stored in each rivet cassette 8, while rivet elements 4 of at least partially different rivet types are accommodated in the various rivet cassettes 8 of the rivet storage 6.

[0031] The proposed device 2 has a transmitting coil 9 and a receiving coil 10. A transmitting signal 12 can be fed into the transmitting coil 9 by means of a signal generator 11, and a receiving signal 13 induced in the receiving coil 10 can be evaluated by an evaluation unit 14 for determining and / or monitoring at least one property 3 of the rivet element 4 on the transport path 5. The device 2 has a measuring volume 15 for determining and / or monitoring the at least one property 3. It takes advantage of the fact that properties 3 of a rivet element 4 can be determined by its interaction with an electromagnetic field. A rivet element 4 flying on the transport path 5 influences the electromagnetic field in the measuring volume 15, and this influence can be measured by means of the receiving signal 13.The strength and extent of the influence depends on the material of the rivet element 4 and the mass of the rivet element 4 in the measuring volume 15 of the device 2. Here, a transmission signal 12 is fed into the transmission coil 9 by means of the signal generator 11. This generates an electromagnetic field. This can, in particular, be an alternating electromagnetic field. This electromagnetic field induces a reception signal 13 in the receiver coil 10. This can be evaluated by an evaluation unit 14. This evaluation enables the determination and / or monitoring of at least one property 3 of the rivet element 4.

[0032] The signal generator 11 can, in particular, be a frequency generator, which preferably generates an alternating voltage. In the exemplary embodiment, the signal generator 11 generates a, in particular continuous, sinusoidal oscillation 16, as shown in Figures 4a) and 4b). Alternatively, it can generate a, in particular continuous, rectangular voltage or triangular pulse voltage. Inducing a preferably higher-frequency alternating field enables an improvement in the determination and / or monitoring of the at least one property 3 of the one rivet element 4, since a higher frequency of the transmitted signal 12 leads to more frequency changes during the stay of the rivet element 4 in the measurement volume 15.

[0033] The frequency of the transmission signal 12 is preferably in the range between 5 kHz and 50 kHz, more preferably between 15 kHz and 30 kHz, and more preferably between 20 kHz and 25 kHz. In the exemplary embodiment, the frequency of the transmission signal 12 is 22 kHz.

[0034] Preferably, the device 2 determines and / or controls, as a property 3 of the rivet element 4, the material of the rivet element 4 and / or the orientation of the rivet element 4 and / or the rivet element length 17 and / or the shaft length 18. This will be described in more detail below.

[0035] Furthermore, it is preferably provided here that the device 2 is designed to determine and / or control the at least one property 3 of the rivet element 4 during its conveyance on the transport path 5.

[0036] The transmitting coil 9 induces a magnetic field into the measuring volume 15. This field is influenced by a rivet element 4 conveyed through the measuring volume 15 on the transport path 5. This changes the received signal 13 induced in the receiving coil 10. The change depends in particular on the material and mass in the measuring volume 15, but also on the speed at which the rivet element 4 is conveyed through the measuring volume 15. These changes can be evaluated - as described below - to determine at least one property 3.

[0037] Here, the arrangement of transmitting coil 9 and receiving coil 10 is such that, without external influence, i.e., at rest or when no rivet element 4 is being conveyed through the transport path 5, the receiving coil 10 is configured to deliver a measurable and usable received signal 13. Preferably, the transmitting coil 9 generates a changing magnetic field in the measuring volume 15 even at times when no rivet element 4 is located in the measuring volume 15, and this then induces a received signal 13 in the receiving coil 10. The transport path 5 can be formed by a hose, in particular a plastic hose, and / or the device 2 can have a receiving device 19 for receiving the transport path 5, in particular the hose. The hose can be attached by means of clamps 20, in particular to the device 2.

[0038] As shown in Figures 1 to 3, the coils can be accommodated in a housing. Here, they are arranged in the housing such that the tube is guided past the receiver coil 10 and the transmitter coil 9. The transmitter coil 9 and / or the receiver coil 10 are arranged in the device 2 such that the transmitter coil 9 and / or the receiver coil 10 is / are arranged to the side of the transport path 5. Here, the transport path 5 preferably does not run through the transmitter coil 9 and / or the receiver coil 10.

[0039] As further illustrated in Figures 1 to 3, the transmitting coil 9 and / or the receiving coil 10 are arranged at an angle to one another. Preferably, the transmitting coil 9 and / or the receiving coil 10 are arranged at an angle of 45° to 135°, more preferably at an angle of 75° to 105°, more preferably 85° to 95°. In the exemplary embodiments, they are arranged substantially at a 90° angle to one another. The transport path 5 here runs in front of the receiving coil 10 and above the transmitting coil 9.

[0040] In the exemplary embodiments of Figures 3 and 4, it is provided that the device 2 has a further transmitting coil 21 and / or a further receiving coil 22. Here, the transmitting coil 9 is arranged at a defined distance from the further transmitting coil 21 and / or the receiving coil 10 is arranged at a defined distance from the further receiving coil 22. In these exemplary embodiments, it is provided that a further transmitting signal 12 can be fed into the further transmitting coil 21 by means of the signal generator 11 and / or a further signal generator 11, and a receiving signal 13 induced in the receiving coil 10 can be evaluated by means of the evaluation unit 14 for determining and / or monitoring the at least one property 3 of the rivet element 4 on the transport path 5. Preferably, both receiving signals 13 and / or both transmitting signals 12 are used for the evaluation.This makes it possible, for example, to determine the exact speed of the rivet elements 4 on the transport path 5 between the two transmitting coils 9 and the two receiving coils 10. The accuracy of determining or monitoring at least one property 3 of the rivet element 4 can be further improved.

[0041] The embodiment of Fig. 3 has three coils. Here, a transmitting coil 9, a receiving coil 10, and a further receiving coil 22 are provided. Preferably, the transmitting coil 9 and the receiving coils 10 are arranged parallel to one another. However, alternative arrangements as described above are also possible. As shown in Fig. 4, here and preferably the transmitting coil 9 overlaps with the receiving coil 10 and the further receiving coil 22. Here and preferably the two receiving coils 10 do not overlap. The transport path 5 here preferably leads past the transmitting coil 9 and the receiving coils 10. In this exemplary embodiment, too, all of the features described in connection with the proposed device 2 can be provided individually or in combination.

[0042] Furthermore, it is preferably provided here that the evaluation unit 14 has an A / D converter 23 (analog-digital converter) for evaluating the transmission signal 12 or the transmission signals 12 and / or the reception signal 13 or the reception signals 13.

[0043] A filter 24 and / or an amplifier 25 can be connected upstream of the A / D converter 23 for processing the transmitted signals 12 and / or the received signals 13. In the exemplary embodiment, a filter 24 and / or an amplifier 25 is connected upstream, in particular, of each received signal 13.

[0044] In the exemplary embodiments, the A / D converter 23 has time-synchronized channels. The channels of the A / D converter 23 are sampled at the same time.

[0045] 1 and 2, the transmitted signal 12 and / or the received signal 13 is / are each fed to a channel of the evaluation unit 14. In the embodiment of FIG. 3, the transmitted signals 12 and / or the received signals 13 are each fed to a channel of the evaluation unit 14. In the embodiment of FIG. 4, the transmitted signal 12, the received signal 13 and the further received signal 13 are each fed to a channel of the evaluation unit 14. Sampling by the A / D converter 23 takes place here and preferably in blocks. In the exemplary embodiment and preferably, the blocks are too short to completely capture the transmitted signal 12 or the transmitted signals 12 and / or the received signal 13 or the received signals 13 for a rivet element 4 conveyed over the transport path 5 in one of them.

[0046] In the exemplary embodiment, the evaluation unit 14 has a memory 26 for storing the transmitted signal 12(s) and / or the received signal 13(s). This allows for the storage of multiple blocks. The respective signal profile is preferably evaluated over time. Such an evaluation is described, for example, in connection with Fig. 6.

[0047] In particular, the memory 26 may have a ring buffer 27 for storing the transmission signal 12 or the transmission signals 12 and / or the reception signal 13 or the reception signals 13, which is overwritten, for example cyclically, by new measurements.

[0048] Here and preferably, for each evaluation of a rivet element 4, the entire transmission signal 12 or the entire transmission signals 12 and / or the entire reception signal 13 or the entire reception signals 13 for the rivet element 4 are present in the memory 26.

[0049] The evaluation itself is preferably carried out by a computing unit 28 of the evaluation unit 14, as described in connection with Figures 5 and 6. Here and preferably, the evaluation unit 14 monitors changes in the transmitted signal 12 and / or received signal 13, which indicate a rivet element 4 moving over the transport path 5. For this purpose, the transmitted signal 12 and / or the received signal 13 are preferably compared with one another, in particular continuously. In particular, a phase shift 29 and / or an amplitude change 30, in particular of the maxima, trigger here and preferably a further evaluation. Preferably, an evaluation as described in connection with Figures 5 and 6. The proposed processing machine 1 for processing an aircraft structural component 31 is shown in Figure 1.The processing machine 1 here and preferably has a machine kinematics 32 for moving an end effector 33 relative to the aircraft structural component 31 and / or the ground, as well as an end effector 33. The machine kinematics 32 preferably has at least three axes of movement. Furthermore, the processing machine 1, here the end effector 33, has a riveting unit 7. This serves to insert rivet elements 4 into the aircraft structural component 31. Furthermore, the end effector 33 can have a drilling unit 34, in particular for drilling holes, and a riveting unit 7, in particular for inserting rivet elements 4.

[0050] The processing machine 1 of the exemplary embodiment has a machine control system 35. This serves to control the machine functions, such as the drives for the machine kinematics 32 and / or the end effector 33. The machine functions are controlled here and preferably by user input and / or according to a processing plan for the aircraft structural component 31 stored in the machine control system 35.

[0051] In the exemplary embodiment, the processing machine 1 is part of a processing machine arrangement 36. In addition to the processing machine 1, the processing machine arrangement 36 has the rivet storage 6. This is here and preferably arranged separately from the processing machine 1. However, it can also be arranged on the processing machine 1 or integrated into it. In the exemplary embodiment, the rivet storage 6 has a plurality of rivet cassettes 8. In each of these, a plurality of rivet elements 4 of the same type are accommodated. Here and preferably, rivet elements 4 of different rivet types are accommodated in the various rivet cassettes 8. Preferably, hoses are arranged in the rivet cassettes 8, in which the rivet elements 4 are accommodated. These hoses can be designed, for example, as described in EP 3 678 801 A1. In this respect, reference is made to this published patent application EP 3 678 801 A1.

[0052] As shown in Fig. 1, the transport path 5 runs from the rivet storage 6 to the processing machine 1. In the exemplary embodiment, it runs to the end effector 33, in particular to the riveting unit 7 of the end effector 33. Here and preferably over at least 80%, more preferably at least 90%, more preferably at least 98%, it is designed as a hose.

[0053] Furthermore, the processing machine arrangement 36, in particular the processing machine 1, preferably comprises a device 2 for determining and / or monitoring at least one property 3 of a rivet element 4 of the type described. Reference is made to all statements regarding the proposed device 2.

[0054] In the exemplary embodiment of Fig. 1, the processing machine arrangement 36 has a plurality of transport paths 5, along each of which the at least one property 3 of the rivet element 4 can be determined and / or monitored in the manner described. These differ here and preferably by the clear cross-section of the transport path 5, in particular an inner diameter of a tube forming at least part of the transport path 5. This allows rivet elements 4 with significantly different diameters or head diameters to be efficiently conveyed from the rivet storage 6 to the end effector 33 and evaluated as described.

[0055] Furthermore, a method for determining and / or monitoring at least one property 3 of a rivet element 4 on a transport path 5 is proposed. This is done here and preferably by means of a device 2 of the type described. A transmission signal 12 is fed into a transmission coil 9 by means of a signal generator 11, and a reception signal 13 induced in a receiver coil 10 is evaluated by means of an evaluation unit 14. In this way, the at least one property 3 of the rivet element 4 can be determined and / or monitored. Reference is made to all statements regarding the device 2 described and the processing machine 1 described.

[0056] In the exemplary embodiment, and preferably, the determination and / or monitoring of the at least one property 3 is based on a movement of the rivet element 4 along the device 2 and / or through the device 2. The measurement for determining and / or monitoring the at least one property 3 takes place here while the rivet element 4 is conveyed over the transport path 5, here through the hose. By evaluating the received signal 13(s) and, if applicable, the transmitted signal 12(s), the at least one property 3 of the rivet element 4 can then be determined. As already explained above, the signal generator 11 generates a transmitted signal 12, which is fed into the transmitted coil 9. This generates a magnetic field in the measuring volume 15 of the device 2. This, in turn, induces a received signal 13 in the received coil 10, which is evaluated by the evaluation unit 14.By evaluating the received signal 13 and, if applicable, the transmitted signal 12, at least one property 3 of the rivet element 4 is then determined and / or checked.

[0057] Preferably, the transmitting coil 9 induces a receiving signal 13 into the receiving coil 10 at a time before the rivet element 4 is conveyed through or past the device 2. This is shown in Fig. 4a). The diagram shows the amplitude 30 of the transmitting signal 12 and the receiving signal 13 plotted against time. The transmitting signal 12 is shown as a solid line, the receiving signal 13 as a dashed line.

[0058] The transmitted signal 12 and the received signal 13 are constant here, preferably in phase shift 29 and / or amplitude 30. Furthermore, they have the same frequency.

[0059] If a rivet element 4 is now conveyed through or past the device 2 over the transport path 5, the received signal 13 induced in the receiver coil 10 changes in a manner characteristic of the rivet element 4. Such a received signal 13 is shown in Fig. 4b) as a dashed line, while the transmitted signal 12 is shown as a solid line. The amplitude 30 of the transmitted signal 12 and the received signal 13 are shown here over time. The device 2 or the magnetic field in the measuring volume 15 is, in a sense, disturbed by the rivet element 4. This leads to a change in the received signal 13 or the received signals 13. Here, the amplitude 30 of the received signal 13 and / or the shift of the received signal 13 relative to the transmitted signal 12 changes.

[0060] By evaluating the transmitted signal 12 and / or the received signal 13, at least one property 3 of the rivet element 4 can then be determined and / or monitored. For this purpose, the received signal 13 and / or the transmitted signal 12 is evaluated by the evaluation unit 14.

[0061] Here, and preferably, the transmitted signal 12 and / or the received signal 13 are sampled at a sampling rate of at least 50 kHz, preferably at least 100 kHz, more preferably at least 200 kHz, more preferably at least 220 kHz. In the exemplary embodiment, this occurs synchronously for both the transmitted signal 12 and the received signal 13. These high sampling rates ensure high measurement resolution.

[0062] Furthermore, here and preferably the transmission signal 12 and / or the reception signal 13 is sampled at a sampling rate which is at least five times, preferably at least ten times, as high as the frequency of the transmission signal 12 generated by the signal generator 11.

[0063] Preferably, the resolution is further increased by a factor of 5 to 10 by interpolation between the measured values. This can further increase the accuracy of the determination and / or control of at least one property 3.

[0064] Furthermore, it is preferably provided here that the amplitude 30 of the transmitted signal 12 and / or the amplitude 30 of the received signal 13 is measured. Using the measured amplitude 30 and / or an envelope curve of the amplitude 30, the position, in particular the orientation, of the rivet element 4, and / or the rivet element length 17 and / or the shaft length 18 and / or the material of the rivet element 4 can be determined and / or monitored.

[0065] Additionally or alternatively, it can be provided that the phase shift 29 between the transmission signal 12 and the reception signal 13 is determined and by means of the phase shift 29 between the transmission signal 12 and the reception signal 13 the material of the rivet element 4 is determined and / or controlled.

[0066] Furthermore, additionally or alternatively, the phase shift 29 of the received signal 13 at a time when no rivet element 4 is yet located in the measuring volume 15 and a time when a rivet element 4 is located in the measuring volume 15 can be used to determine and / or check the material of the rivet element 4. Preferably, the phase shift 29 is determined with an accuracy of 0.1 to 0.2 degrees. By comparing Figures 5a) and 5b), the change in the phase shift 37 while no rivet element 4 is located in the measuring volume 15 can be compared with that when a rivet element 4 is located in the measuring volume 15.

[0067] In the exemplary embodiment, the phase shift 29 and / or the amplitude 30 are evaluated to determine and / or check the material as a property 3 of the rivet element 4. This is shown in Fig. 5c). Here, the x-axis represents the phase shift 29 and the y-axis the amplitude 30 or the maxima of the amplitude 30. Furthermore, two different measurement clouds are drawn. The left shows measurements of rivet elements 4 made of a nickel alloy, in particular Inconel, and the right shows measurements of rivet elements 4 made of a titanium alloy with approximately the same rivet head 38 and shank diameter 39. While rivet elements 4 made of Inconel, for example, produce a phase shift 29 of approximately 42.4°, rivet elements 4 made of a titanium alloy produce a shift of approximately 39.3°.

[0068] It is preferably provided here that the transmitted signal 12 and / or the received signal 13 are also stored for evaluation. In this way, the transmitted signal 12 and / or the received signal 13 can also be evaluated over time to determine and / or monitor the at least one property 3 of the rivet element 4. For example, the course of the maxima of the received signal 13 can be evaluated over time. This is shown, for example, in Fig. 6a). The orientation of the rivet element 4 can be determined from the curve. Due to its greater mass, the rivet head 38 ensures a greater amplitude change 30 than the rivet shank 40. In Fig. 6, time 0 is the time at which the sensor leaves the sensor range. The larger the time value, the further in the past the measured value lies. In the curve with the dashed line in Fig. 6a), the maxima is shifted to the right (the maximum is in the right half).This means that the most massive part, i.e., rivet head 38, passed through device 2 first. In the curve with the dot-dash line, the maximum is shifted to the left (the maximum is located in the left half). This means that the most massive part, i.e., rivet head 38, passed through device 2 last. Furthermore, further evaluations of the time course of the received signal 13 are possible to determine at least one property 3.

[0069] The rivet element length 17 can be determined by the dwell time of the rivet element 4 in the measuring volume 15 of the device 2. For this purpose, an average speed of the rivet element 4 can be assumed, or the speed can be determined using a second receiver coil 22 arranged offset on the transport path 5. Such a measurement is shown in Fig. 6b).

[0070] As already explained, the maximum of the received signal 13 can be assigned to the rivet head 38. The plateau of the received signal 13 can be assigned to the shaft of the rivet element 4. By determining the extent of the plateau of the received signal 13, the shaft length 18 of the rivet element 4 can be determined. For this purpose, an average speed of the rivet element 4 can be assumed, or the speed can be determined using a second receiver coil 22 arranged offset on the transport path 5.

[0071] The rivet head diameter 41 or the shaft diameter 39 can be determined via the maxima of the amplitude 30 of the received signal 13 or the received signals 13, as shown in Fig. 6b).

[0072] Furthermore, the area 42 enclosed between the received signal 13 and the time axis can be used to determine the at least one property 3 and / or to check the at least one property. Additionally or alternatively, determining this area 42 allows for a plausibility check of the evaluation.

[0073] It can also be provided that the steepness of a rise and / or fall of the received signal 13(s) and / or the steepness of the rise and / or fall of the maxima of the received signal 13(s) and / or the received signals 13 are used to determine the at least one property 3 and / or to check the at least one property. Additionally or alternatively, a plausibility check of the evaluation can be carried out based on this. The device 2 can have a monitoring function. This can be used to check the function of the device 2 and / or its components. If the transmitted signal 12 and the received signal 13 correspond to the expected signal when no rivet element 4 is located in the measuring volume 15, the correct function of the device 2 can be assumed.

[0074] Additionally or alternatively, it can be provided that the transmitted signal 12 is compared with the further transmitted signal 12 of the further transmitted coil 21 and / or that the received signal 13 is compared with the further received signal 13. If these are sufficiently similar—while no rivet element 4 is located in the measuring volume 15 and / or when a rivet element 4 moves past the respective coils—correct functioning of the device 2 can be assumed.

[0075] Otherwise, the evaluation device may not function correctly and indicate a fault and / or send it to the machine control 35.

[0076] In order to determine, in particular to determine independently, the at least one property 3 of the rivet element 4, evaluation sequences and / or characteristics with regard to the property 3 to be determined can be stored in the memory 26 of the evaluation unit 14.

[0077] These may in particular concern the evaluations of the signals explained above, particularly in connection with Figures 5 and 6.

[0078] Furthermore, evaluation sequences and / or characteristics and / or reference signals for monitoring the at least one property 3 can be stored in a database 43, in particular in the memory 26 of the evaluation unit 14. In particular, reference signals for one or more specific rivet elements 4 with their properties 3 can also be stored in the memory 26.

[0079] Characteristics can be, in particular, the maximum value of the received signal 13, the steepness of a rise and / or fall of the received signal 13 and / or the steepness of a rise and / or fall of the maxima of the received signal 13 and / or the area 42 enclosed between the received signal 13 and the time axis, and / or the phase shift 29 and / or change in the phase shift 37 between the transmitted signal 12 and the received signal 13.

[0080] Furthermore, it can be provided that the evaluation unit 14 uses and / or has an artificial intelligence 44, in particular a previously trained one, for determining the at least one property 3 of the rivet element 4. Preferably, the evaluation unit 14 can train the artificial intelligence 44 based on feedback from the processing machine 1.

[0081] In a preferred embodiment, the machine control 35 sends information to the evaluation unit 14 regarding which rivet type is or was conveyed along the transport path 5 and / or which properties 3 the rivet element 4 should have that is or was conveyed along the transport path 5. Based on this and on the evaluation by the evaluation unit 14, the evaluation unit 14 determines whether the rivet type or properties 3 of the rivet element 4 corresponding to the rivet type or the properties 3 of the rivet element 4 correspond to those transmitted by the machine control 35.

[0082] The result is then communicated by the evaluation unit 14 to the machine control system 35, based on which the latter either uses the rivet element 4, stores it in an intermediate rivet storage unit for later use, or discards it. The sorting or rejection of the rivet elements 4 based on the evaluation takes place here, preferably via a switch 45.

[0083] List of reference symbols

[0084] 1 processing machine

[0085] 2 Device

[0086] 3 Property

[0087] 4 rivet element

[0088] 5 Transport route

[0089] 6 rivet storage

[0090] 7 Riveting unit

[0091] 8 rivet cassette

[0092] 9 Transmitting coil

[0093] 10 Receiver coil

[0094] 11 Signal generator

[0095] 12 Transmission signal

[0096] 13 Reception signal

[0097] 14 Evaluation unit

[0098] 15 measuring volumes

[0099] 16 sine wave

[0100] 17 rivet element length

[0101] 18 shaft length

[0102] 19 Recording facility

[0103] 20 terminals

[0104] 21 additional transmitting coil

[0105] 22 additional receiver coils

[0106] 23 A / D converters

[0107] 24 filters

[0108] 25 amplifiers

[0109] 26 storage

[0110] 27 ring buffers

[0111] 28 computing unit

[0112] 29 Phase shift

[0113] 30 amplitude

[0114] 31 aircraft structural component

[0115] 32 Machine kinematics

[0116] 33 End effector

[0117] 34 Drilling unit 35 Machine control

[0118] 38 rivet head

[0119] 40 rivet shank

[0120] 42 Area 43 Database

[0121] 44 artificial intelligence

[0122] 45 Switch

Claims

Patent claims 1. Device for determining and / or checking at least one property (3) of a rivet element (4) on a transport path (5), in particular to a processing machine (1) and / or a riveting unit (7) of a processing machine (1), wherein the device (2) has a transmitting coil (9) and a receiving coil (10), wherein a transmitting signal (12) can be fed into the transmitting coil (9) by means of a signal generator (11) and a receiving signal (13) induced in the receiving coil (10) can be evaluated by means of an evaluating unit (14) for determining and / or checking at least one property (3) of the rivet element (4) on the transport path (5).

2. Device according to claim 1, characterized in that the device (2) determines and / or controls the material of the rivet element (4) and / or the orientation of the rivet element (4) and / or the rivet element length (17) and / or the shaft length (18) of the rivet element (4) as a property (3) of the rivet element (4).

3. Device according to claim 1 or 2, characterized in that the device (2) is designed to determine and / or control the at least one property (3) of the rivet element (4) during its conveyance on the transport path (5).

4. Device according to one of the preceding claims, characterized in that the transport path (5) is formed by a hose, in particular a plastic hose, and / or that the device (2) has a receiving device (19) for receiving the transport path (5), in particular the hose.

5. Device according to one of the preceding claims, characterized in that the transmitting coil (9) and / or the receiving coil (10) are arranged in the device (2) in such a way that the transmitting coil (9) and / or the receiving coil (10) is / are arranged laterally of the transport path (5), and / or that the transport path (5) does not run through the transmitting coil (9) and / or the receiving coil (10).

6. Device according to one of the preceding claims, characterized in that the transmitting coil (9) and / or the receiving coil (10) are arranged at an angle to one another, preferably that the transmitting coil (9) and / or the receiving coil (10) are arranged at an angle of 45° to 135°, more preferably at an angle of 75° to 105°, more preferably of 85° to 95°, to one another.

7. Device according to one of the preceding claims, characterized in that the device (2) has a further transmitting coil (21) and / or a further receiving coil (22), preferably that the transmitting coil (9) is arranged at a defined distance from the further transmitting coil (21) and / or that the receiving coil (10) is arranged at a defined distance from the further receiving coil (22).

8. Device according to one of the preceding claims, characterized in that the evaluation unit (14) has an A / D converter (23), in particular with time-synchronized channels, for evaluating the transmission signal (12) or the transmission signals (12) and / or the reception signal (13) or the reception signals (13).

9. Device according to one of the preceding claims, characterized in that the transmission signal (12) and / or the reception signal (13) are each fed to a channel of the evaluation unit (14).

10. Processing machine for processing an aircraft structural component (31) with a riveting unit (7) and with a transport path (5) for rivet elements (4) for conveying the rivet elements (4) to the riveting unit (7), characterized in that the processing machine (1) has a device (2) for determining and / or checking at least one property (3) of a rivet element (4) according to one of the preceding claims.

11. Method for determining and / or controlling at least one property (3) of a rivet element (4) on a transport path (5), preferably by means of a device (2) according to one of the preceding claims, wherein a transmission signal (12) is fed into a transmission coil (9) by means of a signal generator (11) and a reception signal induced in a receiver coil (10) (13) is evaluated by means of an evaluation unit (14) and the at least one property (3) of the rivet element (4) is determined.

12. Method according to claim 11, characterized in that the determination and / or control of the at least one property (3) is based on a movement of the rivet element (4) along the device (2) and / or through the device (2).

13. The method according to claim 11 or 12, characterized in that the transmission signal (12) and / or the reception signal (13) is sampled at a sampling rate of at least 50 kHz, preferably at least 100 kHz, more preferably at least 200 kHz, more preferably at least 220 kHz.

14. Method according to one of claims 11 to 13, characterized in that the amplitude (30) of the transmitted signal (12) and / or the amplitude (30) of the received signal (13) is measured, preferably that by means of the measured amplitude (30) and / or an envelope curve of the amplitude (30) the position, in particular the orientation, of the rivet element (4), and / or the rivet element length (17) and / or the shaft length (18) and / or the material of the rivet element (4) is determined and / or controlled.

15. Method according to one of claims 11 to 14, characterized in that the phase shift (29) between the transmission signal (12) and the reception signal (13) is determined and by means of the phase shift (29) the material of the rivet element (4) is determined and / or controlled.

Images